Device control system, method and storage medium

Abstract

This application provides a device control system, method, and storage medium. The device control system includes a main control unit for acquiring the motor operating parameters of the galvanometer motor of a laser cleaner; a slave control unit connected to the main control unit for receiving the motor operating parameters sent by the main control unit and generating an initial triangular wave control signal based on the motor operating parameters; and a digital-to-analog converter connected to the slave control unit for receiving the initial triangular wave control signal and generating a target triangular wave control signal based on the initial triangular wave control signal. The target triangular wave control signal is used to control the movement of the galvanometer motor. The embodiments of this application achieve the elimination of PID parameter tuning and allow for personalized output of the target triangular wave control signal, avoiding repetitive experiments and reducing the complexity of the control method, performance requirements, and equipment development costs.

Description

Technical Field

[0001] This application relates to the field of laser processing head control technology, specifically to a device control system, method, and storage medium. Background Technology

[0002] In related technologies, the control signal of the laser cleaning head can be transmitted from the control board to the galvanometer motor drive board via the XY2-100 protocol, and then the galvanometer motor drive board outputs the corresponding control signal to the galvanometer motor.

[0003] However, the XY-100 protocol is relatively complex and has high performance requirements for the controller, which increases the cost of equipment development.

[0004] Therefore, how to reduce the complexity of control methods, as well as the performance requirements and equipment development costs, are the technical problems that urgently need to be solved in the field of laser processing head control technology. Summary of the Invention

[0005] This application provides a device control system, method, and storage medium, aiming to solve the technical problems of how to reduce the complexity of the control method, the performance requirements of the control, and the cost of device development.

[0006] On one hand, this application provides a device control system, including:

[0007] The main control unit is used to acquire the motor operating parameters of the galvanometer motor of the laser cleaner;

[0008] The slave control unit is connected to the main control unit. The slave control unit is used to receive motor operating parameters sent by the main control unit and generate an initial triangular wave control signal based on the motor operating parameters.

[0009] A digital-to-analog converter unit is connected to the slave control unit. The digital-to-analog converter unit is used to receive the initial triangular wave control signal and generate a target triangular wave control signal based on the initial triangular wave control signal. The target triangular wave control signal is used to control the movement of the galvanometer motor.

[0010] On the other hand, this application provides a device control method, the method comprising:

[0011] The operating parameters of the galvanometer motor of the laser cleaner are obtained through the main control unit;

[0012] By receiving motor operating parameters sent by the main control unit from the control unit, and generating an initial triangular wave control signal based on the motor operating parameters;

[0013] The initial triangular wave control signal is received by the digital-to-analog converter, and a target triangular wave control signal is generated based on the initial triangular wave control signal. The target triangular wave control signal is used to control the movement of the galvanometer motor.

[0014] On the other hand, this application also provides a computer device, the computer device comprising:

[0015] One or more processors;

[0016] Memory; and

[0017] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the device control method.

[0018] On the other hand, this application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being loaded by a processor to execute the steps in the device control method.

[0019] The equipment control system provided in this application embodiment specifically includes a main control unit, which is used to acquire the motor operating parameters of the galvanometer motor of the laser cleaner; a slave control unit, connected to the main control unit, which is used to receive the motor operating parameters sent by the main control unit and generate an initial triangular wave control signal based on the motor operating parameters; and a digital-to-analog converter, connected to the slave control unit, which is used to receive the initial triangular wave control signal and generate a target triangular wave control signal based on the initial triangular wave control signal, the target triangular wave control signal being used to control the movement of the galvanometer motor. This embodiment of the application obtains the motor operating parameters of the galvanometer motor of the laser cleaner through the main control unit, then receives the motor operating parameters sent by the main control unit from the control unit, and generates an initial triangular wave control signal based on the motor operating parameters. Then, it receives the initial triangular wave control signal through the digital-to-analog converter unit, and generates a target triangular wave control signal based on the initial triangular wave control signal. The movement of the galvanometer motor is controlled by the target triangular wave control signal, realizing the elimination of PID parameter tuning, and allowing for personalized output of the target triangular wave control signal. This avoids repeated experiments, reduces the complexity of the control method, the performance requirements of the control, and the equipment development cost. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of an embodiment of the device control system provided in this application.

[0022] Figure 2 This is a schematic diagram of a specific embodiment of the device control system provided in this application.

[0023] Figure 3 This is a schematic diagram of the triangular wave control signal provided in the embodiments of this application;

[0024] Figure 4 This is a schematic flowchart of an embodiment of the device control method provided in this application.

[0025] Figure 5 This is a schematic diagram of an embodiment of the computer device provided in this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0027] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0029] This application provides a schematic diagram of an embodiment of a device control system, which will be described in detail below.

[0030] Please see Figures 1 to 3 As shown, Figure 1 This is a schematic diagram of a device control system provided in an embodiment of this application. Specifically, the device control system 100 includes: a main control unit 101, which is used to acquire the motor operating parameters of the galvanometer motor (not shown in the figure) of the laser cleaner; a slave control unit 102, connected to the main control unit 101, which is used to receive the motor operating parameters sent by the main control unit 101 and generate an initial triangular wave control signal based on the motor operating parameters; and a digital-to-analog converter 103, connected to the slave control unit 102, which is used to receive the initial triangular wave control signal and generate a target triangular wave control signal based on the initial triangular wave control signal, the target triangular wave control signal being used to control the movement of the galvanometer motor.

[0031] A laser cleaner is a device that uses laser technology for cleaning. It achieves a cleaning effect by using a high-energy laser beam to irradiate and remove impurities such as dirt, oil stains, and oxide layers from the surface of materials. Specifically, its working principle utilizes the high energy density and short pulse width of the laser to instantly evaporate dirt on the object's surface, thus cleaning the surface. Compared with traditional cleaning methods, the laser cleaner in this embodiment has the following advantages: 1. It does not require the use of chemical solvents or cleaning agents, making it environmentally friendly; 2. It does not require contact with the object's surface during the cleaning process, avoiding wear and scratches; 3. The cleaning process can be precisely controlled, allowing for targeted cleaning of specific areas; 4. It provides excellent cleaning results, thoroughly removing dirt and maintaining the smoothness and quality of the object's surface. Laser cleaners are suitable for cleaning materials such as metals, glass, ceramics, and plastics. They can be used to clean automotive engine parts, molds, electronic components, aerospace equipment, etc. In addition, laser cleaners also have certain medical and cultural preservation applications, such as cleaning cultural relics and works of art.

[0032] The galvanometer motor in a laser cleaner is one of the control components for the laser beam, used to control its movement and irradiation direction. A galvanometer motor typically consists of two galvanometers, controlling the scanning of the laser beam in the horizontal and vertical directions respectively. The galvanometer motor uses piezoelectric materials or magnetic drive technology, applying an electric field or current to induce the galvanometer's vibration. When the electric field or current changes, the galvanometer's vibration state changes accordingly, thereby controlling the movement of the laser beam.

[0033] Specifically, the control of the galvanometer motor is achieved through the control system and related software of the laser cleaner. By adjusting the vibration parameters of the galvanometer motor, including amplitude, frequency, and phase, the scanning speed and range of the laser beam in the horizontal and vertical directions can be controlled. Through proper programming and control algorithms, the cleaning and treatment of object surfaces can be achieved. The application of the galvanometer motor in the laser cleaner allows the laser beam to precisely scan and irradiate the area requiring cleaning, improving cleaning efficiency and accuracy. Furthermore, the galvanometer motor can also produce laser beams of different shapes and sizes to adapt to different cleaning tasks and requirements.

[0034] In one specific embodiment of this application, both the main control unit 101 and the slave control unit 102 can be microcontroller units (MCUs). An MCU is a single-chip microcomputer system that integrates a central processing unit (CPU), memory, input / output interfaces, and various peripheral device controllers.

[0035] Specifically, such as Figure 2As shown, the main control unit 101 can be abbreviated as the main MCU, and the slave control unit 102 can be abbreviated as the slave MCU. In this embodiment, considering the following reasons, the laser cleaner is controlled jointly by the main MCU and the slave MCU: 1. Complex control requirements: Laser cleaners typically require real-time control of many parameters, such as laser power, scanning speed, and scanning range. Controlling these parameters requires a powerful main MCU capable of handling complex control algorithms and real-time data processing. 2. Multiple control modules: Laser cleaners typically consist of multiple functional modules, such as galvanometer motor control, laser emission control, and safety protection. These modules require independent control, and the slave MCU can handle the control tasks of one or more of these modules. 3. Real-time response and synchronization: The operation of the laser cleaner requires precise time synchronization and real-time response. The main MCU can be responsible for the timing control of the entire system, ensuring coordinated operation of each module, while the slave MCU can handle tasks with lower real-time requirements. 4. Distributed control: Distributing control tasks to multiple MCUs can reduce the burden on the main MCU and improve system stability and fault tolerance. Furthermore, distributed control can simplify system design and maintenance and improve system scalability.

[0036] Overall, the joint control of the master MCU and slave MCUs allows for the allocation, coordination, and processing of control tasks for the laser cleaner, achieving a more efficient, reliable, and flexible control method. This design fully leverages the strengths of each MCU, providing a better user experience and operational efficiency.

[0037] In some embodiments of this application, the master MCU and the slave MCU can be connected via an SPI bus, and the master MCU and peripherals can be connected via serial port / network port / wireless communication, thereby enabling mutual communication.

[0038] The main MCU can generate control signals for one or more lasers, and the specific number can be set according to the actual number of lasers being controlled.

[0039] Similarly, the MCU can generate control signals for one or more galvanometer driver boards.

[0040] Furthermore, the digital-to-analog conversion unit 103 can specifically be a digital-to-analog conversion chip, or it can be understood as a triangular wave signal generator. Specifically, a digital-to-analog conversion chip is an integrated circuit used to convert digital signals into analog signals. It typically contains one or more ADCs (analog-to-digital converters) that can convert continuous analog signals into corresponding digital signals.

[0041] In this embodiment, the main control unit 101 acquires the motor operating parameters of the galvanometer motor of the laser cleaner. Then, the main control unit 102 receives the motor operating parameters sent by the main control unit 101 and generates an initial triangular wave control signal based on the motor operating parameters. The digital-to-analog converter 103 receives the initial triangular wave control signal and generates a target triangular wave control signal based on the initial triangular wave control signal. The movement of the galvanometer motor is controlled by the target triangular wave control signal, which eliminates the need for PID parameter tuning and allows for personalized output of the target triangular wave control signal. This avoids repetitive experiments and reduces the complexity of the control method, the performance requirements of the control, and the equipment development costs.

[0042] In some embodiments of this application, the initial triangular wave control signal includes multiple steps, the length of each step representing the step stop time, and the height of each step representing the step step voltage; generating the initial triangular wave control signal based on the motor operating parameters includes: determining the step stop time according to the main frequency of the control unit 102; converting the motor operating parameters to obtain voltage data for generating the initial triangular wave control signal; and generating the initial triangular wave control signal based on the step stop time and the voltage data.

[0043] The length of each step in the multiple staircases can be the same or different, and / or the height of each step can be the same or different. The specific settings can be configured according to the actual application requirements.

[0044] Specifically, such as Figure 3 As shown, Δt represents the step stop time of the step indicated in the figure, Δa represents the step step voltage of the step indicated in the figure, and half of A and A / 2 represent the voltage amplitude of the triangular wave control signal.

[0045] In one specific embodiment of this application, each of the multiple staircases has the same length and the same height.

[0046] In some embodiments of this application, the motor operating parameters include the motor amplitude and the motor oscillation frequency, and the voltage data includes the voltage amplitude and the step voltage. The step of converting the motor operating parameters to obtain the voltage data for generating the initial triangular wave control signal includes: determining the voltage amplitude based on the motor amplitude; and determining the step voltage based on the motor oscillation frequency.

[0047] In a specific embodiment of this application, determining the voltage amplitude based on the motor width includes: taking half of the value corresponding to the motor width as the voltage amplitude value of the stepped triangular wave control signal.

[0048] In a specific embodiment of this application, determining the step voltage based on the motor oscillation frequency includes: selecting a value of the motor oscillation frequency as the value of the step voltage.

[0049] In some embodiments of this application, the galvanometer motor includes n galvanometer motors; determining the stepped stop time includes: acquiring the main frequency parameter of the slave control unit 102; calculating the single running time of the slave control unit 102 based on the main frequency parameter; selecting n times the value of the single running time as the value of the stepped stop time, where n≥1.

[0050] In a specific embodiment of this application, when n=1, that is, the galvanometer motor is one galvanometer motor; determining the step stop time includes: obtaining the main frequency parameter of the slave control unit 102; calculating the single running time of the slave control unit 102 based on the main frequency parameter; and selecting the value of the single running time as the value of the step stop time.

[0051] In a specific embodiment of this application, when n=2, that is, there are 2 galvanometer motors; determining the step stop time includes: obtaining the main frequency parameter of the slave control unit 102; calculating the single running time of the slave control unit 102 based on the main frequency parameter; and selecting twice the value of the single running time as the value of the step stop time.

[0052] In some embodiments of this application, the device control system 100 further includes a device drive board connected to the digital-to-analog converter 103. The device drive board is used to receive a triangular wave control signal sent by the digital-to-analog converter 103 to control the movement of the galvanometer motor.

[0053] Specifically, the device driver board is a galvanometer driver board, which refers to the circuit board used to control the galvanometer. The galvanometer driver board typically contains electronic components and interfaces for controlling the movement of the galvanometer. It can receive external signals or commands and convert them into appropriate voltage or current outputs to drive the galvanometer to perform corresponding movements.

[0054] In some embodiments of this application, the main control unit 101 and the slave control unit 102 communicate via an SPI bus, which is used to accumulate and verify the motor operating parameters.

[0055] SPI is a serial communication protocol commonly used to connect microcontrollers and external devices to achieve high-speed data transmission and exchange of control signals.

[0056] In one specific embodiment of this application, the SPI bus is used to transmit motor operating parameters between the master control unit 101 and the slave control unit 102, and to perform accumulation and verification processing. The specific implementation process is as follows: 1. Configure SPI communication: First, the master control unit 101 and the slave control unit 102 need to configure the relevant parameters of the SPI interface, such as communication rate, data bits, clock polarity, etc. This ensures that the communication between the two units can proceed normally. 2. Send motor operating parameters: The master control unit 101 packages the motor operating parameters into a data packet and sends the data packet to the slave control unit 102 via the SPI bus. The data packet may include information such as motor running speed, direction, and acceleration. 3. Receive motor operating parameters: The slave control unit 102 receives the motor operating parameter data packet sent by the master control unit 101 via the SPI bus. During the receiving process, the slave control unit 102 needs to verify the correctness of the received data to ensure the integrity and accuracy of the data. 4. Parameter accumulation processing: After receiving the motor operating parameters, the slave control unit 102 may need to accumulate them with the previous parameters. This can be used to achieve dynamic adjustment of motor operation, such as compensation for accumulated errors. 5. Verification Processing: The control unit 102 also needs to verify the received data to ensure its accuracy. Verification processing may include methods such as parity checking and CRC checking to detect and correct errors in data transmission.

[0057] In this embodiment, the master control unit 101 and slave control unit 102 can transmit, accumulate, and verify motor operating parameters via SPI bus communication. This ensures the accuracy and stability of the motor operating parameters, thereby achieving more precise and reliable motion control.

[0058] In addition to the equipment control system 100 described above, this application embodiment also provides an equipment control method, which includes: acquiring motor operating parameters of the galvanometer motor of the laser cleaner through a main control unit 101; receiving the motor operating parameters sent by the main control unit 101 from a control unit 102, and generating an initial triangular wave control signal based on the motor operating parameters; receiving the initial triangular wave control signal through a digital-to-analog converter 103, and generating a target triangular wave control signal based on the initial triangular wave control signal, wherein the target triangular wave control signal is used to control the movement of the galvanometer motor.

[0059] The device control method described in this application will be described in detail below with reference to the accompanying drawings. Although this application provides method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on conventional or non-inventive effort. For steps that do not have a logically necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this application. In actual object processing or device execution, the method may be executed in the order shown in the embodiments or drawings, or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0060] Please see Figure 4 , Figure 4 This is a schematic flowchart of an embodiment of the device control method provided in this application. The device control method includes:

[0061] 401. Obtain the motor operating parameters of the galvanometer motor of the laser cleaner through the main control unit 101;

[0062] 402. By receiving motor operating parameters sent by the main control unit 101 from the control unit 102, and generating an initial triangular wave control signal based on the motor operating parameters;

[0063] 403. The initial triangular wave control signal is received by the digital-to-analog converter 103, and a target triangular wave control signal is generated based on the initial triangular wave control signal. The target triangular wave control signal is used to control the movement of the galvanometer motor.

[0064] In this embodiment, the main control unit 101 acquires the motor operating parameters of the galvanometer motor of the laser cleaner. Then, the main control unit 102 receives the motor operating parameters sent by the main control unit 101 and generates an initial triangular wave control signal based on the motor operating parameters. The digital-to-analog converter 103 receives the initial triangular wave control signal and generates a target triangular wave control signal based on the initial triangular wave control signal. The movement of the galvanometer motor is controlled by the target triangular wave control signal, which eliminates the need for PID parameter tuning and allows for personalized output of the target triangular wave control signal. This avoids repetitive experiments and reduces the complexity of the control method, the performance requirements of the control, and the equipment development costs.

[0065] In addition to the device control methods described above, this application also provides a computer device that integrates any of the device control units provided in this application. The computer device includes:

[0066] One or more processors;

[0067] Memory; and

[0068] One or more applications, wherein the one or more applications are stored in the memory and configured by the processor to perform operations of any of the methods described in any of the embodiments of the above-described device control method.

[0069] This application also provides a computer device that integrates any of the device control units provided in this application. For example... Figure 5 As shown, it illustrates a structural schematic diagram of the computer device involved in the embodiments of this application, specifically:

[0070] The computer device may include components such as a processor 601 with one or more processing cores, a storage unit 602 with one or more computer-readable storage media, a power supply 603, and an input unit 604. Those skilled in the art will understand that... Figure 5 The computer device structure shown does not constitute a limitation on the computer device and may include more or fewer components than shown, or combine certain components, or have different component arrangements. Wherein:

[0071] The processor 601 is the control center of the computer device. It connects various parts of the computer device via various interfaces and lines, and performs various functions and processes data by running or executing software programs and / or modules stored in the storage unit 602, and by calling data stored in the storage unit 602, thereby providing overall monitoring of the computer device. Optionally, the processor 601 may include one or more processing cores; preferably, the processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into the processor 601.

[0072] Storage unit 602 can be used to store software programs and modules. Processor 601 executes various functional applications and data processing by running the software programs and modules stored in storage unit 602. Storage unit 602 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the computer device, etc. In addition, storage unit 602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, storage unit 602 may also include a memory controller to provide processor 601 with access to storage unit 602.

[0073] The computer device also includes a power supply 603 that supplies power to the various components. Preferably, the power supply 603 can be logically connected to the processor 601 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 603 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0074] The computer device may also include an input unit 604, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0075] Although not shown, the computer device may also include a display unit, etc., which will not be described in detail here. Specifically, in the embodiments of this application, the processor 601 in the computer device loads the executable files corresponding to the processes of one or more applications into the storage unit 602 according to the following instructions, and the processor 601 runs the applications stored in the storage unit 602 to realize various functions, as follows:

[0076] The main control unit 101 acquires the motor operating parameters of the galvanometer motor of the laser cleaner; the main control unit 102 receives the motor operating parameters sent by the main control unit 101 and generates an initial triangular wave control signal based on the motor operating parameters; the digital-to-analog converter 103 receives the initial triangular wave control signal and generates a target triangular wave control signal based on the initial triangular wave control signal, and the target triangular wave control signal is used to control the movement of the galvanometer motor.

[0077] This application provides a device control method. The main control unit 101 acquires the motor operating parameters of the galvanometer motor of a laser cleaner. Then, the main control unit 102 receives the motor operating parameters sent by the main control unit 101 and generates an initial triangular wave control signal based on these parameters. A digital-to-analog converter 103 receives the initial triangular wave control signal and generates a target triangular wave control signal based on it. The movement of the galvanometer motor is controlled by the target triangular wave control signal. This method eliminates the need for PID parameter tuning and allows for customized output of the target triangular wave control signal, avoiding repetitive experiments and reducing the complexity of the control method, performance requirements, and equipment development costs.

[0078] Therefore, embodiments of this application provide a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. The computer-readable storage medium stores multiple instructions, which can be loaded by a processor to execute the steps in any of the device control methods provided in embodiments of this application. For example, the instructions can execute the following steps:

[0079] The main control unit 101 acquires the motor operating parameters of the galvanometer motor of the laser cleaner; the main control unit 102 receives the motor operating parameters sent by the main control unit 101 and generates an initial triangular wave control signal based on the motor operating parameters; the digital-to-analog converter 103 receives the initial triangular wave control signal and generates a target triangular wave control signal based on the initial triangular wave control signal, and the target triangular wave control signal is used to control the movement of the galvanometer motor.

[0080] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0081] The above provides a detailed description of the device control system 100, method, and storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A device control system, characterized in that, include: The main control unit is used to acquire the motor operating parameters of the galvanometer motor of the laser cleaner; The slave control unit is connected to the main control unit. The slave control unit is used to receive motor operating parameters sent by the main control unit and generate an initial triangular wave control signal based on the motor operating parameters. A digital-to-analog converter unit is connected to the slave control unit. The digital-to-analog converter unit is used to receive the initial triangular wave control signal and generate a target triangular wave control signal based on the initial triangular wave control signal. The target triangular wave control signal is used to control the movement of the galvanometer motor. The motor operating parameters include the motor width; the voltage data of the initial triangular wave control signal includes the voltage amplitude; the control unit is further configured to take half of the value corresponding to the motor width as the voltage amplitude value of each step triangular wave control signal in the initial triangular wave control signal. The initial triangular wave control signal includes multiple steps, the length of each step representing the step stop time, and the height of each step representing the step step voltage; each step in the multiple steps has the same length and the same height. The generation of the initial triangular wave control signal based on the motor operating parameters includes: The stepped stop time is determined based on the main frequency of the control unit. The motor operating parameters are converted to obtain the voltage data for generating the initial triangular wave control signal; Based on the stepped stop time and the voltage data, an initial triangular wave control signal is generated; The galvanometer motor includes n galvanometer motors; Determining the step stop time includes: Obtain the main frequency parameters of the slave control unit; Based on the main frequency parameters, calculate the single-run time of the slave control unit; The value of n times the single running time is selected as the value of the step stop time, where n≥1.

2. The equipment control system according to claim 1, characterized in that, The motor operating parameters include the motor oscillation frequency, and the voltage data includes the step voltage. The process of converting the motor operating parameters to obtain voltage data for generating the initial triangular wave control signal includes: The stepped approach voltage is determined based on the motor oscillation frequency.

3. The equipment control system according to claim 2, characterized in that, Determining the stepped approach voltage based on the motor oscillation frequency includes: The value of the motor oscillation frequency is selected as the value of the step voltage.

4. The equipment control system according to claim 1, characterized in that, The equipment control system further includes an equipment drive board, which is connected to the digital-to-analog converter unit. The equipment drive board is used to receive triangular wave control signals sent by the digital-to-analog converter unit to control the movement of the galvanometer motor.

5. The equipment control system according to claim 1, characterized in that, The main control unit and the slave control unit communicate via an SPI bus, which is used to accumulate and verify the motor's operating parameters.

6. A device control method, characterized in that, The method includes: The operating parameters of the galvanometer motors of the laser cleaner are obtained through the main control unit; the galvanometer motors include n galvanometer motors; The system receives motor operating parameters sent by the main control unit from the control unit and generates an initial triangular wave control signal based on these parameters. The motor operating parameters include the motor amplitude. The voltage data of the initial triangular wave control signal includes the voltage amplitude. The initial triangular wave control signal includes multiple steps, where the length of each step represents the step stop time, and the height of each step represents the step step voltage. Each step in the multiple steps has the same length and the same height. The initial triangular wave control signal is received by the digital-to-analog converter, and a target triangular wave control signal is generated based on the initial triangular wave control signal. The target triangular wave control signal is used to control the movement of the galvanometer motor. Specifically, half of the value corresponding to the motor amplitude is taken from the control unit and used as the voltage amplitude value of each step triangular wave control signal in the initial triangular wave control signal. Specifically, the stepped stop time is determined based on the main frequency of the control unit; the motor operating parameters are converted to obtain voltage data for generating the initial triangular wave control signal; and the initial triangular wave control signal is generated based on the stepped stop time and the voltage data. The main frequency parameter of the slave control unit is obtained through the slave control unit; based on the main frequency parameter, the single running time of the slave control unit is calculated; n times the value of the single running time is selected as the value of the step stop time, where n≥1.

7. A computer-readable storage medium, characterized in that, It stores a computer program, which is loaded by a processor to execute the steps of the device control method of claim 6.

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