Universal equipment motion controller

Abstract

The invention discloses a universal equipment motion controller, and belongs to the technical field of automatic control systems. The device motion controller comprises an operation control unit, a function execution algorithm model is embedded in the operation control unit; the man-machine interaction unit and the power execution terminal are in communication connection with the operation control unit. Wherein the function execution algorithm model at least comprises a manual operation model, a size measurement model, a teaching programming model and a data conversion model which can be mutually switched. According to the method, data languages and execution instructions for controlling programming are standardized and universalized, and interoperability and technical sharing mechanism construction among different systems are enhanced. Therefore, the equipment motion controller is convenient for an operator to learn and use, and the requirement of the operator for adapting to different types of controllers is greatly reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of automatic control systems, and in particular, relates to a universal equipment motion controller. Background Art

[0002] In the manufacturing production process, motion control occupies a very important position. Most machines and equipment contain motion control modules, and motion control systems have long become an indispensable core component. At present, there are generally three types of motion controllers for non-standard automation equipment: PLC (programmable logic controller), PC-based (PC-based controller) and dedicated controller. Automation equipment using these motion controllers has the following problems: (1) The degree of digitalization and intelligence of motion control when the automation equipment is used is low, and the processing quality depends on the skill level of the staff. (2) When developing non-standard automation equipment, motion control implementation is overly dependent on the technical capabilities of the team, and the threshold and cost are high. (3) The programming threshold, cost and safety risk are high when using and developing robot workstations with motion control as the core.

[0003] Therefore, the lack of universality in the use and development of existing motion control systems has brought about many problems in terms of technology integration and compatibility, development efficiency and cost, innovation and development, and user experience and satisfaction. In order to solve these problems, it is necessary to promote the standardization and universalization of motion control system development, lower the threshold for motion control system development, improve R&D efficiency, and save costs. Summary of the invention

[0004] In view of the problems in the related art, the present invention proposes a universal device motion controller to overcome the above technical problems existing in the existing related art.

[0005] To this end, the specific technical solution adopted by the present invention is as follows: a universal device motion controller, comprising: an operation control unit, in which a function execution algorithm model is embedded; It also includes: a human-computer interaction unit and a power execution terminal that are in communication connection with the operation control unit.

[0006] In a further embodiment, the operation control unit comprises at least: a communication unit, a control unit, an operation unit and a power supply module which are communicatively connected to each other.

[0007] In a further embodiment, the human-computer interaction unit includes at least: a touch interface and a signal transmission channel.

[0008] In a further embodiment, the function execution algorithm model includes at least: a manual operation model, a dimension measurement model, a teaching programming model, and a data conversion model that can be switched between each other.

[0009] In a further embodiment, the communication unit includes a universal communication protocol, and the user can adapt to different power execution terminals by selecting the communication protocol.

[0010] In a further embodiment, the execution steps of the manual operation model are as follows: Creating a trigger instruction, wherein the trigger instruction is an execution action of a predetermined duration; starting the execution action, planning and generating a motion trajectory according to the occurrence of the execution action, and driving a corresponding power execution terminal based on the motion trajectory; After the trigger instruction is generated, the execution action can be terminated at any time point; terminating the execution action means stopping planning the motion trajectory or stopping driving the corresponding power execution terminal.

[0011] In a further embodiment, the dimension measurement model at least includes: a two-point distance measurement model and a point-line distance measurement model.

[0012] In a further embodiment, the teaching programming model is based on a dynamic display of the motion trajectory.

[0013] In a further embodiment, the data conversion model includes at least: a unit conversion model, a data correction model and a data format conversion model.

[0014] In a further embodiment, the motion trajectory planning method is as follows: Get the position relationship between the starting point and the end point, and use the following formula to get the acceleration time and deceleration time : ; ; In the formula, is the movement speed, is the motion acceleration, deceleration for movement; Based on the acceleration time and deceleration time Use the following formulas to obtain the acceleration distance and deceleration distance : ; ; Define the predetermined duration of the execution action as ,like , then the position instruction : ; like , then the position instruction : ; In the formula, represents acceleration, , represents the circular frequency.

[0015] In a further embodiment, the steps of stopping planning of the motion trajectory are as follows: When the execution is terminated, the position command It is expressed in the following form: ; In the formula, Indicates the duration of the execution of the action. is the initial position of the motion trajectory; represents acceleration, , represents the circular frequency.

[0016] In a further embodiment, the execution actions of the power execution terminal at least include: direction rotation, position movement, and precise step distance control.

[0017] In a further embodiment, the measurement method of the two-point distance measurement model is as follows: Define two points as and , then point and Point The distance between .

[0018] In a further embodiment, the measurement method of the point-line distance measurement model is as follows: The definition point is , lines are represented by points and vectors: ; ; The distance between the points and the line , where ; In the formula, , are vectors, represents the vector cross product, |·| represents the vector modulus, and is the component of the space vector.

[0019] Beneficial effects of the invention: The invention is aimed at the current broad non-standard automation field, discloses a universal equipment motion controller, standardizes and generalizes the data language and execution instructions of control programming, and strengthens the interoperability and technology sharing mechanism construction between different systems. Therefore, the equipment motion controller is easy for operators to learn and use, greatly reducing the need for operators to adapt to different types of controllers. It is conducive to realizing the possibility of one person operating multiple types of terminal products and realizing "one person multiple jobs", and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a module architecture diagram of the general device motion controller in Example 1.

[0021] Figure 2 It is a connection diagram of the operation control unit in Example 1.

[0022] Figure 3 It is a flow chart of the execution steps of the manual operation model in Example 1.

[0023] Figure 4 This is a teaching flowchart of the linear motion of Example 1. DETAILED DESCRIPTION

[0024] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention and are mainly used to illustrate the embodiments. They can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, ordinary technicians in this field should be able to understand other possible implementation methods and advantages of the present invention.

[0025] Example 1 According to an embodiment of the present invention, a general device motion control system is provided, including: an operation control unit, a power execution terminal and a human-computer interaction unit. The connection relationship of the above units can be referred to Figure 1 The operation control unit has a human-machine interaction unit and a power execution terminal in a communication connection relationship. Furthermore, a function execution algorithm model is embedded in the operation control unit.

[0026] It is worth mentioning that the power execution terminal in this embodiment can be a motor, a solenoid valve, a switch assembly, a pneumatic valve, a relay, a sensor, etc. Taking a sensor as an example, the sensor can include: a temperature sensor, a humidity sensor, a pressure sensor, etc. Taking a switch assembly as an example, the switch assembly includes: a proximity switch and a travel switch, etc.

[0027] Furthermore, in order to ensure the basic functional requirements of the controller, the operation control unit in this embodiment at least includes: a communication unit, a control unit, an operation unit and a power supply module that are connected to each other. In this embodiment, the communication unit includes a universal communication protocol, and the user can adapt to different power execution terminals by selecting the communication protocol, such as MODBUS, 422, 232, ETHERCAT, etc., which are not listed here one by one.

[0028] The above is the internal system part of the device motion controller. Correspondingly, the device motion controller of this embodiment is also used for human-computer interaction, that is, the operator is required to perform necessary command operations. Therefore, the device motion controller also includes: a touch interface and a signal transmission channel. The touch interface is used to display the modules of the internal system for the convenience of the operator to trigger. The signal transmission channel is used to receive the input signal of the internal system part and transmit the generated output signal to the corresponding power execution terminal.

[0029] In order to meet the action requirements of existing mechanical operation terminals, the function execution algorithm model in this embodiment includes at least: a manual operation model that can be switched with each other, a dimension measurement model, a teaching programming model, and a data conversion model. Furthermore, the manual operation model is unified, simplified and standardized by executing instructions or executing actions. In other words, when the manual operation model of this embodiment is set, there is no need to consider the type of power execution terminal during on-site interface control. As long as the operation model of this embodiment is executed, the control of any type of power execution terminal can be achieved. The operation learning of different types of power execution terminals and other software and hardware related configurations are simplified.

[0030] Furthermore, the execution steps of the manual operation model are as follows: create a trigger instruction, which is an execution action of a predetermined duration; start the execution action, plan and generate a motion trajectory according to the occurrence of the execution action, and drive the corresponding power execution terminal based on the motion trajectory; it is worth mentioning that the power execution terminal in this embodiment is diverse, so the execution actions of the corresponding power execution terminal are also diverse, including at least: directional rotation, position movement, precise step distance control, etc.

[0031] After the trigger instruction is generated, the execution action can be terminated at any time point; terminating the execution action means stopping planning the motion trajectory or stopping driving the corresponding power execution terminal.

[0032] The execution action of this embodiment takes "pressing a button" as an example. Figure 3, define "pressing the button" as a continuous action, that is, the pressing action needs to be maintained until a predetermined length of time. Correspondingly, if the button is released, that is, the pressing action is terminated, it means that the execution action is terminated. Therefore, when necessary, the execution action can be terminated at any time point while the pressing action is maintained. If the system is in the trajectory generation and planning stage when the button is released, stop planning the motion trajectory or stop generating motion estimates. Correspondingly, if the system is in the process of driving the corresponding power execution terminal based on the motion trajectory when the button is released, then the driving of the power execution terminal can be stopped.

[0033] Combined with the above description, the motion trajectory planning method is as follows: obtain the position relationship between the starting point and the end point, and use the following formula to obtain the acceleration time and deceleration time : ; ; In the formula, is the movement speed, is the motion acceleration, deceleration for movement; Based on the acceleration time and deceleration time Use the following formulas to obtain the acceleration distance and deceleration distance : ; ; Define the predetermined duration of the execution action as ,like , then the position instruction : ; like , then the position instruction : ; In the formula, represents acceleration, , represents the circular frequency.

[0034] Correspondingly, the steps of stopping planning of the motion trajectory are as follows: When the execution is terminated, the position command It is expressed in the following form: ; In the formula, Indicates the duration of the execution of the action. is the initial position of the motion trajectory; represents acceleration, , represents the circular frequency.

[0035] The actions of any power execution terminal are carried out around points, lines and tracks, so a corresponding dimension measurement model is configured to meet basic data requirements. Further, the dimension measurement model at least includes: a two-point distance measurement model and a point-line distance measurement model.

[0036] Among them, the measurement method of the two-point distance measurement model is as follows: Define two points as and , then point and Point The distance between .

[0037] The measurement method of the point-line distance measurement model is as follows: The definition point is , lines are represented by points and vectors: ; ; The distance between the points and the line , where ; In the formula, , are vectors, represents the vector cross product, |·| represents the vector modulus, and is the component of the space vector.

[0038] Furthermore, in order to facilitate teaching demonstration, a teaching programming model is also configured, and the teaching programming model is displayed based on the motion trajectory. Figure 4 Taking linear motion as an example, the starting point and end point of the linear parameters are obtained in advance, and the distance between the two points is calculated based on the starting point and the end point using the two-point distance measurement model mentioned above, and the trajectory planning between the two points is obtained in combination with the motion trajectory generation method, and the spatial coordinates are generated based on the trajectory planning and instructions are sent to the corresponding power execution end, such as the pneumatic valve output end. For further example, the teaching programming model of this embodiment also includes: circular motion, IO switch input and output, motion logic setting, delay, etc.

[0039] In order to ensure the consistency and universality of data, the data conversion model of this embodiment at least includes: a unit conversion model, a data correction model, and a data format conversion model.

[0040] Taking the unit conversion model as an example, in the application scenario of spiral rotation, the number of bits of the motor encoder is n , reducer reduction ratio k , screw lead p , then the screw movement distance ( ) and the motor feedback encoder value The relationship is: ; That is, converting the physical parameters of other components into parameters, such as position information and distance.

[0041] Taking the data correction model as an example, the original data is defined as , user data is , and set the user to set the zero point data , the following formula is used for correction: .

[0042] In summary, the universal equipment motion controller disclosed in this embodiment has the following benefits: 1) The product's ease of use, safety, and intelligence allow users to "focus on labor and creation"; 2) Assisting people in performing precise operations, allowing companies to have "craftsmen" at a low cost; 3) Performing work in harsh environments and high intensity, improving the working environment for workers, and improving labor quality and efficiency; 4) One person operates multiple types of products, realizing "one person, multiple jobs", and solving the problem of emergency shortage of workers; 5) Rich automation and intelligent decision-making functions easily realize the automation and intelligence of labor tasks.

Claims

1. A universal device motion controller, characterized in that: include: An operation control unit, in which a function execution algorithm model is embedded; It also includes: a human-computer interaction unit and a power execution terminal that are in communication connection with the operation control unit.

2. A universal device motion controller according to claim 1, characterized in that: The operation control unit at least comprises: a communication unit, a control unit, an operation unit and a power supply module which are communicatively connected to each other; The human-computer interaction unit at least includes: a touch interface and a signal transmission channel; The communication unit includes a universal communication protocol, and the user can adapt to different power execution terminals by selecting the communication protocol.

3. A universal device motion controller according to claim 1, characterized in that: The function execution algorithm model at least includes: a manual operation model, a dimension measurement model, a teaching programming model, and a data conversion model that can be switched between each other.

4. A universal device motion controller according to claim 3, characterized in that: The execution steps of the manual operation model are as follows: Creating a trigger instruction, wherein the trigger instruction is an execution action of a predetermined duration; starting the execution action, planning and generating a motion trajectory according to the occurrence of the execution action, and driving a corresponding power execution terminal based on the motion trajectory; After the trigger instruction is generated, the execution action can be terminated at any time point; terminating the execution action means stopping planning the motion trajectory or stopping driving the corresponding power execution terminal.

5. A universal device motion controller according to claim 3, characterized in that: The teaching programming model is based on the dynamic display of motion trajectory.

6. A universal device motion controller according to claim 3, characterized in that: The data conversion model at least includes: a unit conversion model, a data correction model and a data format conversion model.

7. A universal device motion controller according to claim 4, characterized in that: The motion trajectory planning method is as follows: Get the position relationship between the starting point and the end point, and use the following formula to get the acceleration time and deceleration time : ； ； In the formula, is the movement speed, is the motion acceleration, deceleration for movement; Based on the acceleration time and deceleration time Use the following formulas to obtain the acceleration distance and deceleration distance : ； ； Define the predetermined duration of the execution action as ,like , then the position instruction : ； like , then the position instruction : ； In the formula, represents acceleration, , represents the circular frequency.

8. A universal device motion controller according to claim 4, characterized in that: The steps of stopping planning of the motion trajectory are as follows: When the execution is terminated, the position command It is expressed in the following form: ； In the formula, Indicates the duration of the execution of the action. is the initial position of the motion trajectory; represents acceleration, , represents the circular frequency.

9. A universal device motion controller according to claim 4, characterized in that: The execution actions of the power execution terminal at least include: direction rotation, position movement, and precise step distance control.

10. A universal device motion controller according to claim 3, characterized in that: The dimension measurement model at least includes: a two-point distance measurement model and a point-line distance measurement model; The measurement method of the two-point distance measurement model is as follows: Define two points as and , then point and Point The distance between ; The measurement method of the point-line distance measurement model is as follows: The definition point is , lines are represented by points and vectors: ； ； The distance between the points and the line , where ; In the formula, , are vectors, represents vector cross product, |·| represents vector modulus, are the components of the space vector.

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