Control system and method based on moment MCB control panel

Abstract

The invention discloses a control system and method based on a moment MCB control board. The control system based on the moment MCB control board comprises the moment MCB control board, a detection device, a main control unit and a motion control unit. Wherein the to-be-triggered device is fixed on the moving device; the detection equipment is configured to respond to a request for controlling a mobile device to move, and send a first instruction to the MCB control panel; after receiving the first instruction, the moment MCB control panel sends a first control signal to the detection equipment; after receiving the first control signal, the detection equipment forwards the first control signal to the main control unit; and after receiving the first control signal, the main control unit sends a target control instruction to the motion control unit according to the first control signal.

Description

Technical Field

[0001] The present invention relates to the field of control technology, and in particular to a control system and method based on a matrix MCB control board. Background Art

[0002] With the continuous advancement of industrial automation and intelligent manufacturing, the market demand for efficient and flexible visual inspection equipment continues to increase. Machine vision is a crucial technology in the field of manufacturing quality control, especially in the electronics manufacturing, automotive manufacturing, medical equipment manufacturing, communications industry, consumer electronics, aerospace, and industrial automation fields, with a large number of application cases.

[0003] In visual inspection, the application of motion control systems usually involves coordinated control of mechanical motion to support the functions of the visual system. How to use motion control systems in the field of visual inspection to achieve automated inspection and thus achieve precise control of the motion of motion actuators, and realize functions such as precision positioning, automatic focus and alignment, motion smoothness, multi-axis collaborative control, real-time feedback and adjustment is an urgent problem to be solved.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a control system and method based on a matrix MCB control board, aiming to solve the above-mentioned problems in the prior art.

[0006] To achieve the above-mentioned object, the present invention provides a control system based on a Matrix MCB control board, which is used to control the operation of a device to be triggered. The control system based on the Matrix MCB control board comprises a Matrix MCB control board, a detection device, a main control unit, and a motion control unit; wherein the device to be triggered is fixed on a mobile device;

[0007] The detection device is configured to send a first instruction to the Juzi MCB control board in response to a request for controlling the movement of the mobile device; after receiving the first instruction, the Juzi MCB control board sends a first control signal to the detection device; after receiving the first control signal, the detection device forwards the first control signal to the main control unit; after receiving the first control signal, the main control unit sends a target control instruction to the motion control unit according to the first control signal; after receiving the target control instruction, the motion control unit controls the movement of the mobile device according to the target control instruction, and sends positioning information to the main control unit after the mobile device moves to the position;

[0008] After receiving the in-place information, the main control unit sends the in-place information to the detection device; after receiving the in-place information, the detection device sends a second instruction to the Juzi MCB control board according to the in-place information; after receiving the second instruction, the Juzi MCB control board sends a second control signal to the detection device according to the second instruction; after receiving the second control signal, the detection device forwards the second control signal to the main control unit; the main control unit is connected to the device to be triggered, and the main control unit is also configured to control the device to be triggered to work according to the second control signal.

[0009] Preferably, in the control system based on the Matrix MCB control board, a position sensor is provided on the mobile device; the request for controlling the movement of the mobile device includes moving the mobile device to a preset position;

[0010] Correspondingly, the detection device is also configured to acquire the current position information of the mobile device read by the position sensor in real time; when the current position information does not match the preset position, continue to send the first instruction to the MCB control board to continue moving the mobile device until the current position information matches the preset position.

[0011] Preferably, in the control system based on the Matrix MCB control board, the request to control the movement of the mobile device includes a request to control the mobile device to move according to a preset trajectory;

[0012] The detection device is configured to determine a plurality of capture points on the preset trajectory according to the preset trajectory, and the capture points are arranged in sequence according to a preset order;

[0013] The detection device is also configured to sequentially obtain position information of the capture points and generate a first instruction according to the obtained position information of the capture points until all the capture points have been traversed.

[0014] Preferably, in the control system based on the Matrix MCB control board, in determining a plurality of capture points on the preset trajectory according to the preset trajectory, the detection device is configured as follows:

[0015] According to the preset trajectory, the capture points are dynamically calculated and stored in a queue of preset length in sequence, and the capture points stored in the queue are accessed in a first-in-first-out manner;

[0016] When the queue storage space is full, the coordinates that entered the storage space earliest are taken out, and new capture points are stored in the queue until the preset trajectory has been traversed.

[0017] Preferably, in the control system based on the MCB control board, the device to be triggered is an image capturing device, and when the image capturing device currently needs to capture an image of a circular fly-by, the detection device in determining a plurality of capture points on the preset trajectory according to the preset trajectory is further configured as follows:

[0018] With the radius of the circle as r, the preset trajectory as a polygonal line segment, the error value between the polygonal line segment and the circle as one pixel, the number of regular polygonal line segments inscribed in the circle with radius r is calculated as n, and the calculation formula of n is as follows:

[0019]

[0020] in,

[0021] r is the radius of the circle;

[0022] n is the number of line segments of the regular polygon;

[0023] e stands for error;

[0024] The snap point is determined based on the number of line segments of the regular polygon inscribed in the circle with radius r.

[0025] Preferably, in the control system based on the Matrix MCB control board, when the device to be triggered is a light source and / or a camera;

[0026] The main control unit is configured to send a corresponding high-frequency signal to the light source and / or camera through the IO port according to the second control signal, so as to trigger the light source and / or camera to operate through the high-frequency signal.

[0027] In order to achieve the above object, the present invention also provides a control method based on a matrix MCB control board for detecting equipment, the control method comprising:

[0028] In response to a request to control the movement of the mobile device, a first instruction is sent to the MCB control board;

[0029] Receiving a first control signal sent by the MCB control board based on the first instruction;

[0030] Sending the first control signal to a main control unit, so that the main control unit sends a target control instruction to a motion control unit according to the first control signal to control the movement of the mobile device;

[0031] Receiving the location information of the mobile device sent by the main control unit, and sending a second instruction to the MCB control board according to the location information;

[0032] Receiving a second control signal sent by the MCB control board based on the second instruction;

[0033] The second control signal is sent to the main control unit, so as to control the operation of the device to be triggered through the main control unit.

[0034] Preferably, in the control method based on the matrix MCB control board, the control method further comprises:

[0035] Acquiring in real time the current position information of a position sensor disposed on the mobile device;

[0036] Correspondingly, the receiving of the mobile device's location information sent by the main control unit and sending a second instruction to the MCB control board according to the location information include:

[0037] After receiving the location information of the mobile device sent by the main control unit, determining whether the current location information matches the preset location;

[0038] When the judgment result is no, continue to send the first instruction to the MCB control board to continue moving the mobile device until the current position information matches the preset position;

[0039] When the judgment result is yes, a second instruction is sent to the MCB control board according to the arrival information.

[0040] Preferably, in the control method based on the Matrix MCB control board, the request to control the movement of the mobile device includes a request to control the mobile device to move according to a preset trajectory;

[0041] Accordingly, before sending the first instruction to the MCB control board, the control method further includes:

[0042] According to the preset trajectory, a plurality of capture points on the preset trajectory are determined, and the capture points are arranged in sequence according to a preset order;

[0043] Accordingly, sending the first instruction to the MCB control board includes:

[0044] The position information of the capture points is obtained one by one in sequence, and a first instruction is generated according to the obtained position information of the capture points, until all the capture points have been traversed.

[0045] Preferably, in the control method based on the matrix MCB control board, determining a plurality of capture points on the preset trajectory according to the preset trajectory includes:

[0046] According to the preset trajectory, the capture points are dynamically calculated and stored in a queue of preset length in sequence, and the capture points stored in the queue are accessed in a first-in-first-out manner;

[0047] When the queue storage space is full, the coordinates that entered the storage space earliest are taken out, and new capture points are stored in the queue until the preset trajectory has been traversed.

[0048] The present invention has at least the following beneficial effects:

[0049] The control system based on the Matrix MCB control board provided by the present invention is used to control the operation of the device to be triggered. The control system based on the Matrix MCB control board includes the Matrix MCB control board, a detection device, a main control unit, and a motion control unit; wherein the device to be triggered is fixed on a mobile device; wherein the detection device is configured to send a first instruction to the Matrix MCB control board in response to a request for controlling the movement of the mobile device; after receiving the first instruction, the Matrix MCB control board sends a first control signal to the detection device; after receiving the first control signal, the detection device forwards the first control signal to the main control unit; after receiving the first control signal, the main control unit sends a target control instruction to the motion control unit according to the first control signal; and after receiving the first control signal, the motion control unit receives the target control instruction. After receiving the target control instruction, the mobile device is controlled to move according to the target control instruction, and the positioning information is sent to the main control unit after the mobile device moves to the position; after receiving the positioning information, the main control unit sends the positioning information to the detection device; after receiving the positioning information, the detection device sends a second instruction to the Juzi MCB control board according to the positioning information; after receiving the second instruction, the Juzi MCB control board sends a second control signal to the detection device according to the second instruction; after receiving the second control signal, the detection device forwards the second control signal to the main control unit; the main control unit is connected to the device to be triggered, and the main control unit is also configured to control the device to be triggered to work according to the second control signal, so that precise control of the device to be triggered can be achieved.

[0050] Furthermore, the present invention solves the control problem of each part of the system of the detection equipment (especially AOI detection equipment), and satisfies a series of motion control requirements (triggering, position, speed, acceleration, etc.) of the motion control component. The present invention can realize the functions of precise control of each motion axis of the equipment, triggering the camera, etc., can realize continuous flying shooting in each axis direction of the X / Y / Z axis, or the upper and lower XY axis gantries can perform flying shooting at the same time, and can also realize the speed increase before the point where image capture is not required on the flying shooting path, until the point where capture is required is about to arrive, and then the speed is reduced to continue the flying shooting. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of a control system based on a Motion MCB control board provided by the present invention;

[0052] Figure 2 A schematic diagram of a control method based on a Motion MCB control board provided by the present invention;

[0053] Figure 3 A schematic diagram of storing capture points of the present invention;

[0054] Figure 4 The figure is a schematic diagram of image capture of a circular fly-photograph according to the present invention.

[0055] Reference numerals of the present invention:

[0056] 100-MCB control board, 200-detection equipment, 300-main control unit, 400-motion control unit.

[0057] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0058] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0059] In the embodiments of the present invention, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0060] 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.

[0061] In the embodiments of the present invention, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0062] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0063] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it can be understood by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present invention can also be implemented. The division of the following embodiments is for the convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0064] Figure 1 The schematic diagram of the control system based on the MCB control board provided by the present invention includes the MCB control board 100, a detection device 200, a main control unit 300, and a motion control unit 400.

[0065] The control system based on the Juzi MCB control board is used to control the device to be triggered and the mobile device. The device to be triggered is fixed on the mobile device. The control system based on the Juzi MCB control board controls the mobile device and controls the movement of the mobile device, thereby driving the device to be triggered to move to a suitable position, and then triggering the device to be triggered. The mobile device can be, but is not limited to, an XYZ-axis gantry, that is, the gantry can realize activities in three directions of X-axis, Y-axis, and Z-axis. Among them, the detection device 200 can be, but is not limited to, an AOI visual detection device 200.

[0066] Figure 2 The schematic diagram of a control method based on the MCB control board provided by the present invention is shown. Figure 1 and Figure 2 , the detection device 200 is configured to send a first instruction to the Juzi MCB control board 100 in response to a request to control the movement of the mobile device. For example, if there is a request to control the movement of the XYZ-axis gantry, a request to control the movement of the XYZ-axis gantry is sent to the Juzi MCB control board 100. The Juzi MCB control board 100 is configured to receive the first instruction sent by the detection device 200, and send a first control signal to the detection device 200 according to the first instruction. Among them, the Juzi MCB control board 100 can realize signal input and output, motion control, position positioning, axis control, external signal input and output, motion parameter setting, etc. through its interface (IO signal, camera\light source trigger signal input and output, stepper motor axes, servo axes, stepper sensor input, power supply, ground wire, servo sensor input) and correct configuration of software and hardware.

[0067] It should be noted that in controlling the movement of the XYZ axis gantry, in the process of controlling the X / Y / Z axis pulse direction, the movement related to the moving axis includes axis stop, axis zeroing, obtaining axis position, axis moving speed, trapezoidal acceleration, S-shaped acceleration, signal configuration, etc.; different PFM pulses are set by the MCB control board 100 and sent to the main control unit 300 through the detection device 200 to control the linear interpolation, circular interpolation, spiral interpolation, continuous interpolation, etc., and the 4 axes can be controlled to perform various continuous interpolation movements at the same time; spiral interpolation is based on the original linear and circular interpolation, and in the circular interpolation drive on the XY plane, other axes are synchronously moved to achieve the effect of spiral interpolation. Usually, multi-axis interpolation can only be performed once at a time. If it is necessary to perform two interpolations at one time (for example, driving the upper and lower X / Y axis gantries at the same time), it must be realized as a continuous movement through 2D, 3D or 4D linear interpolation.

[0068] After the detection device 200 receives the first control signal sent by the MCB control board 100, it sends the first control signal to the main control unit 300. The main control unit 300 is configured to send a target control instruction to the motion control unit 400 according to the first control signal after receiving the first control signal sent by the main control unit 300. The target control instruction is used to control the movement of the mobile device, such as controlling the movement of the gantry. The target control instruction is usually a corresponding pulse signal generated according to the first control signal.

[0069] The motion control unit 400 is configured to receive a target control instruction, and after receiving the target control instruction, control the movement of the mobile device according to the target control instruction, and send the in-position information to the main control unit 300 after the mobile device moves to the position. After receiving the corresponding pulse signal, the motion control unit 400 drives the corresponding motor according to the pulse signal, thereby controlling the XYZ axis gantry to move to the corresponding coordinates. Furthermore, the movement of the three directions of the X axis, Y axis, and Z axis in the XYZ axis gantry is provided with corresponding drive motors, and the gantry can be moved in the corresponding direction as long as the corresponding motor is driven. Specifically, the corresponding motor is driven according to the control instruction of the pulse value calculated by the pulse signal. The motion control unit 400 is also configured to send the in-position information to the main control unit 300 when the mobile device (such as the XYZ axis gantry) moves to the target position.

[0070] The main control unit 300 may be, but is not limited to, an MCU chip of RX71M and a high-performance MCX514 servo control chip. After receiving the in-place information, the main control unit 300 calculates the coordinate data of the controlled device based on the in-place information and sends it to the detection device 200. After receiving the in-place information, the detection device 200 sends a second instruction to the Juzi MCB control board 100 according to the in-place information; after receiving the second instruction, the Juzi MCB control board 100 sends a second control signal to the detection device 200 according to the second instruction; after receiving the second control signal, the detection device 200 forwards the second control signal to the main control unit 300; the main control unit 300 is connected to the device to be triggered, and the main control unit 300 is also configured to control the device to be triggered to work according to the second control signal.

[0071] Take the triggering device as an image capture device, the mobile device as an XYZ axis gantry, and take the case where multiple images at different heights in the Z axis direction need to be captured as an example. For ease of explanation, take the case where images at three heights H1, H2, and H3 need to be captured as an example. When the detection device 200 receives a request to capture images at different heights in the Z axis direction, the detection device 200 sends a first instruction to the Matrix MCB control board 100 according to the heights H1, H2, and H3, respectively. At this time, the first instruction may include moving the XYZ axis gantry to position 1, at which the height is H1 (instruction 1), then moving from position 1 along the Z axis to position 2 at a height of H2 (instruction 2), and then moving from position 2 along the Z axis to position 3 at a height of H3 (instruction 3). Instruction 1, instruction 2, and instruction 3 can be sent to the Matrix MCB control board 100 in three times.

[0072] Specifically, the detection device 200 sends instruction 1 to the Juzi MCB control board 100, and the Juzi MCB control board 100 sends a first control signal to the detection device 200 according to instruction 1, and the detection device 200 then forwards the first control signal to the main control unit 300, and the main control unit 300 generates a target control instruction according to the first control signal, and sends the target control instruction to the motion control unit 400, so as to control the XYZ axis gantry to move to position 1 through the motion control unit 400, and then the detection device 200 controls the image capture device to capture the image after determining that it is in place; and so on, it can be realized that the image is captured after moving from position 1 to position 2, and then the image is captured after moving from position 2 to position 3. In this way, it is possible to capture images at different heights in the Z-axis direction.

[0073] It should be noted that the first instruction for moving the mobile device generated by the detection device 200 each time may be to simply move the X-axis, the Y-axis, or the Z-axis, or to simultaneously move at least two of the X-axis, the Y-axis, and the Z-axis. In addition, there may be only one device to be triggered, and the movement in the XYZ-axis direction may be realized through the XYZ-axis gantry; or there may be a device to be triggered in each of the three directions of the XYZ-axis, and the specific setting may be as needed.

[0074] Specifically, the upper and lower X / Y-axis gantries can be driven to move continuously in a synchronous manner through 4D interpolation to achieve simultaneous image capture.

[0075] The moving speed of the XYZ-axis gantry can be accelerated when leaving the current capture point and moving to the next capture point until it is almost reaching the next capture point (for example, when it is at a preset distance from the next capture point). This can reduce the task path consumption of the device running time.

[0076] In order to make the control more accurate, a position sensor is provided on the mobile device. When the mobile device needs to be moved to a preset position, the detection device 200 is also configured to obtain the current position information of the mobile device read by the position sensor in real time; when the current position information does not match the preset position, the first instruction is continued to be sent to the MCB control board 100 to continue moving the mobile device until the current position information matches the preset position. For example, the coordinates of the current position are (x1, y1, z1), and the coordinates of the preset position are (x2, y2, z2). At this time, when the coordinates of the preset position are different from those of the current position, the first instruction can be determined according to the coordinate difference between the preset position and the current position, that is, the mobile device needs to continue to move x2-x1 in the X-axis direction, y2-y1 in the Y-axis direction, and z2-z1 in the Z-axis direction at the current position.

[0077] Taking the triggering device as an image capture device and the mobile device as an XYZ axis gantry as an example, the request received by the detection device 200 is usually not a direct request to control the movement of the mobile device. It may be a request to capture an image of continuous motion along the X-axis, or to capture a circular flying image, or other capture methods, which can be set as needed. When the detection device 200 receives the request, it determines the capture point to which the mobile device needs to move according to the request. For example, if it is necessary to capture an image on a preset trajectory, it is necessary to control the mobile device to move along the preset trajectory. In specific implementation, it is necessary to decompose the preset trajectory into a number of capture points on the preset trajectory.

[0078] Specifically, when the request to control the movement of the mobile device includes a request to control the mobile device to move according to a preset trajectory, the detection device 200 is configured to determine a number of capture points on the preset trajectory according to the preset trajectory, and the capture points are arranged in sequence according to a preset sequence; the detection device 200 is also configured to take the position information of the capture point in sequence, and generate a first instruction according to the position information of the captured point, until all the capture points have been traversed. That is, it is assumed that the preset trajectory includes capture points a1, a2, a3, a4, and a5. The detection device 200 takes out the capture point a1 for the first time, generates a first instruction, and sends the first instruction to the MCB control board 100 to finally control the mobile device to move to the capture point a1; then takes out the capture point a2, ..., and so on, until the mobile device moves from a1 to a2, a3, a4, and a5 in sequence. Each time it is determined that the corresponding capture point has been reached, the device to be triggered is triggered to complete the corresponding action, such as taking an image.

[0079] In order to reduce storage and lower the reliance on the storage space of the control chip, only a small number of current and upcoming capture points can be stored and processed when the capture points are calculated according to the preset trajectory. For example, only the current capture point and the n capture points after the current capture point are stored each time. Subsequent capture points can be dynamically calculated and queued in sequence, existing in the form of a queue, and starting to overwrite when full. For example, a queue can only store 5 capture points at a time (capture point 1, capture point 2, capture point 3, capture point 4, and capture point 5 enter the queue in sequence), and the queue starts to overwrite when the new capture point 6 is calculated. After capture point 6 is queued after capture point 5, capture point 1 is removed. For details, you can also refer to Figure 3 shown.

[0080] Specifically, the detection device 200 is also configured to dynamically calculate the capture points according to the preset trajectory and store them in a queue of preset length in sequence, and the capture points stored in the queue are accessed in a first-in-first-out manner; when the queue storage space is full, the coordinates that entered the storage space earliest are taken out, and new capture points are stored in the queue until the preset trajectory has been traversed. Taking the device to be triggered as an example, the preset trajectory traversal is completed, that is, the entire image capture process is completed.

[0081] The device to be triggered is an image capturing device. When the image capturing device currently needs to capture an image of a circular fly-by, the device determines, according to the preset trajectory, a plurality of capture points on the preset trajectory, such as Figure 4 As shown, the detection device 200 is also configured as follows:

[0082] With the radius of the circle as r, the preset trajectory as a polygonal line segment, the error value between the polygonal line segment and the circle as one pixel, the number of regular polygonal line segments inscribed in the circle with radius r is calculated as n, and the calculation formula of n is as follows:

[0083]

[0084] in,

[0085] r is the radius of the circle;

[0086] n is the number of line segments of the regular polygon;

[0087] e stands for error;

[0088] The snap point is determined based on the number of line segments of the regular polygon inscribed in the circle with radius r.

[0089] A regular polygon is inscribed in a circle, and a sufficient number of sides can approximate a circle. The smoothness depends on the error value of the distance deviation of the polygon's line segments from the best circle, which depends on the number of line segments inscribed in the regular polygon. Since the XYZ gantry motion is controlled in discrete steps, it can be viewed as an image pixel grid. On a fixed pixel grid, the larger the radius, the more line segments are needed to keep the approximation error constant.

[0090] If r=500, e=1, we can get n=50.

[0091] At this point, the computer can calculate the coordinate positions of the circular flying path of the circle fitted by the regular 50-gon in sequence. After the gantry obtains the coordinate information, it can perform circular flying according to this path. The more subdivisions (number of line segments) of the entire circle, the closer it is to the ideal circle. The value of the number of line segments n is 4, which will produce a square path with 4 corner points inscribed in the circle.

[0092] Taking the device to be triggered as a light source and / or a camera as an example, the main control unit 300 is configured to send a corresponding high-frequency signal to the light source and / or camera through the IO port according to the second control signal, so as to trigger the light source and / or camera to work through the high-frequency signal.

[0093] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, ordinary technicians in this field can make other different forms of changes or modifications without creative work, which should fall within the scope of protection of the present invention.

Claims

1. A control system based on the MCB control board, used to control the operation of the device to be triggered, characterized in that: The control system based on the Matrix MCB control board includes the Matrix MCB control board, a detection device, a main control unit, and a motion control unit; wherein the device to be triggered is fixed on the mobile device; The detection device is configured to send a first instruction to the Juzi MCB control board in response to a request for controlling the movement of the mobile device; after receiving the first instruction, the Juzi MCB control board sends a first control signal to the detection device; after receiving the first control signal, the detection device forwards the first control signal to the main control unit; after receiving the first control signal, the main control unit sends a target control instruction to the motion control unit according to the first control signal; after receiving the target control instruction, the motion control unit controls the movement of the mobile device according to the target control instruction, and sends positioning information to the main control unit after the mobile device moves to the position; After receiving the in-place information, the main control unit sends the in-place information to the detection device; after receiving the in-place information, the detection device sends a second instruction to the Juzi MCB control board according to the in-place information; after receiving the second instruction, the Juzi MCB control board sends a second control signal to the detection device according to the second instruction; after receiving the second control signal, the detection device forwards the second control signal to the main control unit; the main control unit is connected to the device to be triggered, and the main control unit is also configured to control the device to be triggered to work according to the second control signal.

2. The control system based on the matrix MCB control board as claimed in claim 1, characterized in that: The mobile device is provided with a position sensor; the request for controlling the movement of the mobile device includes moving the mobile device to a preset position; Accordingly, the detection device is further configured to acquire the current position information of the mobile device read by the position sensor in real time; When the current position information does not match the preset position, the first instruction continues to be sent to the MCB control board to continue moving the mobile device until the current position information matches the preset position.

3. The control system based on the matrix MCB control board as claimed in claim 2, characterized in that: The request to control the movement of the mobile device includes a request to control the mobile device to move according to a preset trajectory; The detection device is configured to determine a plurality of capture points on the preset trajectory according to the preset trajectory, and the capture points are arranged in sequence according to a preset order; The detection device is also configured to sequentially obtain position information of the capture points and generate a first instruction according to the obtained position information of the capture points until all the capture points have been traversed.

4. The control system based on the matrix MCB control board as claimed in claim 3 is characterized in that: In the step of determining a plurality of capture points on the preset trajectory according to the preset trajectory, the detection device is configured as follows: According to the preset trajectory, the capture points are dynamically calculated and stored in a queue of preset length in sequence, and the capture points stored in the queue are accessed in a first-in-first-out manner; When the queue storage space is full, the coordinates that entered the storage space earliest are taken out, and new capture points are stored in the queue until the preset trajectory has been traversed.

5. The control system based on the matrix MCB control board as claimed in claim 3, characterized in that: The device to be triggered is an image capturing device. When the image capturing device currently needs to capture an image of a circular fly-by, the detection device is further configured to: With the radius of the circle as r, the preset trajectory as a polygonal line segment, the error value between the polygonal line segment and the circle as one pixel, the number of regular polygonal line segments inscribed in the circle with radius r is calculated as n, and the calculation formula of n is as follows: in, r is the radius of the circle; n is the number of line segments of the regular polygon; e stands for error; The snap point is determined based on the number of line segments of the regular polygon inscribed in the circle with radius r.

6. The control system based on the matrix MCB control board as claimed in claim 1, characterized in that: When the device to be triggered is a light source and / or a camera; The main control unit is configured to send a corresponding high-frequency signal to the light source and / or camera through the IO port according to the second control signal, so as to trigger the light source and / or camera to operate through the high-frequency signal.

7. A control method based on a matrix MCB control board for detecting equipment, characterized in that: The control method comprises: In response to a request to control the movement of the mobile device, a first instruction is sent to the MCB control board; Receiving a first control signal sent by the MCB control board based on the first instruction; Sending the first control signal to a main control unit, so that the main control unit sends a target control instruction to a motion control unit according to the first control signal to control the movement of the mobile device; Receiving the location information of the mobile device sent by the main control unit, and sending a second instruction to the MCB control board according to the location information; Receiving a second control signal sent by the MCB control board based on the second instruction; The second control signal is sent to the main control unit, so as to control the operation of the device to be triggered through the main control unit.

8. The control method based on the matrix MCB control board according to claim 7, characterized in that: The control method further comprises: Acquiring in real time the current position information of a position sensor disposed on the mobile device; Correspondingly, the receiving of the mobile device's location information sent by the main control unit and sending a second instruction to the MCB control board according to the location information include: After receiving the location information of the mobile device sent by the main control unit, determining whether the current location information matches the preset location; When the judgment result is no, continue to send the first instruction to the MCB control board to continue moving the mobile device until the current position information matches the preset position; When the judgment result is yes, a second instruction is sent to the MCB control board according to the arrival information.

9. The control method based on the matrix MCB control board according to claim 7, characterized in that: The request to control the movement of the mobile device includes a request to control the mobile device to move according to a preset trajectory; Accordingly, before sending the first instruction to the MCB control board, the control method further includes: According to the preset trajectory, a plurality of capture points on the preset trajectory are determined, and the capture points are arranged in sequence according to a preset order; Accordingly, sending the first instruction to the MCB control board includes: The position information of the capture points is obtained one by one in sequence, and a first instruction is generated according to the obtained position information of the capture points, until all the capture points have been traversed.

10. The control method based on the matrix MCB control board according to claim 9, characterized in that: Determining a plurality of capture points on the preset trajectory according to the preset trajectory includes: According to the preset trajectory, the capture points are dynamically calculated and stored in a queue of preset length in sequence, and the capture points stored in the queue are accessed in a first-in-first-out manner; When the queue storage space is full, the coordinates that entered the storage space earliest are taken out, and new capture points are stored in the queue until the preset trajectory has been traversed.

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