Interaction control method and system of electromechanical equipment

Abstract

The invention relates to the technical field of interaction control methods, in particular to an interaction control method and system for electromechanical equipment, and the method comprises the steps that a server obtains a first control request containing a first control instruction, and then the server sends the first control instruction and an execution request to first electromechanical equipment and second electromechanical equipment; the server obtains first execution feedback returned by the first electromechanical device and second execution feedback returned by the second electromechanical device; the first electromechanical device and the second electromechanical device determine an executor according to respective preset priorities, current load states and a control object of the first control instruction; the executor executes a corresponding instruction according to the first control instruction and returns an execution result to the server; the server broadcasts the execution result to the first electromechanical device and the second electromechanical device to achieve state synchronization, autonomy and collaboration of the devices are brought into full play, and timeliness and accuracy of a control decision are improved while the load of the center node is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of interactive control methods, in particular to an interactive control method and system for electromechanical equipment. Background Art

[0002] The field of intelligent manufacturing has put forward higher requirements for the coordinated control of electromechanical equipment. In practice, the traditional centralized controller unified dispatching mode has been unable to meet the development needs of modern manufacturing. Although the existing technology is constantly improving and optimizing, there are still many deep-seated technical problems that need to be solved.

[0003] In modern manufacturing workshops, the control systems of electromechanical equipment generally adopt a layered architecture, including field control layer, process control layer and management control layer. Although this architecture is clearly layered, there is a significant lag in the information exchange between layers. Especially when dealing with emergencies, information cannot be transmitted to related equipment in a timely manner, resulting in slow system response. At the same time, the existing control strategy is overly dependent on the preset process flow, lacks the necessary dynamic adaptability, and cannot effectively respond to changes in working conditions during the production process.

[0004] What is even more difficult is that the current load allocation strategy for electromechanical equipment is too simplistic. Most systems only allocate tasks based on the rated parameters of the equipment and a simple polling mechanism, completely ignoring key factors such as the equipment's real-time status, historical performance, and processing characteristics. This extensive allocation method may result in high-precision equipment being assigned to low-precision tasks, while low-precision equipment is responsible for processing tasks beyond its capabilities, resulting in a serious waste of resources.

[0005] In terms of condition monitoring, existing technologies mainly rely on regular inspections and empirical judgments, lacking a scientific predictive maintenance mechanism. Many systems adopt fixed-cycle sampling strategies, which not only fail to detect potential faults in a timely manner, but also generate a large amount of redundant data. Especially in the field of high-speed and high-precision machining, slight changes in equipment status may lead to significant fluctuations in machining quality, and existing monitoring mechanisms often have difficulty capturing these subtle changes.

[0006] In addition, existing systems perform poorly when dealing with equipment coordination issues. There is a lack of effective state synchronization mechanisms between multiple devices, and command conflicts or chaotic responses often occur. For example, in a flexible manufacturing unit, when multiple devices have the ability to perform a task at the same time, the system often cannot intelligently select the optimal execution plan, resulting in low production efficiency. At the same time, the communication protocols between devices are not unified, and the data formats are different, which increases the difficulty of system integration.

[0007] In terms of exception handling, existing technologies mainly adopt a passive response strategy, that is, taking corresponding measures only after the failure occurs. This approach is not only easy to cause equipment damage, but also leads to production interruptions and huge economic losses. Especially on continuous production lines, the failure of a single device often triggers a chain reaction, affecting the operation of the entire production line.

[0008] Moreover, the scale and complexity of electromechanical equipment are constantly increasing, which puts higher requirements on the coordinated control between equipment. Traditional centralized control solutions often face many challenges when dealing with large-scale and dynamically changing electromechanical systems.

[0009] First, centralized control solutions usually rely on a central node to uniformly schedule and manage all devices. In this mode, the central node needs to process a large amount of device status data and control requests, which is prone to performance bottlenecks such as excessive computing load and response delay, affecting the real-time and scalability of the system. At the same time, once the central node fails, the entire system will be paralyzed, and reliability and stability will be difficult to guarantee.

[0010] Secondly, the heterogeneity and dynamic changes of electromechanical equipment also bring difficulties to centralized control. Equipment of different types and brands often have differences in communication protocols and control logic, and the working status of the equipment may change dynamically over time. Centralized control solutions lack flexibility and are difficult to adapt to this heterogeneity and dynamics, resulting in the timeliness and accuracy of control decisions failing to meet actual needs.

[0011] Furthermore, the scalability and maintainability of centralized control solutions also face challenges. As the scale of electromechanical systems continues to expand, the number of devices that centralized controllers need to manage surges, and the complexity of the system grows exponentially. This not only increases the difficulty of system development and maintenance, but also limits the system's scalability. Summary of the invention

[0012] In view of the above problems, the present invention provides an innovative electromechanical equipment interactive control method and system. This solution cleverly combines the advantages of distributed negotiation and centralized scheduling, determines the optimal executor through distributed negotiation between devices, and then the central server performs unified scheduling of the executors, thus achieving flexible and efficient collaborative control.

[0013] The present invention provides an interactive control method for electromechanical equipment, comprising: The server obtains a first control request including a first control instruction, and then the server sends the first control instruction and an execution request to the first electromechanical device and the second electromechanical device respectively, wherein the execution request is used to trigger a device execution status check; then, the server obtains a first execution feedback returned by the first electromechanical device and a second execution feedback returned by the second electromechanical device respectively, and the first execution feedback and the second execution feedback both include an execution request identifier, device status information, and device availability information; then, the first electromechanical device and the second electromechanical device determine an executor according to their respective preset priorities, current load status, and a control object of the first control instruction, wherein the preset priority is used to establish a control priority order between multiple electromechanical devices; then, the executor executes the corresponding instruction according to the first control instruction and returns the execution result to the server; finally, the server broadcasts the execution result to the first electromechanical device and the second electromechanical device to achieve status synchronization.

[0014] Preferably, the step of the first electromechanical device and the second electromechanical device determining the executor according to their respective preset priorities, current load states and the control object of the first control instruction comprises: First, determine whether the first execution feedback and the second execution feedback both contain the execution request identifier; when the first execution feedback and the second execution feedback both contain the execution request identifier, comprehensively evaluate the priorities and current load states of the first electromechanical device and the second electromechanical device according to a preset priority algorithm, and determine the electromechanical device with the highest evaluation score as the executor; when any device in the first execution feedback and the second execution feedback does not contain the execution request identifier, determine the electromechanical device containing the execution request identifier as the executor.

[0015] Preferably, it also includes: After the server obtains the second control instruction for the executor, it sends an execution status query request to the executor; after receiving the execution status query request, the executor returns a status report including the current execution status, remaining task volume and equipment health status; the server determines whether the executor has the conditions to execute the second control instruction based on the status report; when it is determined that the executor has the execution conditions, the server sends the second control instruction to the executor; the executor then executes the corresponding instruction according to the second control instruction.

[0016] Preferably, during the process of the executor executing the second control instruction, the executor also needs to regularly send an execution status report containing execution progress, resource utilization and exception information to the server; the server monitors the execution process according to the execution status report, and starts a preset exception handling process when an exception is detected.

[0017] Preferably, after completing the execution of the second control instruction, the executor sends a complete execution report to the server, including the execution completion time, execution time, resource consumption and execution results; after receiving the complete execution report, the server updates the system status information and broadcasts the execution results to the first electromechanical device and the second electromechanical device.

[0018] An interactive control system for electromechanical devices for executing the method comprises a server, a first electromechanical device and a second electromechanical device, wherein: The server is used to obtain a first control request including a first control instruction, and send the first control instruction and the execution request to the first electromechanical device and the second electromechanical device respectively; the first electromechanical device and the second electromechanical device are both used to receive the first control instruction and the execution request, and return execution feedback including an execution request identifier, device status information and device availability information; the first electromechanical device and the second electromechanical device are also used to determine an executor according to their respective preset priorities, current load status and the control object of the first control instruction; the executor is used to execute the first control instruction and return the execution result to the server; the server is also used to broadcast the execution result to the first electromechanical device and the second electromechanical device.

[0019] Preferably, the first electromechanical device and the second electromechanical device also include a priority calculation module, which is used to comprehensively evaluate the preset priority and current load status of the device according to a preset priority algorithm to generate an evaluation score; the first electromechanical device and the second electromechanical device also include an executor determination module, which is used to determine the executor according to the evaluation score.

[0020] Preferably, the server also includes a status monitoring module, which is used to send an execution status query request to the executor, receive a status report returned by the executor, and determine whether the executor has the conditions to execute the second control instruction based on the status report; the server also includes an instruction distribution module, which is used to send the second control instruction to the executor after confirming that the executor has the execution conditions.

[0021] Preferably, the executor also includes a status reporting module, which is used to periodically send an execution status report containing execution progress, resource utilization and exception information to the server during the execution of the second control instruction; the status monitoring module of the server is also used to monitor the execution process according to the execution status report, and start a preset exception handling process when an exception is detected.

[0022] Preferably, the executor also includes a result reporting module, which is used to send a complete execution report including execution completion time, execution time, resource consumption and execution results to the server after completing the execution of the second control instruction; the server also includes a result processing module, which is used to receive the complete execution report, update the system status information, and broadcast the execution results to the first electromechanical device and the second electromechanical device.

[0023] The beneficial effects of the present invention are mainly reflected in the following aspects: The core of the present invention is to introduce a mechanism for negotiation between devices. Each device selects the best executor through distributed decision-making based on its own preset priority, real-time load status, and the characteristics of the control instruction. This solution gives full play to the autonomy and coordination of the devices, while reducing the load of the central node and improving the timeliness and accuracy of the control decision.

[0024] At the same time, the present invention adopts a flexible priority evaluation strategy. By comprehensively considering the static priority and dynamic load of the device, load balancing and resource optimization can be achieved under the premise of meeting the control requirements, avoiding control conflicts and resource waste between devices.

[0025] The present invention also introduces a full-process state monitoring and dynamic scheduling mechanism. The central server obtains the state information of the executor in real time, dynamically evaluates its execution capability, and dynamically adjusts the control strategy accordingly. This closed-loop feedback mechanism ensures the reliability and stability of the control process and effectively responds to the dynamic changes in the equipment state.

[0026] In addition, the modular system design and standardized interface definition make the present invention have good scalability and maintainability. New electromechanical equipment can be easily connected to the system without changing the original architecture and logic. This not only reduces the cost of system integration and maintenance, but also provides convenience for future functional expansion.

[0027] In summary, the electromechanical equipment interactive control method and system proposed in the present invention effectively solves the performance bottleneck, lack of reliability, lack of flexibility and other problems faced by traditional centralized control solutions through distributed negotiation between devices, dynamic priority evaluation, real-time status monitoring feedback and flexible dynamic scheduling strategies. While improving the real-time, reliability and flexibility of control, it also realizes the scalability and maintainability of the system architecture. It can be foreseen that the present invention will be widely used in the fields of industrial automation, intelligent manufacturing, etc., providing strong support for the intelligent collaborative control of electromechanical systems and promoting technological progress and industrial upgrading in the industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a logic block diagram of the entire system of the present invention.

[0029] Figure 2 It is a working flow chart of the server of the present invention.

[0030] Figure 3 This is a working diagram of the first electromechanical device and the second electromechanical device of the present invention.

[0031] Figure 4 This is a workflow diagram of the priority calculation module and the executor determination module of the present invention. DETAILED DESCRIPTION

[0032] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation methods, structures, features and effects are described in detail below in conjunction with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0033] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0034] See also Figure 1-4 The present invention provides an interactive control method for electromechanical devices. First, the server 1 obtains a first control request including a first control instruction, and then the server 1 sends the first control instruction and an execution request to the first electromechanical device 2 and the second electromechanical device 3 respectively, wherein the execution request is used to trigger the device execution status check.

[0035] Next, the server 1 obtains the first execution feedback returned by the first electromechanical device 2 and the second execution feedback returned by the second electromechanical device 3, respectively. The first execution feedback and the second execution feedback both contain the execution request identifier, device status information, and device availability information. This step ensures that the server can fully grasp the real-time status of each electromechanical device, providing a basis for the subsequent selection of the optimal execution party.

[0036] Then, the first electromechanical device 2 and the second electromechanical device 3 determine the executor according to their respective preset priorities, current load states and the control object of the first control instruction, wherein the preset priorities are used to establish a control priority order among multiple electromechanical devices.

[0037] Preferably, in one embodiment of the present invention, the process of determining the executor is as follows: first, determine whether both the first execution feedback and the second execution feedback contain an execution request identifier; when both contain an execution request identifier, comprehensively evaluate the priority and current load status of the first electromechanical device 2 and the second electromechanical device 3 according to a preset priority algorithm, and determine the electromechanical device with the highest evaluation score as the executor; when any device does not contain an execution request identifier, determine the electromechanical device containing the execution request identifier as the executor. This strategy takes into account both device priority and real-time load, can select the optimal executor, and improve overall execution efficiency.

[0038] Subsequently, the executor executes the corresponding instruction according to the first control instruction and returns the execution result to the server 1. Finally, the server 1 broadcasts the execution result to the first electromechanical device 2 and the second electromechanical device 3 to achieve state synchronization. This ensures information symmetry between the devices and avoids control deviation.

[0039] Furthermore, the present invention also provides an optimization scheme for the interactive control method. Specifically, after obtaining the second control instruction for the executor, the server 1 sends an execution status query request to the executor; after receiving the query request, the executor returns a status report including the current execution status, the remaining task volume and the health status of the equipment; the server 1 determines whether the executor has the conditions to execute the second control instruction according to the status report; when the executor has the execution conditions, the server 1 sends the second control instruction to the executor; the executor then executes the corresponding instruction according to the second control instruction. This scheme further improves the flexibility and robustness of the control by monitoring the executor status in real time and dynamically adjusting the control strategy.

[0040] During the execution of the second control instruction, the executor also needs to regularly send an execution status report containing execution progress, resource usage and exception information to server 1; server 1 monitors the execution process accordingly, and starts a preset exception handling process when an exception is detected, thereby maximizing the stability and reliability of the control process.

[0041] When the executor completes the execution of the second control instruction, it also needs to send a complete execution report including the execution completion time, execution time, resource consumption and execution results to the server 1. After receiving the report, the server 1 timely updates the system status information and broadcasts the execution results to the first electromechanical device 2 and the second electromechanical device 3, so that each device can make subsequent decisions based on the latest status.

[0042] The present invention also provides an electromechanical device interactive control system corresponding to the above method. The system is composed of a server 1, a first electromechanical device 2 and a second electromechanical device 3. Wherein: The server 1 is used to obtain a first control request including a first control instruction, and send the first control instruction and the execution request to the first electromechanical device 2 and the second electromechanical device 3 respectively; The first electromechanical device 2 and the second electromechanical device 3 are both used to receive the first control instruction and the execution request, return an execution feedback including the execution request identifier, device status information and device availability information, and determine the executor according to their respective preset priorities, current load status and the control object of the first control instruction; The executor is used to execute the first control instruction and return the execution result to the server 1; The server 1 is further configured to broadcast the execution result to the first electromechanical device 2 and the second electromechanical device 3 .

[0043] It is worth mentioning that the first electromechanical device 2 and the second electromechanical device 3 further include a priority calculation module 21 and an executor determination module 22. The priority calculation module 21 is used to comprehensively evaluate the preset priority and current load status of the device according to a preset priority algorithm to generate an evaluation score; the executor determination module 22 determines the final executor according to the evaluation score. This modular design makes the logic of priority evaluation and executor selection clear and visible, and has high interpretability.

[0044] The server 1 is provided with a status monitoring module 11 and an instruction distribution module 12. The status monitoring module 11 sends an execution status query request to the executor, receives a status report returned by the executor, and determines whether the executor has the conditions to execute the second control instruction. In one embodiment, the execution conditions may include: the executor is currently idle, the remaining task volume is lower than a threshold (such as 20%), and the device status is normal. The thresholds of these conditions can be reasonably set according to the specific application scenario and device type. After confirming that the executor has the execution conditions, the instruction distribution module 12 sends the second control instruction to the executor.

[0045] The execution side is also provided with a status reporting module 31 and a result reporting module 32. The status reporting module 31 sends an execution status report containing execution progress, resource occupancy rate and abnormal information to the server 1 periodically (e.g., every 5 seconds) during the execution of the second control instruction. Here, the abnormal information can be identified based on a preset abnormal pattern library (e.g., long-term stagnation of progress, excessive resource occupancy, etc.). The result reporting module 32 sends a complete execution report to the server 1 after completing the execution of the second control instruction. The report content may include, but is not limited to: execution completion timestamp, execution time (ms), CPU occupancy peak (%), memory occupancy peak (MB), and key result data, etc.

[0046] The server 1 is also provided with a result processing module 13, which is used to receive a complete execution report sent by the executor, update the system status information (such as marking the executor as idle), and broadcast the execution result to the first electromechanical device 2 and the second electromechanical device 3, so that each device can work together based on the latest status.

[0047] In summary, the present invention cleverly utilizes the combination of distributed negotiation and centralized scheduling to achieve efficient and flexible interactive control of electromechanical equipment. At the same time, by introducing real-time monitoring of execution status and dynamic scheduling strategies, the robustness and reliability of the control process are further improved. In addition, the present invention adopts a modular system architecture, which makes the responsibilities of each functional unit clear and easy to implement and maintain. It is believed that the present invention can be widely used in the fields of industrial automation, intelligent manufacturing, etc., and effectively improve the collaborative control level of electromechanical systems.

[0048] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An interactive control method for electromechanical equipment, characterized in that: include: The server obtains a first control request including a first control instruction, and then the server sends the first control instruction and an execution request to the first electromechanical device and the second electromechanical device respectively, wherein the execution request is used to trigger a device execution status check; then, the server obtains a first execution feedback returned by the first electromechanical device and a second execution feedback returned by the second electromechanical device respectively, wherein the first execution feedback and the second execution feedback both include an execution request identifier, device status information, and device availability information; then, the first electromechanical device and the second electromechanical device determine an executor according to their respective preset priorities, current load status, and a control object of the first control instruction, wherein the preset priority is used to establish a control priority order among multiple electromechanical devices; Subsequently, the executor executes the corresponding instruction according to the first control instruction and returns the execution result to the server; finally, the server broadcasts the execution result to the first electromechanical device and the second electromechanical device to achieve state synchronization.

2. The interactive control method of electromechanical equipment according to claim 1, characterized in that: The step of the first electromechanical device and the second electromechanical device determining the executor according to their respective preset priorities, current load states and the control object of the first control instruction comprises: First, determine whether the first execution feedback and the second execution feedback both contain the execution request identifier; when the first execution feedback and the second execution feedback both contain the execution request identifier, comprehensively evaluate the priorities and current load states of the first electromechanical device and the second electromechanical device according to a preset priority algorithm, and determine the electromechanical device with the highest evaluation score as the executor; when any device in the first execution feedback and the second execution feedback does not contain the execution request identifier, determine the electromechanical device containing the execution request identifier as the executor.

3. The interactive control method of electromechanical equipment according to claim 2, characterized in that: Also includes: After obtaining the second control instruction for the executor, the server sends an execution status query request to the executor; After receiving the execution status query request, the executor returns a status report including the current execution status, remaining task volume and equipment health status; the server determines whether the executor has the conditions to execute the second control instruction based on the status report; when it is determined that the executor has the execution conditions, the server sends the second control instruction to the executor; the executor then executes the corresponding instruction according to the second control instruction.

4. The interactive control method of electromechanical equipment according to claim 3, characterized in that: During the process of the executor executing the second control instruction, the executor also needs to regularly send an execution status report containing execution progress, resource utilization and exception information to the server; the server monitors the execution process according to the execution status report, and starts a preset exception handling process when an exception is detected.

5. The interactive control method of electromechanical equipment according to claim 4, characterized in that: After completing the execution of the second control instruction, the executor sends a complete execution report including the execution completion time, execution time, resource consumption and execution results to the server; after receiving the complete execution report, the server updates the system status information and broadcasts the execution results to the first electromechanical device and the second electromechanical device.

6. An interactive control system for electromechanical equipment that executes the method according to any one of claims 1 to 5, characterized in that: The invention comprises a server, a first electromechanical device and a second electromechanical device, wherein: The server is used to obtain a first control request including a first control instruction, and send the first control instruction and the execution request to the first electromechanical device and the second electromechanical device respectively; the first electromechanical device and the second electromechanical device are both used to receive the first control instruction and the execution request, and return execution feedback including an execution request identifier, device status information and device availability information; the first electromechanical device and the second electromechanical device are also used to determine an executor according to their respective preset priorities, current load status and the control object of the first control instruction; the executor is used to execute the first control instruction and return the execution result to the server; the server is also used to broadcast the execution result to the first electromechanical device and the second electromechanical device.

7. The interactive control system for electromechanical equipment according to claim 6, characterized in that: The first electromechanical device and the second electromechanical device further include a priority calculation module for comprehensively evaluating the preset priority and current load status of the device according to a preset priority algorithm to generate an evaluation score; The first electromechanical device and the second electromechanical device further include an executor determination module, configured to determine an executor according to the evaluation score.

8. The interactive control system for electromechanical equipment according to claim 7, characterized in that: The server also includes a status monitoring module, which is used to send an execution status query request to the executor, receive a status report returned by the executor, and determine whether the executor has the conditions to execute the second control instruction based on the status report; the server also includes an instruction distribution module, which is used to send the second control instruction to the executor after confirming that the executor has the execution conditions.

9. The interactive control system for electromechanical equipment according to claim 8, characterized in that: The executor also includes a status reporting module, which is used to periodically send an execution status report containing execution progress, resource utilization and exception information to the server during the execution of the second control instruction; the status monitoring module of the server is also used to monitor the execution process according to the execution status report, and start a preset exception handling process when an exception is detected.

10. The interactive control system for electromechanical equipment according to claim 9, characterized in that: The executor also includes a result reporting module, which is used to send a complete execution report including execution completion time, execution time, resource consumption and execution results to the server after completing the execution of the second control instruction; the server also includes a result processing module, which is used to receive the complete execution report, update the system status information, and broadcast the execution results to the first electromechanical device and the second electromechanical device.

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