Multi-controller system, multi-controller control method and readable storage medium

Abstract

The invention provides a multi-controller system, a multi-controller control method and a readable storage medium, and the system comprises a main controller which is used for transmitting a first starting signal to a UPS power supply under the condition that a starting instruction is received, and is also used for transmitting a shutdown signal to each sub-controller under the condition that a shutdown instruction is received, after it is determined that all the sub-controllers are shut down, a delay shutdown signal is sent to the UPS; the UPS is electrically connected with the main controller, the UPS is used for providing corresponding initial startup voltage for the main controller and all the sub-controllers according to the first startup signal, and the UPS is further used for delaying for a preset duration according to the delay shutdown signal and then closing power output; and the plurality of sub-controllers are electrically connected with the UPS power supply and are in communication connection with the main controller. According to the system, the main controller is controlled through one key, unified start and stop of multiple controllers on an automatic production line are achieved, and tedious manual operation is avoided.

Description

Technical Field

[0001] The present application relates to the field of industrial Internet, and more specifically, to a multi-controller system, a multi-controller control method, and a computer-readable storage medium. Background Art

[0002] With the rapid development of artificial intelligence technologies such as machine vision and large models, the application of AI technology is becoming more and more common. At the same time, with the development of industrial digitalization, there are increasingly higher requirements for real-time data collection and remote control. To this end, in addition to completing traditional mechanical control, automated control systems also need to be more and more integrated with IT systems. They need to support high-computing AI operations, connect with IT systems through standardized interfaces such as MQTT / OPC UA to achieve data acquisition, digital twin / digital billboard docking, etc. For this reason, the control system has also changed from the traditional single PLC control to the current multi-controller collaborative control (including main controller, AI server, edge data acquisition gateway, robotic arm / CNC controller, etc.).

[0003] While the introduction of multiple controllers improves efficiency, it also places higher demands on the power on / off management of equipment, causing difficulties in daily management:

[0004] 1. Complex operation: Traditional on / off machines require operators to manually start and stop different modules one by one, which greatly increases the burden on operators and is prone to missing steps or sequence errors.

[0005] 2. Waste of resources: Starting and stopping modules one by one is not only time-consuming, but also causes some modules to remain in operation when they are not put into use, wasting system resources.

[0006] 3. Risk of sudden power outages: Automated production lines often require continuous power supply, but system interruptions caused by unexpected power outages can have serious consequences, including data loss, component damage, etc. Traditional control systems lack a response mechanism for sudden power outages.

[0007] 4. Poor coordination: The start and stop processes between multiple modules need to be coordinated with each other, otherwise there will be problems such as material transmission interruption and production rhythm disorder.

[0008] 5. High personnel requirements: AI servers, edge data acquisition gateways and other equipment are usually installed with operating systems such as Windows / Linux, and turning them on and off has higher requirements for users. Summary of the invention

[0009] The main purpose of the present application is to provide a multi-controller system, a multi-controller control method and a computer-readable storage medium, so as to at least solve the problems existing in the prior art in the process of powering on and off multiple controllers, such as complex operation, waste of resources, poor coordination, high personnel requirements, and power outage risks.

[0010] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a multi-controller system is provided, including: a main controller, which is used to send a first startup signal to a UPS power supply when a startup instruction is received, and is also used to send a shutdown signal to each sub-controller when a shutdown instruction is received, and after determining that all the sub-controllers are shut down, send a delayed shutdown signal to the UPS power supply, the first startup signal at least includes a startup voltage value required by the main controller, a startup voltage value required by each of the sub-controllers, a startup sequence of the main controller and a startup sequence of each of the sub-controllers; a UPS power supply, which is electrically connected to the main controller, and is used to provide the main controller and all the sub-controllers with corresponding initial startup voltages according to the first startup signal, and the UPS power supply is also used to shut down the power output after delaying for a preset period of time according to the delayed shutdown signal; and multiple sub-controllers, which are respectively electrically connected to the UPS power supply and are respectively communicatively connected to the main controller.

[0011] Optionally, the multiple sub-controllers include an automatic start controller and a non-automatic start controller, the automatic start controller is a controller that automatically starts up after receiving the corresponding initial start-up voltage, and the non-automatic start controller is a controller that cannot automatically start up after receiving the corresponding initial start-up voltage, and the main controller is also used to: after the UPS power supply provides the initial start-up voltage to the main controller and all the sub-controllers, send a second start signal to the non-automatic start controller through the communication interface, so that the non-automatic start controller enters a power-on enabled state according to the second start signal.

[0012] Optionally, the main controller includes: a protocol converter for automatically identifying and adapting to multiple communication protocols, the protocol converter is also used to convert the format of the signal sent by the main controller to the UPS power supply and each of the sub-controllers into a signal format that can be recognized by the UPS power supply and each of the sub-controllers, the signal at least includes a first start signal and a delayed shutdown signal; a power management unit, used to detect the power consumption of each of the sub-controllers in real time and dynamically adjust the power allocation strategy of each of the sub-controllers according to the power consumption of each of the sub-controllers by adopting an intelligent adaptation algorithm, the power allocation strategy includes the voltage value allocated by the UPS power supply to each of the sub-controllers; a user-defined interface, used to transmit signals between the main controller and the UPS power supply and each of the sub-controllers.

[0013] Optionally, the main controller is also used to: detect the load condition of each sub-controller in real time, the load condition includes the operating status of the sub-controller, the complexity and urgency of the production task, and the operating status of the sub-controller includes the temperature and current of the sub-controller; determine the resource allocation amount of each sub-controller according to the load conditions of all the sub-controllers; in the event of an abnormality in the sub-controller, determine the abnormal data of the sub-controller, and adjust the resource allocation amount of the sub-controller according to the abnormal data of the sub-controller, and / or, in the event of a change in the production task of the sub-controller, adjust the resource allocation amount of the sub-controller according to the task data of the changed production task.

[0014] Optionally, the main controller is further used to: determine the current task status of each sub-controller when a shutdown command is received, and send a shutdown signal to each sub-controller when all the current task statuses have been completed or saved to a safe state.

[0015] Optionally, in the event of a power outage or power abnormality in the multi-controller system, the UPS power supply switches from a normal power supply state to a backup power supply state and sends an emergency notification signal to the main controller. Upon receiving the emergency notification signal, the main controller sends an emergency shutdown signal to all the sub-controllers and saves the current operating status and operating data. Upon receiving the emergency shutdown signal, each sub-controller resets to a corresponding set safety position and shuts down.

[0016] Optionally, the multiple sub-controllers are respectively a robotic arm controller, an AI server and an edge data gateway.

[0017] According to another aspect of the present application, a multi-controller control method is provided, and the method is applied to the main controller of any one of the multi-controller systems, and the method includes: when receiving a power-on command, the main controller sends a first startup signal to a UPS power supply, so that the UPS power supply provides an initial startup voltage for the main controller and all sub-controllers, and the first startup signal at least includes a startup voltage value required by the main controller, a startup voltage value required by each of the sub-controllers, a startup sequence of the main controller, and a startup sequence of each of the sub-controllers; when receiving a shutdown command, the main controller sends a shutdown signal to each of the sub-controllers, and after determining that all of the sub-controllers are shut down, sends a delayed shutdown signal to the UPS power supply, so that the UPS power supply turns off the power output after a delay of a preset period of time.

[0018] Optionally, the sub-controller includes an automatic start controller and a non-automatic start controller, the automatic start controller is a controller that automatically starts up after receiving the corresponding initial start-up voltage, and the non-automatic start controller is a controller that cannot automatically start up after receiving the corresponding initial start-up voltage. After the main controller sends a first start signal to the UPS power supply, the method also includes: after the UPS power supply provides the initial start-up voltage to the main controller and all the sub-controllers, the main controller sends a second start signal to the non-automatic start controller through the communication interface, so that the non-automatic start controller enters a power-on enabled state according to the second start signal.

[0019] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the multi-controller control methods.

[0020] Applying the technical solution of the present application, the above-mentioned multi-controller system includes: a main controller, which is used to send a first startup signal to a UPS power supply when receiving a startup command, and is also used to send a shutdown signal to each sub-controller when receiving a shutdown command, and after determining that all sub-controllers are shut down, send a delayed shutdown signal to the UPS power supply; a UPS power supply, which is electrically connected to the main controller, and is used to provide the main controller and all sub-controllers with the corresponding initial startup voltage according to the first startup signal, and the UPS power supply is also used to shut down the power output after delaying the preset time according to the delayed shutdown signal; and multiple sub-controllers, which are respectively electrically connected to the UPS power supply and respectively communicated with the main controller. The system controls the main controller with one button to realize the unified start and stop of multiple controllers on the automated production line, avoid cumbersome manual operations, and solve the problems of complex operation, waste of resources, poor coordination, high personnel requirements, and power outage risks in the process of switching multiple controllers in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0022] Figure 1 A schematic diagram of the structure of a multi-controller system in the prior art is shown;

[0023] Figure 2 A schematic diagram of the structure of a multi-controller system provided in an embodiment of the present application is shown;

[0024] Figure 3A schematic flow chart of a multi-controller control method provided according to an embodiment of the present application is shown;

[0025] Figure 4 A structural block diagram of a main controller provided according to an embodiment of the present application is shown.

[0026] The above drawings include the following reference numerals:

[0027] 10. Main controller; 20. UPS power supply; 30. Sub-controller. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] For the convenience of description, some nouns or terms involved in the embodiments of the present application are explained below:

[0032] One-button power on / off: refers to starting or shutting down the entire control system by operating the switch once.

[0033] UPS: Uninterruptible Power Supply, used to provide short-term backup power to the system in case of sudden power outage.

[0034] As introduced in the background technology, traditional industrial production lines generally use a single PLC as a controller. The system start / stop is relatively simple, and it can be directly shut down and powered off. With the development of technologies such as AI and digitalization, intelligent industrial equipment continues to emerge, industrial control systems are also constantly evolving, and the number and types of controllers on a production line are also increasing. Figure 1 It is a structural diagram of a multi-controller system in the prior art, such as Figure 1 As shown, the multi-controller system in the prior art includes:

[0035] Main controller: It can be a traditional hard PLC or a new intelligent soft PLC to complete basic mechanical control functions;

[0036] Robotic arm controller: Robotic arms are increasingly used in new production lines. Each robot arm has an automatic controller to control the movement of the robot arm.

[0037] AI server: used to support AI algorithms that require high computing power, such as image acquisition, visual positioning, and object recognition;

[0038] Edge data gateway: Communicates with MES, ERP, SCADA and other systems through standardized interfaces such as MQTT and OPC UA to complete data collection and remote control.

[0039] The emergence of multiple controllers has put forward higher requirements for the daily operation and maintenance management of the production line. The daily operation and maintenance personnel on site can no longer complete the power on and off of the above equipment by simply switching on and off the power. They must master complex and tedious operation steps. Each time the machine is turned on and off, they must strictly follow the operating instructions. It is very easy to make mistakes and cause system abnormalities or failures. At the same time, AI servers, edge data gateways and other systems use Windows / Linux operating systems. Once an unexpected power outage occurs, it is easy to cause system abnormalities. In the event of an unexpected power outage, the robotic arm controller is also prone to robotic arm failure, which is very troublesome to recover.

[0040] In order to solve the problems of complex operation, waste of resources, poor coordination, high personnel requirements, power outage risk, etc. in the power on and off process of multiple controllers in the prior art, the embodiments of the present application provide a multi-controller system, a multi-controller control method and a readable storage medium.

[0041] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0042] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0043] Figure 2 is a schematic diagram of the structure of a multi-controller system according to an embodiment of the present application. Figure 2 As shown, the system includes: a main controller 10, which is used to send a first start signal to the UPS power supply 20 when receiving a start command, and is also used to send a shutdown signal to each sub-controller 30 when receiving a shutdown command, and after determining that all the above sub-controllers 30 are shut down, send a delayed shutdown signal to the UPS power supply 20, the first start signal at least includes the start voltage value required by the main controller 10, the start voltage value required by each of the above sub-controllers 30, the start sequence of the main controller 10 and the start sequence of each of the above sub-controllers 30; a UPS power supply 20, which is electrically connected to the main controller 10, and the UPS power supply 20 is used to provide the main controller 10 and all the sub-controllers 30 with corresponding initial start voltages according to the first start signal, and the UPS power supply 20 is also used to shut down the power output after delaying a preset time according to the delayed shutdown signal; multiple sub-controllers 30, which are respectively electrically connected to the UPS power supply 20 and are respectively communicatively connected to the main controller 10.

[0044] The above-mentioned multi-controller system of the present application includes: a main controller, which is used to send a first startup signal to a UPS power supply when receiving a startup command, and is also used to send a shutdown signal to each sub-controller when receiving a shutdown command, and after determining that all sub-controllers are shut down, send a delayed shutdown signal to the UPS power supply; a UPS power supply, which is electrically connected to the main controller, and the UPS power supply is used to provide the main controller and all sub-controllers with the corresponding initial startup voltage according to the first startup signal, and the UPS power supply is also used to shut down the power output after delaying the preset time according to the delayed shutdown signal; multiple sub-controllers are respectively electrically connected to the UPS power supply and are respectively connected to the main controller. The system controls the main controller with one button to realize the unified start and stop of multiple controllers on the automated production line, avoids cumbersome manual operations, and solves the problems of complex operation, waste of resources, poor coordination, high personnel requirements, and power outage risks in the process of switching on and off multiple controllers in the prior art.

[0045] Among them, the above-mentioned system specifically involves the power on and off technology used in industrial automation production lines, introducing UPS as the power supply for all controllers to ensure that all control devices are powered by UPS to avoid abnormal power outages of various control modules due to abnormal situations such as power outages.

[0046] In some instances, the main controller includes: a protocol converter for automatically identifying and adapting to a variety of communication protocols, the protocol converter also for converting the format of the signal sent by the main controller to the UPS power supply and each of the sub-controllers into a signal format recognizable by the UPS power supply and each of the sub-controllers, the signal including at least a first start signal and a delayed shutdown signal; a power management unit for real-time detection of the power consumption of each of the sub-controllers and dynamically adjusting the power allocation strategy of each of the sub-controllers by using an intelligent adaptation algorithm according to the power consumption of each of the sub-controllers, the power allocation strategy including the voltage value allocated by the UPS power supply to each of the sub-controllers; a user-defined interface for transmitting signals between the main controller and the UPS power supply and each of the sub-controllers.

[0047] The main controller and UPS are connected and communicated through the network port, serial port, etc. (adapted according to the interface mode provided by UPS), and can realize mutual control. In order to ensure effective communication between UPS and main controller in complex industrial environment with multiple devices and multiple protocols, protocol conversion and power management modules are developed.

[0048] The protocol converter is a software component that can automatically identify and adapt to multiple communication protocols, including but not limited to Modbus, EtherCat and other common industrial protocols. The converter allows seamless communication between the main controller and the UPS through software-defined network functions, regardless of the communication protocol supported by the UPS.

[0049] The power management unit is responsible for monitoring and managing the power output of the UPS to ensure that the different power requirements of different devices are met. The unit monitors the device status and power consumption in real time and dynamically adjusts the power allocation strategy to optimize energy efficiency and ensure the stable operation of key devices.

[0050] Intelligent adaptation algorithms are used to analyze the operating status of the production line in real time and automatically adjust the communication protocol and power management strategy according to the specific needs of the equipment. These algorithms can predict changes in equipment status and make adjustments in advance to avoid production interruptions caused by power fluctuations or communication delays.

[0051] To further improve the flexibility of the system, a user-defined interface is provided to allow users to customize communication protocols and power management strategies according to specific production requirements and equipment characteristics.

[0052] In some instances, the multiple sub-controllers mentioned above are respectively a robotic arm controller, an AI server, and an edge data gateway.

[0053] Specifically, multiple sub-controllers can meet the needs of dataization and intelligence on the production line.

[0054] The main controller communicates with other controllers such as AI server, edge data gateway, and robotic arm controller (such as Figure 2 As shown in the figure, the single arrow indicates that all communications are initiated by the main controller, and other controllers only respond), and the main controller further controls the start / stop of other controllers.

[0055] In some instances, the multiple sub-controllers include an automatic start controller and a non-automatic start controller, the automatic start controller is a controller that automatically starts up after receiving the corresponding initial start-up voltage, and the non-automatic start controller is a controller that cannot automatically start up after receiving the corresponding initial start-up voltage, and the main controller is also used to: after the UPS power supply provides the initial start-up voltage to the main controller and all the sub-controllers, send a second start signal to the non-automatic start controller through the communication interface, so that the non-automatic start controller enters a power-on enabled state according to the second start signal.

[0056] Specifically, this can fully utilize UPS for power supply guarantee, and realize automatic power on and off through cooperative communication between multiple controllers. The above steps have the advantages of short start-stop control system time, simple implementation method, greatly reduced implementation cost, and at the same time ensure system data integrity and system stability in the event of sudden power outages, and optimize system production coordination capabilities. A fast and accurate one-button power on and off process can be achieved, thereby ensuring the working efficiency of the control system.

[0057] The startup of each controller actually includes two parts:

[0058] Controller startup: The device is powered on by UPS, but is not yet operational after startup;

[0059] Controller operation: For the main controller, AI server, edge data gateway, etc., it is necessary to start the relevant programs after power-on; for equipment such as robotic arms, it is necessary to perform power-on operations. After completing the above operations, the controller is truly ready for production.

[0060] In some instances, the main controller is also used to: detect the load condition of each of the sub-controllers in real time, the load condition including the operating status of the sub-controller, the complexity and urgency of the production task, and the operating status of the sub-controller including the temperature and current of the sub-controller; determine the resource allocation amount of each of the sub-controllers according to the load condition of all the sub-controllers; in the event of an abnormality in the sub-controller, determine the abnormal data of the sub-controller, and adjust the resource allocation amount of the sub-controller according to the abnormal data of the sub-controller, and / or, in the event of a change in the production task of the sub-controller, adjust the resource allocation amount of the sub-controller according to the task data of the changed production task.

[0061] Specifically, the main controller can optimize energy management and production scheduling by dynamically adjusting resource allocation based on the adaptive control strategy.

[0062] Among them, the adaptive control strategy includes load detection and analysis, resource allocation and exception handling mechanism. Load monitoring and analysis include: the system monitors the load of the production line in real time, including the equipment operation status, the complexity and urgency of the production task, and uses sensors and data acquisition systems to collect equipment status data, such as temperature, vibration, current, etc., to evaluate the health and performance of the equipment. Resource allocation includes: dynamically adjusting resource allocation according to real-time monitoring data, giving priority to the execution of key tasks, fully considering the performance, energy consumption and maintenance cycle of the equipment, optimizing equipment use, and extending the life of the equipment. The exception handling mechanism includes: when the system detects equipment abnormalities or changes in production tasks, the adaptive control strategy can respond quickly, adjust resource allocation, ensure production continuity and product quality, and the system can predict and identify potential production bottlenecks, take measures in advance, and avoid production interruptions.

[0063] In some instances, the main controller is further used to: upon receiving a shutdown command, determine the current task status of each of the sub-controllers, and send a shutdown signal to each sub-controller when all of the current task statuses have been completed or saved to a safe state.

[0064] Specifically, this ensures that all devices are safely shut down to avoid power surges.

[0065] Among them, the system one-key startup process includes the following:

[0066] The main controller sends a startup signal to the UPS through a self-starting script and a protocol converter, and distributes power to each controller according to the preset power management strategy.

[0067] After receiving the start-up signal, the UPS provides initial power to all connected controllers according to the instructions of the power management unit.

[0068] The main controller monitors the startup status of each controller and adjusts the power distribution and communication protocol in real time through an intelligent adaptation algorithm to ensure that each controller can start smoothly.

[0069] For other hardware controllers that cannot be started automatically (such as robot arms, CNC controllers, etc.), the main controller sends a startup command through the interface, and the controllers of the robot arms, CNC and other devices make the powered-on devices enter the power-on and enabled state to ensure that all software and hardware are started normally.

[0070] After the boot process is completed, the system automatically enters the monitoring state. The main controller continuously monitors the operating status of other controllers, including their load and performance indicators.

[0071] The system one-key shutdown process includes the following:

[0072] When the production task is completed, the user presses the shutdown button to shut down the machine;

[0073] The main controller checks the current production task status to ensure that all tasks have been completed or saved to a safe state.

[0074] The main controller sends a shutdown command to each controller and ensures that the command is transmitted to each controller using the correct communication protocol through a protocol converter.

[0075] After receiving the shutdown command, each controller executes the preset shutdown procedure, including data preservation and hardware safety shutdown.

[0076] After confirming that all controllers have been safely shut down, the main controller sends a delayed shutdown signal to the UPS.

[0077] After receiving the delayed shutdown signal, the UPS will delay for a corresponding period of time and then shut down the UPS power output to ensure that all devices are safely shut down to avoid power shock.

[0078] In some instances, when a power outage or power abnormality occurs in the multi-controller system, the UPS power supply switches from a normal power supply state to a backup power supply state and sends an emergency notification signal to the main controller. Upon receiving the emergency notification signal, the main controller sends an emergency shutdown signal to all the sub-controllers and saves the current operating status and operating data. Upon receiving the emergency shutdown signal, each of the sub-controllers resets to the corresponding set safety position and shuts down.

[0079] Specifically, when the system detects a sudden power outage or power anomaly, the UPS module immediately switches to the backup power supply state and sends an emergency notification to the main controller. The main controller then sends instructions to the robot arm or CNC controller interface according to the power-off processing plan to reset it to the set safe position for shutdown. The main controller resets each controller involved in the current process according to the power-off processing plan. In addition, the main controller also saves the current operating status and data, including the current unpacking and loading status, production logs, sub-module configurations, etc. Each sub-module shuts down or resets the joints according to the power-off processing plan while preserving data to ensure data integrity. After power is restored, the main controller restores the system operating status according to the saved records and starts the relevant modules to continue working. This process ensures the continuity and stability of production.

[0080] Among them, the above system can achieve the following beneficial effects:

[0081] 1. One-button power on / off function:

[0082] Multi-controller coordination: The start and stop sequence of multiple controllers is coordinated through the main controller to avoid omissions and confusion in the traditional manual start and stop process.

[0083] Reduce complexity: Simplify complex operations into one-click processes, significantly reducing manpower, time and resource costs.

[0084] 2. UPS power supply guarantee:

[0085] Backup power: The UPS module switches to backup power in the event of a power outage, providing enough time to ensure safe system shutdown and data preservation.

[0086] Data security: The main controller works with the UPS to save data and operating status, ensuring safe recovery after power is restored.

[0087] 3. System status monitoring:

[0088] Real-time feedback: The main controller obtains feedback information from other controllers through interfaces, monitors the entire production process and module status in real time, and ensures system safety and efficiency.

[0089] Optimize production: Based on real-time monitoring results, the main controller can optimize the production plan to ensure the smoothness of the production process and improve production efficiency.

[0090] 4. Production coordination:

[0091] Start and stop synchronization: One-button power on and off process ensures that all controllers are started and shut down synchronously in a reasonable order to maintain the coordination of the production process.

[0092] Resource integration: Optimize the resources of each module through the main controller, reduce bottlenecks on the production line, and improve the coordination and efficiency of the overall system.

[0093] 5. Adaptive control strategy:

[0094] Dynamic resource allocation: The system dynamically adjusts resource allocation based on real-time data to optimize production processes and energy use. Specific implementation methods include: using sensors and data acquisition systems to collect equipment status data such as temperature, vibration, current, etc. according to the load of the production line, the operating status of the equipment, the complexity and urgency of the production task, in order to evaluate the health and performance of the equipment. Based on this data, the system automatically adjusts resource allocation, prioritizes the execution of key tasks, fully considers the performance, energy consumption and maintenance cycle of the equipment, optimizes the use of equipment, and extends the life of the equipment.

[0095] Production scheduling optimization: The system automatically adjusts the production plan to improve production efficiency and flexibility.

[0096] Exception handling: The system can quickly respond to equipment exceptions and production task changes to ensure production continuity.

[0097] The present application also provides a multi-controller control method, which is applied to any of the main controllers of the multi-controller system. Figure 3 As shown, the above method comprises the following steps:

[0098] Step S101, when receiving a power-on instruction, the main controller sends a first startup signal to the UPS power supply, so that the UPS power supply provides an initial startup voltage for the main controller and all sub-controllers, and the first startup signal at least includes a startup voltage value required by the main controller, a startup voltage value required by each of the sub-controllers, a startup sequence of the main controller, and a startup sequence of each of the sub-controllers;

[0099] Step S102, when receiving a shutdown command, the main controller sends a shutdown signal to each of the sub-controllers, and after determining that all of the sub-controllers are shut down, sends a delayed shutdown signal to the UPS power supply, so that the UPS power supply turns off the power output after a preset delay.

[0100] The control method of the above-mentioned multi-controller of the present application is applied to the main controller of any multi-controller system. First, when receiving the power-on command, the main controller sends a first startup signal to the UPS power supply, so that the UPS power supply provides the initial startup voltage for the main controller and all sub-controllers. The first startup signal at least includes the startup voltage value required by the main controller, the startup voltage value required by each sub-controller, the startup sequence of the main controller, and the startup sequence of each sub-controller; then, when receiving the shutdown command, the main controller sends a shutdown signal to each sub-controller, and after determining that all sub-controllers are shut down, sends a delayed shutdown signal to the UPS power supply, so that the UPS power supply turns off the power output after delaying the preset time. This method realizes the unified start and stop of multiple controllers on the automated production line by controlling the main controller with one button, avoiding cumbersome manual operation, and solving the problems of complex operation, waste of resources, poor coordination, high personnel requirements, and power failure risk in the process of switching on and off multiple controllers in the prior art.

[0101] The above method can achieve a fast, consistent and efficient start-stop process, and at the same time has the ability to cope with sudden power outages and is highly robust.

[0102] The above method can achieve the following effects:

[0103] 1. Simplify the startup and shutdown process: By controlling the main controller with one button, the unified start and stop of multiple controllers on the automated production line can be achieved, avoiding tedious manual operations.

[0104] 2. Improve resource utilization efficiency: Ensure reasonable allocation of resources and avoid useless energy consumption by automatically coordinating the start and stop of modules.

[0105] 3. Enhanced power outage response capability: The integrated UPS module provides backup power to ensure data integrity and system stability in the event of a sudden power outage.

[0106] 4. Optimize production coordination: Through the one-button power on and off method, unify the start and stop time of multiple controllers to ensure smooth system operation.

[0107] In some instances, the sub-controllers include an automatic start controller and a non-automatic start controller, the automatic start controller is a controller that automatically starts up after receiving the corresponding initial start-up voltage, and the non-automatic start controller is a controller that cannot automatically start up after receiving the corresponding initial start-up voltage. After the main controller sends a first start signal to the UPS power supply, the method further includes: after the UPS power supply provides the initial start-up voltage to the main controller and all the sub-controllers, the main controller sends a second start signal to the non-automatic start controller through the communication interface, so that the non-automatic start controller enters a power-on enabled state according to the second start signal.

[0108] Specifically, the following beneficial effects can be achieved:

[0109] Simplified on / off process: The one-button on / off function unifies the start / stop process of multiple submodules, greatly simplifies the operation complexity, reduces manual operation errors, and improves production efficiency.

[0110] Reasonable resource utilization: Through a unified main controller to coordinate various modules, the idleness and waste of sub-modules can be avoided to the greatest extent, and the reasonable allocation of system resources can be achieved.

[0111] Data integrity: UPS modules provide backup power to ensure data integrity and system stability even in the event of a sudden power outage.

[0112] Production coordination: Each submodule is started and shut down synchronously in the one-button power on and off process, which helps to achieve production coordination and improve the smoothness of material transmission and the efficiency of unpacking and loading.

[0113] The present application embodiment also provides a main controller. It should be noted that the main controller of the present application embodiment can be used to execute the control method for multiple controllers provided by the present application embodiment. The main controller is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions thereof will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and contemplated.

[0114] The main controller provided in the embodiment of the present application is introduced below.

[0115] Figure 4 is a schematic diagram of a main controller according to an embodiment of the present application. Figure 4 As shown, the main controller includes a first sending unit 40 and a second sending unit 50. The first sending unit 40 is used for, when receiving a power-on instruction, the main controller sends a first start-up signal to the UPS power supply, so that the UPS power supply provides an initial start-up voltage for the main controller and all sub-controllers, and the first start-up signal at least includes the start-up voltage value required by the main controller, the start-up voltage value required by each of the sub-controllers, the start-up sequence of the main controller and the start-up sequence of each of the sub-controllers; the second sending unit 50 is used for, when receiving a shutdown instruction, the main controller sends a shutdown signal to each of the sub-controllers, and after determining that all of the sub-controllers are shut down, sends a delayed shutdown signal to the UPS power supply, so that the UPS power supply turns off the power output after a preset delay.

[0116] The above-mentioned main controller of the present application includes a first sending unit and a second sending unit. The first sending unit is used for the main controller to send a first start signal to the UPS power supply when receiving a power-on instruction, so that the UPS power supply provides an initial power-on voltage for the main controller and all sub-controllers, and the first start signal at least includes the power-on voltage value required by the main controller, the power-on voltage value required by each sub-controller, the power-on sequence of the main controller, and the power-on sequence of each sub-controller; the sending unit is used for the main controller to send a shutdown signal to each sub-controller when receiving a shutdown instruction, and after determining that all sub-controllers are shut down, send a delayed shutdown signal to the UPS power supply, so that the UPS power supply turns off the power output after a preset delay. The main controller controls the main controller with one button to realize the unified start and stop of multiple controllers on the automated production line, avoid cumbersome manual operations, and solve the problems of complex operation, waste of resources, poor coordination, high personnel requirements, and power failure risks in the process of switching multiple controllers in the prior art.

[0117] As an optional solution, the sub-controller includes an automatic start controller and a non-automatic start controller, the automatic start controller is a controller that automatically starts after receiving the corresponding initial start voltage, and the non-automatic start controller is a controller that cannot automatically start after receiving the corresponding initial start voltage, and the main controller also includes a third sending unit, which is used for after the main controller sends the first start signal to the UPS power supply, and after the UPS power supply provides the initial start voltage for the main controller and all the sub-controllers, the main controller sends the second start signal to the non-automatic start controller through the communication interface, so that the non-automatic start controller enters the power-on enable state according to the second start signal. In this way, the start and stop processes of multiple sub-modules can be unified, which greatly simplifies the operation complexity, reduces manual operation errors, and improves production efficiency.

[0118] The main controller includes a processor and a memory, and the first sending unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0119] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problems of complex operation, resource waste, poor coordination, high personnel requirements, power outage risk, etc. in the process of powering on and off multiple controllers in the prior art.

[0120] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0121] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the multi-controller control method.

[0122] Specifically, the control method of the multi-controller includes:

[0123] Step S101, when receiving a power-on instruction, the main controller sends a first startup signal to the UPS power supply, so that the UPS power supply provides an initial startup voltage for the main controller and all sub-controllers, and the first startup signal at least includes a startup voltage value required by the main controller, a startup voltage value required by each of the sub-controllers, a startup sequence of the main controller, and a startup sequence of each of the sub-controllers;

[0124] Step S102, when receiving a shutdown command, the main controller sends a shutdown signal to each of the sub-controllers, and after determining that all of the sub-controllers are shut down, sends a delayed shutdown signal to the UPS power supply, so that the UPS power supply turns off the power output after a preset delay.

[0125] Optionally, the sub-controllers include an automatic start controller and a non-automatic start controller, the automatic start controller is a controller that automatically starts up after receiving the corresponding initial start-up voltage, and the non-automatic start controller is a controller that cannot automatically start up after receiving the corresponding initial start-up voltage. After the main controller sends a first start signal to the UPS power supply, the method further includes: after the UPS power supply provides the initial start-up voltage to the main controller and all the sub-controllers, the main controller sends a second start signal to the non-automatic start controller through the communication interface, so that the non-automatic start controller enters a power-on enabled state according to the second start signal.

[0126] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the control method of the multi-controller is executed when the program is run.

[0127] Specifically, the control method of the multi-controller includes:

[0128] Step S101, when receiving a power-on instruction, the main controller sends a first startup signal to the UPS power supply, so that the UPS power supply provides an initial startup voltage for the main controller and all sub-controllers, and the first startup signal at least includes a startup voltage value required by the main controller, a startup voltage value required by each of the sub-controllers, a startup sequence of the main controller, and a startup sequence of each of the sub-controllers;

[0129] Step S102, when receiving a shutdown command, the main controller sends a shutdown signal to each of the sub-controllers, and after determining that all of the sub-controllers are shut down, sends a delayed shutdown signal to the UPS power supply, so that the UPS power supply turns off the power output after a preset delay.

[0130] Optionally, the sub-controllers include an automatic start controller and a non-automatic start controller, the automatic start controller is a controller that automatically starts up after receiving the corresponding initial start-up voltage, and the non-automatic start controller is a controller that cannot automatically start up after receiving the corresponding initial start-up voltage. After the main controller sends a first start signal to the UPS power supply, the method further includes: after the UPS power supply provides the initial start-up voltage to the main controller and all the sub-controllers, the main controller sends a second start signal to the non-automatic start controller through the communication interface, so that the non-automatic start controller enters a power-on enabled state according to the second start signal.

[0131] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0132] Step S101, when receiving a power-on instruction, the main controller sends a first startup signal to the UPS power supply, so that the UPS power supply provides an initial startup voltage for the main controller and all sub-controllers, and the first startup signal at least includes a startup voltage value required by the main controller, a startup voltage value required by each of the sub-controllers, a startup sequence of the main controller, and a startup sequence of each of the sub-controllers;

[0133] Step S102, when receiving a shutdown command, the main controller sends a shutdown signal to each of the sub-controllers, and after determining that all of the sub-controllers are shut down, sends a delayed shutdown signal to the UPS power supply, so that the UPS power supply turns off the power output after a preset delay.

[0134] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0135] Optionally, the sub-controllers include an automatic start controller and a non-automatic start controller, the automatic start controller is a controller that automatically starts up after receiving the corresponding initial start-up voltage, and the non-automatic start controller is a controller that cannot automatically start up after receiving the corresponding initial start-up voltage. After the main controller sends a first start signal to the UPS power supply, the method further includes: after the UPS power supply provides the initial start-up voltage to the main controller and all the sub-controllers, the main controller sends a second start signal to the non-automatic start controller through the communication interface, so that the non-automatic start controller enters a power-on enabled state according to the second start signal.

[0136] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0137] Step S101, when receiving a power-on instruction, the main controller sends a first startup signal to the UPS power supply, so that the UPS power supply provides an initial startup voltage for the main controller and all sub-controllers, and the first startup signal at least includes a startup voltage value required by the main controller, a startup voltage value required by each of the sub-controllers, a startup sequence of the main controller, and a startup sequence of each of the sub-controllers;

[0138] Step S102, when receiving a shutdown command, the main controller sends a shutdown signal to each of the sub-controllers, and after determining that all of the sub-controllers are shut down, sends a delayed shutdown signal to the UPS power supply, so that the UPS power supply turns off the power output after a preset delay.

[0139] Optionally, the sub-controllers include an automatic start controller and a non-automatic start controller, the automatic start controller is a controller that automatically starts up after receiving the corresponding initial start-up voltage, and the non-automatic start controller is a controller that cannot automatically start up after receiving the corresponding initial start-up voltage. After the main controller sends a first start signal to the UPS power supply, the method further includes: after the UPS power supply provides the initial start-up voltage to the main controller and all the sub-controllers, the main controller sends a second start signal to the non-automatic start controller through the communication interface, so that the non-automatic start controller enters a power-on enabled state according to the second start signal.

[0140] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0141] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0142] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0143] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0144] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0145] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0146] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0147] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0148] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0149] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0150] 1) The above-mentioned multi-controller system of the present application includes: a main controller, which is used to send a first startup signal to a UPS power supply when receiving a startup command, and is also used to send a shutdown signal to each sub-controller when receiving a shutdown command, and after determining that all sub-controllers are shut down, send a delayed shutdown signal to the UPS power supply; a UPS power supply, which is electrically connected to the main controller, and is used to provide the main controller and all sub-controllers with the corresponding initial startup voltage according to the first startup signal, and the UPS power supply is also used to shut down the power output after delaying the preset time according to the delayed shutdown signal; multiple sub-controllers are respectively electrically connected to the UPS power supply and are respectively connected to the main controller for communication. The system controls the main controller with one button to achieve the unified start and stop of multiple controllers on the automated production line, avoids cumbersome manual operations, and solves the problems of complex operation, waste of resources, poor coordination, high personnel requirements, and power outage risks in the process of switching multiple controllers in the prior art.

[0151] 2) The control method of the above-mentioned multi-controller of the present application is applied to the main controller of any multi-controller system. First, when receiving the power-on command, the main controller sends the first startup signal to the UPS power supply, so that the UPS power supply provides the initial startup voltage for the main controller and all sub-controllers. The first startup signal at least includes the startup voltage value required by the main controller, the startup voltage value required by each sub-controller, the startup sequence of the main controller, and the startup sequence of each sub-controller; then, when receiving the shutdown command, the main controller sends a shutdown signal to each sub-controller, and after determining that all sub-controllers are shut down, sends a delayed shutdown signal to the UPS power supply, so that the UPS power supply turns off the power output after a preset delay. This method realizes the unified start and stop of multiple controllers on the automated production line by controlling the main controller with one button, avoiding cumbersome manual operations, and solving the problems of complex operation, waste of resources, poor coordination, high personnel requirements, and power outage risks in the process of switching on and off multiple controllers in the prior art.

[0152] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-controller system, characterized in that: include: A main controller, configured to send a first start signal to a UPS power supply upon receiving a start command, and further configured to send a shutdown signal to each sub-controller upon receiving a shutdown command, and after determining that all the sub-controllers are shut down, send a delayed shutdown signal to the UPS power supply, wherein the first start signal at least includes a start voltage value required by the main controller, a start voltage value required by each of the sub-controllers, a start sequence of the main controller, and a start sequence of each of the sub-controllers; A UPS power supply, electrically connected to the main controller, the UPS power supply is used to provide the main controller and all sub-controllers with corresponding initial startup voltages according to the first startup signal, and the UPS power supply is also used to shut down the power output after delaying for a preset time according to the delayed shutdown signal; A plurality of sub-controllers are respectively electrically connected to the UPS power supply and respectively communicatively connected to the main controller.

2. The multi-controller system according to claim 1, characterized in that: The plurality of sub-controllers include an automatic start controller and a non-automatic start controller, wherein the automatic start controller is a controller that automatically starts after receiving the corresponding initial start voltage, and the non-automatic start controller is a controller that cannot automatically start after receiving the corresponding initial start voltage, and the main controller is further used for: After the UPS power supply provides an initial startup voltage for the main controller and all the sub-controllers, a second startup signal is sent to the non-automatic startup controller through the communication interface, so that the non-automatic startup controller enters a power-on enabled state according to the second startup signal.

3. The multi-controller system according to claim 1, characterized in that: The main controller comprises: A protocol converter, used for automatically identifying and adapting to a variety of communication protocols, the protocol converter is also used for converting the format of the signal sent by the main controller to the UPS power supply and each of the sub-controllers into a format of the signal recognizable by the UPS power supply and each of the sub-controllers, the signal at least including a first start signal and a delayed shutdown signal; A power management unit, used to detect the power consumption of each sub-controller in real time and dynamically adjust the power distribution strategy of each sub-controller by using an intelligent adaptation algorithm according to the power consumption of each sub-controller, wherein the power distribution strategy includes the voltage value distributed by the UPS power supply to each sub-controller; The user-defined interface is used to transmit signals between the main controller and the UPS power supply and each of the sub-controllers.

4. The multi-controller system according to claim 1, characterized in that: The main controller is also used for: Real-time detection of the load condition of each sub-controller, wherein the load condition includes the operating state of the sub-controller, the complexity and urgency of the production task, and the operating state of the sub-controller includes the temperature and current of the sub-controller; Determining the resource allocation amount of each sub-controller according to the load conditions of all the sub-controllers; In the event that an abnormality occurs in the sub-controller, the abnormal data of the sub-controller is determined, and the resource allocation amount of the sub-controller is adjusted according to the abnormal data of the sub-controller, and / or, in the event that the production task of the sub-controller changes, the resource allocation amount of the sub-controller is adjusted according to the task data of the changed production task.

5. The multi-controller system according to claim 1, characterized in that: The main controller is also used to: determine the current task status of each sub-controller when a shutdown command is received, and send a shutdown signal to each sub-controller when all the current task states have been completed or saved to a safe state.

6. The multi-controller system according to claim 1, characterized in that: In the event of a power outage or power anomaly in the multi-controller system, the UPS power supply switches from a normal power supply state to a backup power supply state and sends an emergency notification signal to the main controller. Upon receiving the emergency notification signal, the main controller sends an emergency shutdown signal to all the sub-controllers and saves the current operating status and operating data. Upon receiving the emergency shutdown signal, each sub-controller resets to the corresponding set safety position and shuts down.

7. The multi-controller system according to claim 1, characterized in that: The multiple sub-controllers are respectively a robotic arm controller, an AI server and an edge data gateway.

8. A multi-controller control method, characterized in that: The method is applied to the main controller of the multi-controller system according to any one of claims 1 to 7, and the method comprises: When receiving a power-on instruction, the main controller sends a first startup signal to the UPS power supply, so that the UPS power supply provides an initial startup voltage for the main controller and all sub-controllers, wherein the first startup signal at least includes a startup voltage value required by the main controller, a startup voltage value required by each of the sub-controllers, a startup sequence of the main controller, and a startup sequence of each of the sub-controllers; When receiving a shutdown command, the main controller sends a shutdown signal to each of the sub-controllers, and after determining that all of the sub-controllers are shut down, sends a delayed shutdown signal to the UPS power supply, so that the UPS power supply delays for a preset period of time before shutting down the power output.

9. The method according to claim 8, characterized in that The sub-controller includes an automatic start controller and a non-automatic start controller, wherein the automatic start controller is a controller that automatically starts after receiving the corresponding initial start voltage, and the non-automatic start controller is a controller that cannot automatically start after receiving the corresponding initial start voltage. After the main controller sends the first start signal to the UPS power supply, the method further includes: After the UPS power supply provides the initial startup voltage for the main controller and all the sub-controllers, the main controller sends a second startup signal to the non-automatic startup controller through the communication interface, so that the non-automatic startup controller enters a power-on enabled state according to the second startup signal.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the multi-controller control method according to any one of claims 8 to 9.

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