Embedded direct-drive conveying control system and device

Abstract

The embodiment of the invention discloses an embedded direct-drive conveying control system and device, and the system is characterized in that a main station controller distributes a technological process for each rotor according to the topological structure of a conveying system of the rotor; the topological structure of the conveying system comprises a road section group, a station group, a working unit group, a technological process and a rotor group. Under the control of the master station controller, the rotor takes the station closest to the current stop position as a target station; the rotor sets a target working unit according to the target station; wherein the working unit corresponding to the target station is a target working unit; and after the rotor reaches the target station, the target working unit is started, and the working time is started. The production efficiency is improved, and the transformation speed is increased.

Description

Technical Field

[0001] The present invention relates to the field of embedded control technology, and in particular to an embedded direct-drive conveying control system and device. Background Art

[0002] With the development of industrialized production, the demand for enterprises to expand production and improve production efficiency is increasing, and conveying devices play an important role in production lines. Traditional conveying devices such as belt or chain systems cannot produce asynchronously or at a fixed beat, making it difficult to transform production lines, which restricts the production efficiency and transformation speed of enterprises. Summary of the invention

[0003] The invention provides an embedded direct-drive conveying control system, which improves production efficiency and transformation speed.

[0004] According to one aspect of the present invention, there is provided an embedded direct drive conveying control system, comprising:

[0005] The master station controller allocates a process flow to each mover according to the topological structure of the conveying system of the mover; the topological structure of the conveying system includes a section group, a station group, a work unit group, a process flow and a mover group; the section group includes the length of the section, the number of sections and the docking structure set on the section; the station group includes the position of each station on the section; the work unit group includes the location of the station and the ferry section to reach the station, whether the station automatically simulates work and the working time, and specifies the next target station according to the work results; the process flow includes a closed-loop set consisting of multiple work units; the mover group includes the number of movers, the process flow information of each mover and the safe distance between movers;

[0006] Under the control of the master station controller, the mover takes the station closest to the current stop position as the target station;

[0007] Under the control of the master station controller, the mover sets the target working unit according to the target workstation; wherein the working unit corresponding to the target workstation is the target working unit;

[0008] Under the control of the master station controller, after the mover reaches the target workstation, it starts the target work unit and enters the working time.

[0009] Optionally, it also includes an embedded storage medium, in which the topological structure of the conveying system of the mover is stored, and the embedded storage medium is connected to the master station controller.

[0010] Optionally, under the control of the main station controller, the mover determines its own motion state according to the process flow, and the motion state includes the motion direction, target position, current stop position and blocking state; the mover includes a controller and a moving device, the controller is connected to the main station controller, and under the control of the main station controller, the moving device moves to a preset position.

[0011] Optionally, under the control of the master station controller, after the mover reaches the target station, the target working unit is started, and the working time is entered, it also includes:

[0012] Under the control of the master station controller, the mover takes the station closest to the current stop position as the next target station according to the process flow.

[0013] Optionally, under the control of the master station controller, when the mover encounters a traffic jam or a waiting state during the process of reaching the target station, the mover stops moving toward the target station;

[0014] When the road section is unblocked, the mover continues to move to the target station under the control of the master station controller.

[0015] Optionally, under the control of the master station controller, when the mover reaches the target station, if the distance between the mover and other movers is less than or equal to the safety distance, the mover stops moving toward the target station;

[0016] The mover moves to the edge position;

[0017] The distance between the mover and other movers is greater than the safety distance, and the mover continues to move to the target station.

[0018] Optionally, the master station controller obtains the motion trajectory of the mover at preset time intervals;

[0019] The master station controller determines the speed and target position of the mover at the next moment according to the motion trajectory of the mover;

[0020] The master station controller controls the controller of the mover to drive the motion state of the mover at the next moment, and the motion state includes speed and acceleration.

[0021] Optionally, the mover includes a moving trolley.

[0022] Optionally, the mover takes the station closest to the current stop position as the target station including:

[0023] According to the current stop position, the current section, the current work unit and the current process flow, the mover traverses the workstation on the current section and takes the workstation closest to the current stop position as the target workstation.

[0024] According to another aspect of the present invention, there is provided an embedded direct-drive conveying control device, comprising the embedded direct-drive conveying control system described in any embodiment of the present invention.

[0025] The embedded direct-drive conveying control system provided by the embodiment of the present invention includes a master station controller that allocates a process flow to each mover according to the topological structure of the conveying system of the mover; the conveying system topological structure includes a section group, a station group, a work unit group, a process flow and a mover group; under the control of the master station controller, the mover takes the station closest to the current stop position as the target station; the mover sets the target work unit according to the target station; wherein the work unit corresponding to the target station is the target work unit; after the mover reaches the target station, the target work unit is started and the working time is entered. The system allocates tasks to each mover according to the topological structure and process flow of the conveying system to ensure that the mover moves and works according to the optimal path and sequence, avoiding unnecessary path duplication and conflict. Through the precise control and scheduling of the master station controller, the mover can efficiently find and move to the target station to perform work, reducing waiting time and invalid movement, and improving production efficiency. Because the system has a high degree of flexibility and configurability, the process flow in the system is a closed-loop set composed of multiple work units, which can be flexibly adjusted according to production needs. When it is necessary to transform the production of different products, it is only necessary to modify the work units and sequence in the process flow, without the need for large-scale transformation of the entire system, which increases the speed of transformation.

[0026] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0028] Figure 1 It is a module schematic diagram of an embedded direct-drive conveying control system provided by an embodiment of the present invention.

[0029] Figure 2 It is a schematic diagram of a section of a mover provided in an embodiment of the present invention.

[0030] Figure 3 It is a closed-loop process flow chart of a mover provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] The embodiment of the present invention provides an embedded direct drive conveying control system. Figure 1 is a schematic diagram of a module of an embedded direct drive conveying control system provided by an embodiment of the present invention, with reference to Figure 1 , embedded direct drive conveying control system includes:

[0034] The master station controller 10 allocates a process flow to each mover according to the topological structure of the conveying system of the mover; the topological structure of the conveying system includes a section group, a station group, a work unit group, a process flow and a mover group; the section group includes the length of the section, the number of sections and the docking structure set on the section; the station group includes the position of each station on the section; the work unit group includes the position of the station and the ferry section to reach the station, whether the station automatically simulates work and the working time, and specifies the next target station according to the work result; the process flow includes a closed-loop set composed of multiple work units; the mover group includes the number of movers, the process flow information of each mover and the safe distance between movers;

[0035] Under the control of the master station controller 10, the mover takes the station closest to the current stop position as the target station;

[0036] Under the control of the master station controller 10, the mover sets the target working unit according to the target workstation; wherein the working unit corresponding to the target workstation is the target working unit;

[0037] Under the control of the master station controller 10, after the mover reaches the target workstation, the target working unit is started and the working time is entered.

[0038] Among them, the working unit has a simulated work function switch. When it is turned on, it will automatically stay in the current working unit for the set length of time, and then continue to move to the next target workstation; when it is turned off, it needs to receive an external signal to continue moving.

[0039] Specifically, the master station controller 10 is based on the topological structure information of the conveying system, including the road section group, the station group, the work unit group, the process flow and the mover group. The master station controller 10 allocates the initial process flow information to each mover according to the preset process flow. The master station controller 10 monitors the current position and state of each mover, including whether it is moving, whether it has reached a certain station, etc. When the mover is in a stopped state, the master station controller 10 calculates the distance between the current mover and each station, and selects the station closest to the current position as the target station. According to the target station, the master station controller 10 searches for the work unit corresponding to the station and sets it as the target work unit. The master station controller 10 sends a movement instruction to the mover to guide the mover to move to the target station along the preset route. When the mover reaches the target station, the master station controller 10 sends a start instruction to the target work unit, and the work unit starts to execute the preset workflow. The master station controller 10 monitors the working time of the work unit to ensure that the work is carried out according to the preset duration. According to the working results of the work unit, the master station controller 10 determines the next target station according to the process flow. The mover continues to move to the next target station according to the above process and starts the corresponding work unit until the entire process is completed.

[0040] For example, Figure 2 It is a schematic diagram of a section of a mover provided in an embodiment of the present invention. Figure 3 This is a closed-loop process flow chart of a mover provided by an embodiment of the present invention. Figure 2 and Figure 3 , section P1 is connected to the trolley from section P3, and then runs to section P2; section P4 is connected to the trolley from section P2, and then runs to section P3. When section P1 is connected to section P2, the work unit corresponding to station 1 is U1; when section P1 is connected to section P3, the work unit corresponding to station 1 is U7; when section P4 is connected to section P2, the work unit corresponding to station 4 is U4, and when section P4 is connected to section P3, the work unit corresponding to station 4 is U5; the work units corresponding to stations 2, 3, and 5 on the remaining sections are U2, U3, and U6, respectively. The closed-loop process flow for normal operation of the equipment is U1->U2->U3->U4->U5->U6->U7->U1. After setting this process flow for a mover, the mover will plan to move to the position of the corresponding work unit in sequence.

[0041] The embedded direct-drive conveying control system provided by the embodiment of the present invention includes a master station controller 10 that allocates a process flow to each mover according to the topological structure of the conveying system of the mover; the conveying system topological structure includes a section group, a station group, a work unit group, a process flow and a mover group; under the control of the master station controller 10, the mover takes the station closest to the current stop position as the target station; the mover sets the target work unit according to the target station; wherein the work unit corresponding to the target station is the target work unit; after the mover reaches the target station, the target work unit is started and the working time is entered. The system allocates tasks to each mover according to the topological structure and process flow of the conveying system to ensure that the mover moves and works according to the optimal path and sequence, avoiding unnecessary path duplication and conflict. Through the precise control and scheduling of the master station controller 10, the mover can efficiently find and move to the target station to perform work, reducing waiting time and invalid movement, and improving production efficiency. Because the system has a high degree of flexibility and configurability, the process flow in the system is a closed-loop set composed of multiple work units, which can be flexibly adjusted according to production needs. When it is necessary to transform the production of different products, it is only necessary to modify the work units and sequence in the process flow, without the need for large-scale transformation of the entire system, which increases the speed of transformation.

[0042] Continue to refer Figure 1 The embedded direct-drive conveying control system also includes an embedded storage medium 20 , and the conveying system topology structure of the mover is stored in the embedded storage medium 20 . The embedded storage medium 20 is connected to the master station controller 10 .

[0043] Specifically, the embedded direct-drive conveying control system realizes precise control and scheduling of the mover through the topological structure information stored in the embedded storage medium 20 .

[0044] Optionally, under the control of the main station controller 10, the mover determines its own motion state according to the process flow, and the motion state includes the motion direction, target position, current stop position and blocking state; the mover includes a controller 30 and a moving device, the controller 30 is connected to the main station controller 10, and under the control of the main station controller 10, the moving device moves to a preset position.

[0045] Specifically, the process flow is set in the master controller 10, including the movement sequence, target position, movement direction, etc. of each mover. The controller 30 of the mover will receive the instructions of the master controller 10 to determine its own movement state. The movement state includes the movement direction (forward, backward, stop, etc.), the target position, the current stop position and the blocking state. The master controller 10 sends the movement instruction to the controller 30 of the mover according to the process flow and the current state of the mover. The movement instruction contains the specific action that the mover needs to perform, such as moving to a certain target position, moving at a certain speed, etc. After receiving the movement instruction, the controller 30 of the mover parses the instruction and controls the mobile device to perform the corresponding movement. The mobile device may include a motor, a transmission mechanism, etc., which is used to realize the linear motion or rotational motion of the mover. The controller 30 of the mover will continuously feedback real-time status information to the master controller 10 during the movement, such as the current position, speed, whether it encounters obstacles, etc. The master controller 10 makes real-time adjustments based on the feedback information, such as modifying the movement instruction, triggering an emergency stop, etc. If the mover encounters a blocking state, the controller 30 will immediately stop the movement and report to the master station controller 10, waiting for further processing. When all movers complete their respective movements according to the process flow, the entire process flow ends.

[0046] Optionally, under the control of the master station controller 10, after the mover reaches the target workstation, the target working unit is started, and the working time is entered, the following steps are further included:

[0047] Under the control of the master station controller 10 , the mover takes the station closest to the current stop position as the next target station according to the process flow.

[0048] Specifically, according to the process flow and the current status of each workstation, the master station controller 10 selects the idle workstation closest to the current stop position as the first target workstation. The master station controller 10 sends a movement instruction to the mover of the target workstation to guide it to move to the target workstation. After receiving the movement instruction, the mover starts to move and confirms the position after reaching the target workstation. The mover controller 30 sends an arrival confirmation signal to the master station controller 10. After receiving the arrival confirmation signal of the mover, the master station controller 10 starts the work unit corresponding to the target workstation. The work unit starts to perform the preset work task. After the work unit is started, the master station controller 10 starts to record the working time to ensure the accuracy and efficiency of the process flow. After the current work unit completes the work task, the master station controller 10 updates the information of the next target workstation according to the process flow. The master station controller 10 selects the next idle workstation closest to the current stop position as the new target workstation according to the updated process flow and the current position of the mover. The master station controller 10 sends a new movement instruction to the mover to guide it to move to the new target workstation. The movers continue to move and work according to the above process until all tasks of the entire process are completed. When all movers have completed their respective tasks, the process ends.

[0049] Optionally, under the control of the master station controller 10, when the mover reaches the target station, if the mover encounters a traffic jam or a waiting state, the mover stops moving toward the target station;

[0050] When the road section is unblocked, under the control of the master station controller 10, the mover continues to move to the target station.

[0051] Specifically, during the movement process, the mover controller 30 continuously monitors the road section status, including whether there is a traffic jam, whether there are other movers waiting, etc. When the mover detects that the road section ahead is congested or needs to wait, the mover controller 30 immediately stops moving toward the target station and sends status update information to the master station controller 10. After receiving the status update information, the master station controller 10 updates the road section status information and records the current position and status of the mover. When the traffic jam is resolved or the waiting conditions are met, the master station controller 10 re-evaluates the mover's movement path and target station based on the latest road section status information and process flow. If the target station is still valid and the road section is unobstructed, the master station controller 10 sends an instruction to the mover to continue moving. After receiving the instruction to continue moving, the mover continues to move toward the target station.

[0052] Optionally, under the control of the master station controller 10, when the mover reaches the target station, the distance between the mover and other movers is less than or equal to the safety distance, and the mover stops moving toward the target station;

[0053] The mover moves to the edge position;

[0054] The distance between the mover and other movers is greater than the safety distance, and the mover continues to move to the target station.

[0055] Specifically, according to the system design and safety requirements, a safe distance between movers is set in the master station controller 10. During the movement process, the mover controller 10 continuously monitors the distance between other movers. The mover controller 30 compares the monitored distance information with the preset safe distance. When the mover detects that the distance between the mover and other movers is less than or equal to the safe distance, the mover controller 30 immediately stops moving toward the target station. At the same time, the mover controller 30 sends status update information to the master station controller 10, reporting the current distance status and the decision to stop moving. If the mover needs to move to the edge position due to system scheduling or other reasons after stopping the movement, the master station controller 10 will send a new movement instruction to the mover. After receiving the instruction, the mover moves to the specified edge position and waits for further scheduling. When the mover detects that the distance between the mover and other movers is greater than the safe distance, and there are no other obstacles (such as traffic jams, waiting states, etc.), the mover controller 30 continues to execute the movement instruction toward the target station. The mover continues to move until it reaches the target station.

[0056] Optionally, the master station controller 10 obtains the motion trajectory of the mover at preset time intervals;

[0057] The master station controller 10 determines the speed and target position of the mover at the next moment according to the motion trajectory of the mover;

[0058] The master station controller 10 controls the controller 30 of the mover to drive the motion state of the mover at the next moment, and the motion state includes speed and acceleration.

[0059] Specifically, the master controller 10 obtains the current motion trajectory of the mover from the mover controller 30 at preset intervals. The motion trajectory data may include the position, speed, acceleration and other state information of the mover. The master controller 10 processes and analyzes the acquired motion trajectory data to evaluate the motion state and trend of the mover. According to the motion trajectory data, the master controller 10 can calculate the predicted position and speed of the mover at the next moment. The master controller 10 calculates the speed and acceleration values ​​of the mover at the next moment according to the online planning motion algorithm of the mover through the current position, current speed and acceleration of the mover, the target position and the maximum speed and acceleration allowed for the motion. According to the process flow and the current position of the mover, the master controller 10 determines the target position of the mover at the next moment. The master controller 10 generates the motion state control instruction of the mover at the next moment according to the calculated speed, acceleration and target position. The master controller 10 sends the generated motion state control instruction to the mover controller 30. After receiving the motion state control instruction sent by the master controller 10, the mover controller 30 adjusts the motion state of the mover, including speed and acceleration. The mover moves according to the adjusted motion state until it reaches the target position at the next moment.

[0060] The EtherCAT master controller 10 on the embedded PC controls the motion of each mover through the driver where the mover is located. The master controller 10 calculates the motion trajectory of each mover according to each EtherCAT cycle to obtain the speed and position of the movers at the next moment, and sets it to the driver to achieve asynchronous motion of each mover, thereby solving the asynchronous beat problem.

[0061] Optionally, the mover includes a moving trolley.

[0062] Specifically, the embedded system can achieve precise control of the mobile cart, including precise adjustment of parameters such as speed, acceleration, and position. The mobile cart can move according to the preset process flow and speed requirements, reducing waiting time and ineffective movement, thereby improving production efficiency. The control system can realize the automatic scheduling of the mobile cart, and adjust the movement trajectory and target position of the cart in real time according to production needs, avoiding the tediousness and errors of manual scheduling, and improving the flexibility and response speed of the production process. Multiple mobile carts can work together under the control of the embedded system to complete complex production tasks, improving production efficiency and transformation speed.

[0063] Optionally, the mover takes the station closest to the current stop position as the target station including:

[0064] According to the current stop position, the current section, the current work unit and the current process flow, the mover traverses the workstation on the current section and takes the workstation closest to the current stop position as the target workstation.

[0065] Specifically, the mover will traverse the workstations from left to right on the road section and compare them with the mover's workunits according to the current stop position, current road section, current workunit and current process flow, and query the workstation closest to the current stop position in the mover's process flow as the target workstation. If the direction of this road section is from left to right and the workstation is on the left side of the mover, that is, the mover position exceeds the nearest workunit, then the next target workunit of the workunit corresponding to the mover is used as the mover's target workstation; if the workstation is on the right side of the mover, then the workunit corresponding to the workstation is used as the mover's target workstation.

[0066] According to another aspect of the present invention, there is provided an embedded direct-drive conveying control device, comprising the embedded direct-drive conveying control system described in any embodiment of the present invention.

[0067] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0068] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An embedded direct drive conveying control system, characterized in that: include: The master station controller allocates a process flow to each of the movers according to the topological structure of the conveying system of the movers; The topological structure of the conveying system includes a section group, a station group, a work unit group, a process flow and a mover group; the section group includes the length of the section, the number of sections and the docking structure set on the section; the station group includes the position of each station on the section; the work unit group includes the station and the ferry section position to reach the station, whether the station automatically simulates work and the working time, and specifies the next target station according to the work result; the process flow includes a closed-loop set composed of multiple work units; the mover group includes the number of movers, the process flow information of each mover and the safe distance between movers; Under the control of the master station controller, the mover takes the station closest to the current stop position as the target station; Under the control of the master station controller, the mover sets a target working unit according to the target workstation; wherein the working unit corresponding to the target workstation is the target working unit; Under the control of the master station controller, after the mover reaches the target workstation, the target working unit is started and the working time is entered.

2. The embedded direct drive conveying control system according to claim 1, characterized in that: It also includes an embedded storage medium, in which the topological structure of the conveying system of the mover is stored, and the embedded storage medium is connected to the master station controller.

3. The embedded direct drive conveying control system according to claim 1, characterized in that: Under the control of the master station controller, the mover determines its own motion state according to the process flow, and the motion state includes the motion direction, target position, current stop position and blocking state; the mover includes a controller and a moving device, the controller is connected to the master station controller, and under the control of the master station controller, the moving device moves to a preset position.

4. The embedded direct drive conveying control system according to claim 3, characterized in that: Under the control of the master station controller, after the mover reaches the target station, the target working unit is started, and the working time is entered, the method further includes: Under the control of the master station controller, the mover takes the station closest to the current stop position as the next target station according to the process flow.

5. The embedded direct drive conveying control system according to claim 1, characterized in that: Under the control of the master station controller, when the mover encounters a traffic jam or a waiting state during the process of reaching the target station, the mover stops moving toward the target station; When the road section is unblocked, under the control of the master station controller, the mover continues to move to the target station.

6. The embedded direct drive conveying control system according to claim 5, characterized in that: Under the control of the master station controller, when the mover reaches the target station, the distance between the mover and other movers is less than or equal to the safety distance, and the mover stops moving toward the target station; The mover moves to an edge position; The distance between the mover and other movers is greater than the safety distance, and the mover continues to move to the target workstation.

7. The embedded direct drive conveying control system according to claim 3, characterized in that: The master station controller obtains the motion trajectory of the mover at preset time intervals; The master station controller determines the speed and target position of the mover at the next moment according to the motion trajectory of the mover; The master station controller controls the controller of the mover to drive the motion state of the mover at the next moment, and the motion state includes speed and acceleration.

8. The embedded direct drive conveying control system according to claim 1, characterized in that: The mover includes a moving vehicle.

9. The embedded direct drive conveying control system according to claim 1, characterized in that: The mover takes the station closest to the current stop position as the target station including: The mover traverses the workstations on the current section and takes the workstation closest to the current stop position as the target workstation according to the current stop position, the current section, the current work unit and the current process flow.

10. An embedded direct drive conveying control device, characterized in that: It comprises the embedded direct drive conveying control system as described in any one of claims 1-9.

Images