Motion control method of automation equipment, automation equipment and automation control system

Abstract

The invention discloses a motion control method of automation equipment, the automation equipment and an automation control system, the automation equipment comprises an execution mechanism, and the method comprises the following steps: forming a state number table according to all state information influencing the motion of the execution mechanism; a path number address table is generated according to the state number table, the path number address table comprises at least one path number, and the path number is used for indicating the motion path of the execution mechanism under the corresponding state information; determining a current state number corresponding to the current state information influencing the motion of the execution mechanism according to the state number table; and determining a target path number from the path number address table according to the current state number so as to control an execution mechanism to move through the target path number. The method can effectively reduce the problem that equipment does not act and does not give an alarm due to the fact that the execution mechanism has no task number in some equipment states.

Description

Technical Field

[0001] The present invention relates to the field of automation control, and in particular to a motion control method of automation equipment, automation equipment and automation control system. Background Art

[0002] At present, servo motors and manipulators have become common automation equipment and are widely used in various industries. The motion control method of automation equipment is generally that the controller sends an action command to the motor driver, and the motor driver drives the motor to move. The encoder is installed on the motor side as a position feedback element to feedback the number of pulses generated during the rotation of the motor. When the feedback pulse and the command pulse are the same, it is confirmed that the motor positioning is completed. However, this method requires planning the path number in advance, and using the path number to use the servo command pulse and then transmit the called command pulse to the driver. However, since programming engineers cannot take into account all the situations of the equipment, the lack of a task number in some equipment states may cause the equipment to have no action and no alarm. Due to the failure to receive the alarm information in time, the equipment fails for a long time, which in turn affects the production efficiency of the automated production line and the loss of production capacity. At the same time, programming engineers need to arrive at the site to optimize the action logic through the program, which increases the fault handling time. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a motion control method for automation equipment, which can effectively reduce the problem of no action and no alarm of the equipment caused by the actuator having no task number in certain equipment states.

[0004] A second object of the present invention is to provide an automation device.

[0005] A third object of the present invention is to provide an automatic control system.

[0006] A fourth objective of the present invention is to provide a computer storage medium.

[0007] A fifth object of the present invention is to provide a computer program product.

[0008] In order to solve the above problems, an embodiment of the first aspect of the present invention proposes a motion control method for automated equipment, wherein the automated equipment includes an actuator, and the method includes: forming a state number table based on all state information that affects the motion of the actuator; generating a path number address table based on the state number table, wherein the path number address table includes at least one path number, and the path number is used to indicate the motion path of the actuator under the corresponding state information; determining a current state number corresponding to the current state information that affects the motion of the actuator based on the state number table; determining a target path number from the path number address table based on the current state number, so as to control the motion of the actuator through the target path number.

[0009] According to the motion control method of the automation equipment of the embodiment of the present invention, all the situations that affect the movement of the actuator, that is, the status information, are numbered, and a path number address table is generated according to the possibility of occurrence of all the status information. Thus, the path number address table of the actuator is automatically generated to clearly define the path corresponding to all the status information, thereby ensuring that each state of the actuator has a path number, reducing the problem of no action and no alarm of the equipment due to the actuator having no task number in certain equipment states, thereby reducing the equipment maintenance cost.

[0010] In some embodiments, the method further includes: sending an alarm prompt instruction under the condition that the target path number is not obtained from the path number address table according to the current state number, and the alarm prompt instruction is used to instruct the user to assign a corresponding path number to the current state number.

[0011] In some embodiments, the method further includes: updating the path number assigned by the user to the current state number into the path number address table.

[0012] In some embodiments, the automation equipment also includes at least one workstation device that affects the movement of the actuator, each workstation device includes at least one workstation state, and a state number table is formed according to all state information that affects the movement of the actuator, including: determining all state information that affects the movement of the actuator according to the workstation state of each device; and assigning a state number to each state information and forming the state number table.

[0013] In some embodiments, the target path number is determined from the path number address table according to the current state number, including: establishing a path number index array according to the state number table and the path number address table, wherein the key names of the path number index array correspond one-to-one to the state numbers in the state number table, and the value elements of the path number index array are the path numbers corresponding to each state number; and determining the target path number by traversing the path number index array according to the current state number.

[0014] A second aspect of the present invention provides an automation device, comprising: an actuator; and a controller, wherein the controller is connected to the actuator and is used to execute the motion control method of the automation device of the above embodiment.

[0015] According to the automation equipment of the embodiment of the present invention, the motion control method of the automation equipment is executed by the controller, which can effectively solve the problem of no action and no alarm of the equipment caused by the actuator having no task number in certain equipment states.

[0016] In some embodiments, the automation equipment further includes: a human-computer interaction mechanism, which is connected to the controller and is used to issue an alarm prompt according to the alarm prompt instruction and receive a path number input by the user.

[0017] The third aspect of the present invention proposes an automation control system, comprising: at least one processor; a memory communicatively connected to at least one of the processors; wherein the memory stores a computer program executable by at least one of the processors, and when at least one of the processors executes the computer program, the motion control method of the automation equipment of the above embodiment is implemented.

[0018] According to the automation control system of the embodiment of the present invention, the motion control method of the automation equipment of the above embodiment is implemented by executing the computer program by the processor, which can effectively solve the problem of no action and no alarm of the equipment caused by the actuator having no task number in certain equipment states.

[0019] A fourth aspect of the present invention provides a computer storage medium, wherein the computer program, when executed by a processor, implements the motion control method of the automation equipment described in the above embodiment.

[0020] A fifth aspect of the present invention provides a computer program product, which, when executed by a processor, implements the steps of the motion control method for automation equipment of the above embodiment.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a flow chart of a motion control method for an automation device according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the automation equipment; Figure 3(a)-(b) are a state number table and a path number address table according to an embodiment of the present invention; Figure 4 is a structural block diagram of an automation device according to an embodiment of the present invention; Figure 5 (a)-(b) is a state number table according to another embodiment of the present invention; Figure 6 is a flow chart of a motion control method for an automation device according to another embodiment of the present invention; Figure 7 It is a structural block diagram of an automation control system according to an embodiment of the present invention.

[0023] Reference numerals: Automation equipment 100; Automation control system 200; Actuator 10; station equipment 20; controller 30; human-machine interaction mechanism 40; processor 50; memory 60; Workstation equipment 21; workstation equipment 22; workstation equipment 23; workstation equipment 24. DETAILED DESCRIPTION

[0024] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0025] In order to solve the above problems, a first embodiment of the present invention proposes a motion control method for automated equipment, which can effectively solve the problem of no action and no alarm caused by the actuator having no task number in certain equipment states.

[0026] Reference below Figure 1 Describe the motion control method of the automation equipment according to the embodiment of the present invention, such as Figure 1 As shown, the method includes steps S1 to S4, and the specific steps are as follows.

[0027] Step S1, forming a state number table according to all state information affecting the movement of the actuator.

[0028] Specifically, a number is automatically generated based on all status information of the actuator movement at the work site, each status information corresponds to a unique status number, and a status number table is formed, wherein the status information may include the working status of the actuator, such as the presence or absence of materials at each workstation in the work area, material status information, etc., without specific restrictions here.

[0029] For example, Figure 2 As shown, Figure 2It is a schematic diagram of an automated device, which can be used for pairing workpieces after waste discharge. It includes two pairing tables that can store two workpieces and a manipulator that can grab four workpieces. The working requirement is that when the sum of the number of workpieces of the manipulator and the two pairing tables is greater than 0 and less than 4, the manipulator puts all the workpieces on the pairing table. The pairing table 1 of the automated device has four working states, namely, there are no workpieces at both positions 1 and 2; there is a workpiece at position 1 and no workpiece at position 2; there is no workpiece at position 1 and there is a workpiece at position 2; there are workpieces at both positions 1 and 2. Similarly, the pairing table 2 also has four working states, which will not be described here. The manipulator has 16 working states. At this time, all state information of the actuator includes 256 states, and numbers 0-255 are generated for the 256 states to form a state number table.

[0030] Step S2, generating a path number address table according to the state number table, wherein the path number address table includes at least one path number, and the path number is used to indicate the movement path of the actuator under the corresponding state information.

[0031] Specifically, the path number address table is generated according to the state number table, that is, the motion path is set according to all the state information of the actuator, and each state information has its corresponding actuator motion path. Figure 3 As shown, Figure 3 (a) is the state number table, Figure 3 (b) is a path number address table, which generates 100 path number addresses based on 100 state numbers, among which there are multiple state numbers with the same path number address, that is, the motion paths under multiple state information of the actuator are the same.

[0032] Step S3, determining the current state number corresponding to the current state information affecting the movement of the actuator according to the state number table.

[0033] Specifically, the automation device collects data through sensors to obtain current state information, searches the state number table through the current state information, and thereby obtains the current state number corresponding to the current state information.

[0034] Step S4, determining the target path number from the path number address table according to the current state number, so as to control the movement of the actuator through the target path number.

[0035] Specifically, the corresponding target path number is selected from the path number address table according to the current state number, and the movement of the actuator is controlled by the target path number, thereby ensuring that the actuator can move according to all state information, avoiding the problem of no action and no alarm caused by the lack of task number in certain states.

[0036] According to the motion control method of the automation equipment of the embodiment of the present invention, all the situations that affect the movement of the actuator, that is, the status information, are numbered, and a path number address table is generated according to the possibility of occurrence of all the status information. Thus, the path number address table of the actuator is automatically generated to clearly define the path corresponding to all the status information, thereby ensuring that each state of the actuator has a path number, reducing the problem of no action and no alarm of the equipment due to the actuator having no task number in certain equipment states, thereby reducing the equipment maintenance cost.

[0037] In some embodiments, the motion control method of the automation equipment also includes sending an alarm prompt instruction under the condition that the target path number is not obtained from the path number address table according to the current state number, and the alarm prompt instruction is used to instruct the user to assign a corresponding path number to the current state number.

[0038] Specifically, if the target path number is not obtained from the path number address table according to the current state number, the automation equipment continues to work at this time, which may result in no action and no alarm problem, thereby causing losses. When the current state number does not obtain the target path number from the path number address table, the present application will send an alarm prompt to prompt the user to copy the corresponding path number for the current state number, thereby eliminating the need for programming engineers to arrive at the site to reprogram and modify the program. It can also solve the problem of no action and no alarm caused by the actuator having no task number in certain equipment states, thereby reducing equipment maintenance costs.

[0039] In some embodiments, the motion control method of the automation device further includes updating the path number assigned by the user to the current state number into the path number address table.

[0040] Specifically, after the user assigns the corresponding path number to the current state number, the automation equipment can automatically complete the path number address table and update the path number assigned to the current state number to the path number address table, so that when the current state number appears again, the actuator can move according to all the state information without the need for user operation, thereby reducing the user's workload.

[0041] In some embodiments, Figure 4 As shown, the automation device 100 includes an actuator 10 and at least one workstation device 20 that influences the movement of the actuator.

[0042] Among them, each workstation equipment 20 includes at least one workstation state, and a state number table is formed according to all state information affecting the movement of the actuator 10, including determining all state information affecting the movement of the actuator according to the workstation state of each device; and numbering each state information and forming a state number table.

[0043] Specifically, Figure 5 For example, Figure 5As shown in (a), there are 4 workstations 20, which are numbered according to the workstation status of each workstation 20, that is, the workstation status number value, and each working condition is numbered to correspond to the workstation status. Workstation 21 has 3 workstation statuses, namely A, B, and C; workstation 22 has 2 workstation statuses, namely D and E; workstation 23 has 2 workstation statuses, namely F and G; workstation 24 has 3 workstation statuses, namely G, H, and I. At this time, the actuator 10 has a total of 36 (3×2×2×3=36) working states, as shown in FIG. Figure 5 As shown in (b), after all the working states are arranged, the 36 working states can be numbered from 0 to 35, where state 0 indicates that the working state of all the working station equipment 20 is empty, that is, in the ADFH state, the working station equipment 20 is in a completely empty state, and the actuator 10 has no action.

[0044] Among them, Figure 5 As shown in (b), the station state of the station equipment 21 is cycled every 12 times, which is obtained by the product of the number of station states of the station equipment 22, the station equipment 23 and the station equipment 24; the station state of the station equipment 22 is cycled every 6 times, which is obtained by the product of the number of station states of the station equipment 23 and the station equipment 24; the station state of the station equipment 23 is cycled every 3 times, which is obtained by the number of station states of the station equipment 24; the station state of the station equipment 24 is cycled once. Therefore, according to the above rules, when the state information is known, the state number can be obtained according to the state information. The state number is the sum of the product of the station state number corresponding to the station state of each station equipment 20 and its cycle number. For example, the state information BEFH is numbered 18 (1×12+1×6+0×3+0×1=18), which is the same as Figure 5 (b) is consistent.

[0045] In some embodiments, the target path number is determined from the path number address table according to the current state number, including establishing a path number index array according to the state number table and the path number address table, wherein the key names of the path number index array correspond one-to-one to the state numbers in the state number table, and the value elements of the path number index array are the path numbers corresponding to each state number; and the target path number is determined by traversing the path number index array according to the current state number.

[0046] Specifically, each element in the path number index array is used to store the path number, and the key name of the path number index array corresponds to the state number in the state number table. For example, if the state number is 33, the value element corresponding to the key name 33 of the path number index array is the target path number to be called for the state number 33. In order to facilitate calculation, the station state of the station device 20 is usually set to 1 instead of 0, so as to avoid the problem that the non-persistent variable value used to save the state is reset to 0 when the program is powered off and restarted, thereby causing the path number to be abnormal.

[0047] For example, Figure 6 The motion control method of the automation equipment of the embodiment of the present invention is described as follows: Step S5, start.

[0048] Step S6, whether the PLC has a target path number corresponding to the current state number, if so, execute step S9; if not, execute step S7.

[0049] Step S7, sending an alarm prompt instruction.

[0050] Step S8, the user assigns a corresponding path number to the current state number through the human-machine operation interface, and executes step S6.

[0051] Step S9, updating the path number assigned by the user to the current state number into the path number address table.

[0052] Step S10, controlling the movement of the actuator according to the target path number.

[0053] Step S11, the actuator moves.

[0054] Step S12: the movement of the actuator is completed.

[0055] Step S13, end.

[0056] The second embodiment of the present invention provides an automation device 100, such as Figure 4 As shown, the automation device 100 includes an actuator 10 and a controller 30 .

[0057] The controller 30 is connected to the actuator 10 and is used to execute the motion control method of the automation equipment of the above embodiment.

[0058] The automation device 100 according to the embodiment of the present invention automatically generates a state table corresponding to all state information affecting the movement of the actuator 10, and generates a path number address table according to the state number table to ensure that each state of the actuator 10 has a path number, thereby solving the problem of no action and no alarm caused by the actuator having no task number in certain device states, thereby reducing equipment maintenance costs.

[0059] Exemplarily, the actuator 10 can be three frequency converters and one cylinder, which call different types of loading fixtures according to the material status of several front-end workstations, and perform the following work tasks: Work Task 1: The material of motor 2 is transported to motor 3, and the material of motor 1 is transported to motor 2 and then positioned by a cylinder; Work Task 2: The material of motor 2 is transported to motor 1, and the material of motor 3 is transported to motor 2 and then positioned by a cylinder; Work Task 3: Motor 2, motor 1 or motor 3 does not move. At this time, when the front-end workstations and workstation status are known, different states can also be numbered, and each number can be assigned a path number. In this way, the state that will appear in each workstation of the front-end equipment can be fully determined, and a path number can be assigned to each state number. Then, the program segment of the motor action corresponding to the called path number is executed to realize accurate material transportation. In this way, the status of all front-end workstations can be taken into account, and the program length of the motor action of this workstation can be reduced.

[0060] In some embodiments, Figure 4 The automation device 100 further includes a human-machine interaction mechanism 40 .

[0061] The human-computer interaction mechanism 40 is connected to the controller 30 and is used to issue an alarm prompt according to the alarm prompt instruction and receive a path number input by the user.

[0062] Specifically, under the condition that the target path number is not obtained from the path number address table according to the current state number, the human-computer interaction mechanism 40 will send an alarm prompt instruction to prompt the user to copy the path number corresponding to the current state number, and the user can input the path number through the human-computer interaction mechanism 40, thereby eliminating the need for a programming engineer to arrive at the site to reprogram and modify the program. It can also solve the problem of no action and no alarm caused by the actuator 10 having no task number in certain device states, thereby reducing equipment maintenance costs.

[0063] The third aspect of the present invention provides an automatic control system 200, such as Figure 7 As shown, the automation control system 200 includes at least one processor 50 and a memory 60 communicatively connected to the at least one processor 50 .

[0064] The memory 60 stores a computer program that can be executed by at least one processor 50 , and when the at least one processor 50 executes the computer program, the motion control method of the automation equipment of the above embodiment is implemented.

[0065] According to the automation control system 200 of the embodiment of the present invention, the motion control method of the automation equipment of the above embodiment is implemented by executing the computer program through the processor 50, which can effectively solve the problem that the actuator 10 has no task number in some equipment states and the equipment does not act and does not alarm. A fourth aspect of the present invention provides a computer storage medium, and when a computer program is executed by a processor, the motion control method of the automation equipment of the above embodiment is implemented.

[0066] A fifth aspect of the present invention provides a computer program product, which, when executed by a processor, implements the steps of the motion control method for automation equipment of the above embodiment.

[0067] In the description of this specification, any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code including one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0068] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or otherwise processing in a suitable manner if necessary, and then stored in a computer memory.

[0069] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0070] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0071] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0072] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0073] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0074] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A motion control method for automated equipment, characterized in that: The automation device includes an actuator, and the method includes: Forming a state number table according to all state information affecting the movement of the actuator; Generate a path number address table according to the state number table, wherein the path number address table includes at least one path number, and the path number is used to indicate the motion path of the actuator under the corresponding state information; Determine the current state number corresponding to the current state information affecting the movement of the actuator according to the state number table; The target path number is determined from the path number address table according to the current state number, so as to control the movement of the actuator through the target path number.

2. The motion control method of automation equipment according to claim 1, characterized in that: The method further comprises: Under the condition that the target path number is not obtained from the path number address table according to the current state number, an alarm prompt instruction is sent, and the alarm prompt instruction is used to instruct the user to assign a corresponding path number to the current state number.

3. The motion control method of automation equipment according to claim 2, characterized in that: The method further comprises: The path number assigned by the user to the current state number is updated to the path number address table.

4. The motion control method of automation equipment according to any one of claims 1 to 3, characterized in that: The automation equipment further includes at least one station device that affects the movement of the actuator, each station device includes at least one station state, and a state number table is formed according to all state information that affects the movement of the actuator, including: Determine all status information that affects the movement of the actuator according to the station status of each device; Each state information is assigned a state number and forms the state number table.

5. The motion control method of automation equipment according to any one of claims 1 to 3, characterized in that: Determining the target path number from the path number address table according to the current state number includes: Establish a path number index array according to the state number table and the path number address table, wherein the key names of the path number index array correspond one-to-one to the state numbers in the state number table, and the value elements of the path number index array are the path numbers corresponding to each state number; The target path number is determined by traversing the path number index array according to the current state number.

6. An automated device, characterized in that: include: Executive body; A controller is connected to the actuator and is used to execute the motion control method of the automation equipment described in any one of 1-5.

7. The automation equipment according to claim 6, characterized in that: Also includes: A human-computer interaction mechanism is connected to the controller and is used for providing an alarm prompt according to an alarm prompt instruction and receiving a path number input by a user.

8. An automated control system, characterized in that: include: at least one processor; a memory communicatively coupled to at least one of the processors; Wherein, the memory stores a computer program executable by at least one of the processors, and when at least one of the processors executes the computer program, the motion control method of the automation equipment according to any one of claims 1 to 5 is implemented.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the motion control method of the automation equipment according to any one of claims 1 to 5 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the motion control method for automation equipment described in any one of claims 1 to 5 are implemented.

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