Modular cooperative control system and method, electronic equipment and readable storage medium

Abstract

The invention provides a modular cooperative control system and method, electronic equipment and a readable storage medium. The modular cooperative control system comprises at least one data collector, at least one edge controller, at least one driver, at least one actuator, a cooperative control center, a task center and a core controller. The data collector, the edge controller and the driver communicate through the cooperative control center so as to realize time synchronization and data interaction; the core controller is used for acquiring a general task instruction from a task center and decomposing a general task into a plurality of sub-task instructions; the data collector is used for sending the feedback designation to the edge controller; the edge controller is used for sending the secondary subtask instruction to the driver; and the driver is used for driving the corresponding actuator to execute the task operation according to the secondary subtask instruction. The method has the advantages of high machining precision, good expansibility, flexibility, stability and reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative control systems, and more particularly, to a modular collaborative control system, method, electronic device, and readable storage medium. Background Art

[0002] With the rapid development of the aviation manufacturing industry, the materials, structures, and processing technologies of many key components have certain particularities and processing difficulties. Ordinary processing equipment and traditional processing technologies cannot meet the requirements, and numerically controlled machine tools with multi-axis linkage, high speed, and high precision must be used to meet the processing requirements. The multi-axis system is a non-linear, strongly coupled multi-input multi-output system, and the coordinated control of its multiple axes is a very complex and important issue. In machining, the contour error generated by the distance from the actual position to the desired contour is directly related to the quality of the product. Reducing the synchronization error is the key to reducing the contour error.

[0003] The mechanical main axis synchronization control method is one of the earliest formed synchronization control methods. The system is mainly implemented by mechanical components, and each partition is tightly glued together, making the operation of each partition like a whole. The advantage is that it can well ensure the synchronization relationship between each unit, and the disadvantage is that the expandability is not strong, the topological structure is relatively fixed, parameter adjustment is difficult, and problems such as mechanical resonance are likely to occur;

[0004] In the master reference synchronization control system, the input signal (master reference signal) directly acts on the motors of each unit. Therefore, each unit obtains a consistent input signal, and the input signals of each unit are not affected by any other factors except the reference signal. It is mainly applicable to the situation where there are no large disturbances in the motors of each partition;

[0005] The master-slave synchronization method is to first control the operation of the active axis according to the target speed issued by the upper computer, and then control the operation of the slave axis according to the current signal output by the active axis. However, there is a communication delay between the slave axis and the active axis in this method. When operating at high speed, the slave axis may not be able to fully follow the active axis, resulting in a reduction in control accuracy.

[0006] In summary, traditional multi-axis collaborative control systems usually adopt a centralized control architecture, that is, a central controller is responsible for receiving the feedback information of all axes and issuing control instructions. Under this architecture, all calculations and decisions are concentrated on the central controller, which has high requirements for its performance, and the scalability and flexibility of the system are relatively low. When increasing the number of axes or changing the system configuration, large-scale upgrades and transformations may be required for the central controller; the synchronization control between multiple axes is achieved through master-slave synchronization or isochronous synchronization. In the face of complex dynamic changes and interferences, the synchronization accuracy may be affected, problems such as large synchronization errors and slow response speeds may occur, and the flexibility of synchronization adjustment is relatively low. Summary of the Invention

[0007] (1) Technical Problem to be Solved

[0008] The technical problem to be solved by the present invention is that existing collaborative control systems are prone to problems such as large synchronization errors and slow response speeds, and the flexibility of synchronization adjustment is relatively low.

[0009] (2) Technical Solution

[0010] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0011] In a first aspect, the present invention provides a modular collaborative control system, including at least one data collector, at least one edge controller, at least one driver, at least one actuator, a collaborative control center, a task center, and a core controller; the data collector, the edge controller, and the driver communicate through the collaborative control center to achieve time synchronization and data interaction; the core controller is configured to obtain a total task instruction from the task center, decompose the total task instruction into multiple subtasks, and set relative time information and dependency relationships for each subtask to form multiple subtask instructions with the current system timestamp; the data collector is configured to collect the real-time states of the corresponding driver and the corresponding actuator, and form a feedback instruction with the real-time states and their corresponding time information and send it to the edge controller; the edge controller is configured to receive the corresponding subtask instruction and the feedback instruction, form a secondary subtask instruction, and send the secondary subtask instruction to the driver; the driver is configured to drive the corresponding actuator to perform a task operation according to the secondary subtask instruction.

[0012] Preferably, the collaborative control center includes a timing center and a control network. The timing center is configured to send time signals to the data collector, the edge controller, and the driver to achieve time synchronization; the control network is used for information data transmission between the data collector, the edge controller, and the driver.

[0013] In a second aspect, the present invention further provides a modular collaborative control method. The data collector, the edge controller, and the driver communicate through the collaborative control center to achieve time synchronization and data interaction. The modular collaborative control method includes the following steps:

[0014] S1. The core controller obtains a total task instruction from the task center, decomposes the total task instruction into multiple subtasks, sets relative time information and dependency relationships for each subtask, obtains the current system timestamp from the collaborative control center, and forms multiple subtask instructions with the current system timestamp;

[0015] S2. The data collector collects the real-time status of the corresponding driver and the corresponding actuator, forms a feedback instruction with the real-time status and its corresponding time information, and sends it to the edge controller;

[0016] S3. The edge controller is used to receive the corresponding subtask instruction and the feedback instruction, form a secondary subtask instruction, and send the secondary subtask instruction to the driver;

[0017] S4. The driver is used to drive the corresponding actuator to perform a task operation according to the secondary subtask instruction.

[0018] Preferably, the step S1 includes the following steps:

[0019] S11. The core controller communicates with the task center to obtain the total task instruction from the external system;

[0020] S12. According to the division of labor of each component in the modular collaborative control system, the total task instruction is decomposed into several subtasks with relative time information;

[0021] S13. According to the characteristics of each subtask, set its priority and the dependency relationship with the execution status of other subtasks;

[0022] S14. Communicate with the collaborative control center in real time to obtain the accurate time in the current system, and form the current system timestamp;

[0023] S15. Replace the relative time information in the subtask with the current system timestamp, obtain the subtask instruction, and send the subtask instruction to each edge controller.

[0024] Preferably, the step S2 includes the following steps:

[0025] S21. Communicate with the edge controller to obtain the secondary subtask instruction from the edge controller;

[0026] S22. Check the correctness and continuity of the secondary subtask instruction, and apply for a new secondary subtask instruction from the edge controller when an error occurs;

[0027] S23. Communicate with the collaborative control center in real time to obtain the accurate time in the current system, and form the current system timestamp;

[0028] S24. Use the standard protocol to collect and analyze the real-time data of the driver and the actuator, add the current system timestamp to the collected real-time data, form a feedback instruction, and send the feedback instruction to the edge controller.

[0029] Preferably, the step S3 includes the following steps:

[0030] S31. Communicate with the core controller to obtain subtask instructions from the core controller;

[0031] S32. Verify the integrity of the subtask instructions, and apply for new subtask instructions from the core controller when an error occurs;

[0032] S33. Dynamically configure communication parameters according to the subtask situation within the subtask instructions;

[0033] S34. Communicate with the collaborative control center in real time to obtain the accurate time within the current system;

[0034] S35. Retrieve the evaluation parameters of the performance of the drivers and data collectors involved in the task from the local or the core controller, and evaluate whether the current subtask instructions exceed their performance range based on this;

[0035] S36. Adjust the time parameters in the subtasks of each driver according to the performance parameters of the lead and lag of each driver to compensate for the asynchrony caused by their mechanical and electrical differences;

[0036] S37. Receive feedback instructions related to the current subtask instructions in real time, judge the task execution status according to the feedback instructions, form secondary subtask instructions, and send the secondary subtask instructions to the driver.

[0037] Preferably, step S3 further includes the following steps: Use the historical data of the execution process and feedback instructions stored in the edge controller to correct the performance parameters of the drivers and data collectors, and upload the relevant results to the core controller.

[0038] Preferably, step S4 includes the following steps:

[0039] S41. Communicate with the edge controller to obtain secondary subtask instructions from the edge controller;

[0040] S42. Verify the correctness and continuity of the secondary subtask instructions, and apply for new secondary subtask instructions from the edge controller when an error occurs;

[0041] S43. Communicate with the collaborative control center in real time to obtain the accurate time within the current system;

[0042] S44. Establish a local subtask buffer queue and execute the secondary subtask instructions in chronological order;

[0043] S45. Drive the actuator to perform the task operation according to the secondary subtask instructions.

[0044] In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method described in any one of the above technical solutions is implemented.

[0045] In a fourth aspect, the present invention further provides a readable storage medium storing a computer program, and when the computer program is executed by a processor, the method described in any one of the above technical solutions is implemented.

[0046] (III) Beneficial effects

[0047] The above technical solutions of the present invention have at least the following advantages:

[0048] 1. The modular collaborative control system provided by the present invention can improve the collaborative control accuracy of the processing system: The timing center, as the only clock source of the system, can provide high-precision and highly reliable timing functions for modules such as the core controller, edge controller, driver, and data collector in the system to achieve time synchronization. Through an accurate time synchronization mechanism, the collaborative operations between the core controller, edge controller, driver, and data collector can reach higher precision. In the scenario of multi-axis collaborative control, such as a machining system, the actions of different machining axes can be accurate to the microsecond level, ensuring that the machining accuracy of complex parts meets high requirements.

[0049] 2. The modular collaborative control system provided by the present invention has good scalability and flexibility: The modular collaborative control system provided by the present invention adopts a modular design, and each module (core controller, edge controller, driver, data collector) can be flexibly combined and configured according to different task requirements. In complex systems such as smart factories, as the production scale expands and production requirements change, new modules can be conveniently added to expand the functions and performance of the system. At the same time, different types of tasks can be flexibly decomposed and allocated by the core controller to adapt to different production scenarios and task requirements.

[0050] 3. The modular collaborative control system provided by the present invention has good stability and reliability. The edge controller can monitor the task execution status in real time and dynamically adjust the task parameters according to the data feedback by the data collector. In case of an abnormal situation, it can promptly feedback to the core controller, and the core controller can quickly respond, send instructions such as pause and stop, and adjust the subtask instructions. This mechanism can effectively avoid desynchronization and error accumulation during task execution, reduce the risk of equipment failure and production interruption, and improve the stability and reliability of the system.

[0051] 4. The modular collaborative control system provided by the present invention can optimize the system in real time. When the edge controller is in a task-free state, it uses the stored execution process and status feedback historical data to correct the performance parameters of the driver and the data collector, and uploads the relevant results to the core controller. This process can continuously optimize the performance of the device, extend the service life of the device, and reduce the maintenance cost. At the same time, by continuously optimizing the performance of the device, the system can better adapt to different task requirements, improve the overall production efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0053] Figure 1 It is a schematic structural diagram of the modular collaborative control system provided by the embodiment of the present invention.

[0054] Figure 2 It is a schematic flow diagram of the modular collaborative control method provided by the embodiment of the present invention.

[0055] Figure 3 It is a schematic structural diagram of the electronic device provided by the embodiment of the present invention.

[0056] The reference numerals in the drawings are as follows:

[0057] 1. Data collector; 2. Edge controller; 3. Driver; 4. Actuator; 5. Collaborative control center; 6. Task center; 7. Core controller; 51. Timing center; 52. Control network. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0059] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0060] It should also be understood that the term "and / or" as used in the specification and appended claims of this application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0061] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" depending on the context.

[0062] In addition, in the description of the specification and appended claims of this application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0063] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having", and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0064] The following describes the specific implementation of the present invention in more detail with reference to specific embodiments:

[0065] As Figure 1As shown in the figure, an embodiment of the present invention provides a modular collaborative control system, including at least one data collector 1, at least one edge controller 2, at least one driver 3, at least one actuator 4, a collaborative control center 5, a task center 6, and a core controller 7; the data collector 1, the edge controller 2, and the driver 3 communicate through the collaborative control center 6 to achieve time synchronization and data interaction; the core controller 7 is used to obtain the total task instruction from the task center 6, decompose the total task instruction into multiple subtasks, and set relative time information and dependencies for each subtask to form multiple subtask instructions with the current system timestamp; the data collector 1 is used to collect the real-time status of the corresponding driver 3 and the corresponding actuator 4, and form a feedback instruction with the real-time status and its corresponding time information and send it to the edge controller 2; the edge controller 2 is used to receive the corresponding subtask instruction and the feedback instruction, form a secondary subtask instruction, and send the secondary subtask instruction to the driver 3; the driver 3 is used to drive the corresponding actuator 4 to perform a task operation according to the secondary subtask instruction. Further, the core controller 7 is also used to send instructions such as task activation, start execution, pause execution, and stop task to the edge controller 2; store and back up the evaluation parameters of the performance of the current drivers 3 and data collectors 1 by the edge controller 2. The edge controller 2 is used to receive in real time data such as position and vibration feedback by the data collector 1 related to the current subtask instruction, and store all data sent and received during the execution process of the edge controller 2. When the edge controller 2 is in a current task-free state, it uses the stored execution process and status feedback historical data to correct the performance parameters of the driver 3 and the data collector 1, and uploads the relevant results to the core controller 7. The data collector 1 has analog I / O and digital I / O acquisition interfaces, and can collect and analyze data using standard protocols. The data collector 1 can execute information such as the acquisition frequency and target address of the collector set by the subtask instruction.

[0066] In one of the embodiments, the collaborative control center 5 includes a timing center 51 and a control network 52. The timing center 51 is used to send time signals to the data collector 1, the edge controller 2, and the driver 3 to achieve time synchronization; the control network 52 is used for information data transmission between the data collector 1, the edge controller 2, and the driver 3. Specifically, the timing center 51 serves as the only clock source of the system and can provide high-precision and highly reliable timing functions for the core controller 7, the edge controller 2, the driver 3, the data collector 1, etc. in the system. The control network 52 can establish a stable and fast data transmission channel among the core controller 7, the edge controller 2, the driver 3, and the data collector 1.

[0067] More specifically, taking the modular collaborative control system as an example of the control module integrated in a multi-axis machining system, in a high-precision multi-axis machining system, multiple machining axes (actuators 4) need to work together to complete the machining tasks of complex parts.

[0068] The core controller 7 is placed in the central control room, which is specially treated with electromagnetic shielding to prevent the influence of external interference on the control system. The indoor temperature and humidity are maintained within a constant range to ensure the stable operation of the core controller. The core controller 7 uses a high-performance multi-core processor, with powerful computing capabilities and fast data processing speeds. At the same time, it is also equipped with a large-capacity storage device, which can store a large number of task instructions, machining data, and system logs. The communication with the production scheduling system uses a high-speed and stable network connection to ensure that the total task instructions for machining specific parts can be obtained in a timely manner.

[0069] The edge controller 2 is installed on the control unit of each machining axis respectively. Its shell is made of a strong metal material, which not only has good heat dissipation performance but also can effectively resist external electromagnetic interference and mechanical shock. After receiving the sub-task instructions from the core controller 7, the edge controller 2 first performs an integrity check on them. It will perform a bit-by-bit checksum on the data in the task packet to ensure the accuracy of the task instructions. If an error is found, the edge controller 2 will immediately apply to the core controller 7 for new sub-task instructions and send an error report during the application process, so that the core controller 7 can analyze the problem and take corresponding measures. The edge controller 2 also has the ability to dynamically configure communication parameters. According to the characteristics of the sub-task instructions and the current network conditions, it automatically adjusts parameters such as communication priority and data transmission rate to ensure the timely transmission of task instructions and the rapid feedback of information.

[0070] The timing center 51 consists of a high-precision atomic clock and professional time synchronization equipment. The atomic clock has extremely high time accuracy and can provide an accurate time reference for the entire machining system. The time synchronization equipment transmits time signals to each device through a dedicated wired network. This network adopts a redundant design to ensure the stable transmission of time signals under any circumstances. The timing center 51 is placed in an independent shielded room, and special sound insulation, heat insulation, and electromagnetic shielding materials are used indoors to ensure the accuracy and stability of the time signals without being affected by external interference.

[0071] The control network 52 connecting the core controller 7, the edge controller 2, the driver 3, and the data collector 1 combines industrial Ethernet and high-speed wireless communication technologies. Industrial Ethernet provides stable and reliable data transmission and is suitable for connections between fixed devices; high-speed wireless communication technology facilitates the needs of mobile devices and temporary connections.

[0072] The driver 3 is connected to the motors of each processing axis (actuator 4) and receives secondary subtask instructions from the edge controller 2. The driver 3 adopts an advanced digital signal processor and power amplifier, and can achieve efficient and precise motor control. The digital signal processor has fast computing power and rich control algorithms, and can adjust the speed, rotation direction and position of the motor in real time according to different processing tasks and motor characteristics to achieve precise processing operations. The power amplifier can provide sufficient power output to meet the needs of the motor under different load conditions. At the same time, the driver 3 also has overload protection, fault diagnosis and automatic recovery functions. When the motor is overloaded, the driver 3 will automatically reduce the output power to protect the motor from damage; when the driver 3 detects a fault, it will immediately send an alarm signal and try to recover automatically; if the fault cannot be recovered automatically, the driver 3 will send the fault information to the edge controller 2 and the core controller 7 for the operator to handle in time.

[0073] The data collector is installed at key positions of the processing equipment, such as on the tool, workpiece and processing axis. It has a variety of sensor interfaces and can connect various types of sensors such as temperature sensors, pressure sensors, vibration sensors, displacement sensors, etc.

[0074] The data collector 1 is made by integrating high-precision sensors and data acquisition chips, and can collect various data in the processing process in real time and accurately. For example, the temperature sensor can monitor the temperature of the tool and workpiece in real time to prevent overheating damage; the pressure sensor can monitor the cutting force in the processing process to ensure the processing quality; the vibration sensor can detect the vibration of the equipment and detect potential faults in time. After adding time information to the collected data, the data collector 1 sends it to the edge controller 2. The accuracy of the time information can reach the microsecond level, ensuring the accurate time sequence of each data point and providing a reliable basis for subsequent data analysis and processing.

[0075] As Figure 2 shown, the embodiment of the present invention also provides a modular collaborative control method. The data collector 1, the edge controller 2 and the driver 3 communicate through the collaborative control center 5 to achieve time synchronization and data interaction. The modular collaborative control method includes the following steps:

[0076] S1. The core controller 7 obtains the total task instruction from the task center 6, decomposes the total task into multiple subtasks, sets relative time information and dependencies for each subtask, obtains the current system timestamp from the collaborative control center 5, and forms multiple subtask instructions with the current system timestamp;

[0077] S2. The data collector 1 collects the real-time status of the corresponding driver 3 and the corresponding actuator 4, and forms a feedback instruction with the real-time status and its corresponding time information and sends it to the edge controller 2;

[0078] S3. The edge controller 2 is used to receive the corresponding subtask instruction and the feedback instruction, form a secondary subtask instruction, and send the secondary subtask instruction to the driver 3;

[0079] S4. The driver 3 is used to drive the corresponding actuator 4 to perform a task operation according to the secondary subtask instruction.

[0080] In one embodiment, step S1 includes the following steps:

[0081] S11. The core controller 7 communicates with the task center 6 to obtain the total task instruction from an external system;

[0082] S12. According to the division of labor of each component in the modular collaborative control system, the total task instruction is decomposed into several subtasks with relative time information;

[0083] S13. According to the characteristics of each subtask, set its priority and the dependency relationship with the execution status of other subtasks;

[0084] S14. Communicate with the collaborative control center 5 in real time to obtain the accurate time in the current system, and form the current system timestamp;

[0085] S15. Replace the relative time information in the subtask with the current system timestamp, obtain the subtask instruction, and send the subtask instruction to each edge controller.

[0086] In addition, step S1 also includes the following steps:

[0087] S16. The core controller 7 receives the feedback information on the current task execution status from the edge controller 2, and makes corresponding adjustments to the subtask instruction according to the relevant information.

[0088] In one embodiment, step S2 includes the following steps:

[0089] S21. Communicate with the edge controller 2 to obtain the secondary subtask instruction from the edge controller 2;

[0090] S22. Verify the correctness and continuity of the secondary subtask instruction, and apply for a new secondary subtask instruction from the edge controller 2 when an error occurs;

[0091] S23. Communicate with the collaborative control center 5 in real time to obtain the accurate time in the current system, and form the current system timestamp;

[0092] S24. Collect and parse the real-time data of the driver and actuator using the standard protocol, add the current system timestamp to the collected real-time data to form a feedback instruction, and send the feedback instruction to the edge controller.

[0093] In one embodiment, step S3 includes the following steps:

[0094] S31. Communicate with the core controller to obtain the subtask instruction from the core controller;

[0095] S32. Check the integrity of the subtask instruction, and apply for a new subtask instruction from the core controller when an error occurs;

[0096] S33. Dynamically configure the communication parameters according to the subtask situation in the subtask instruction;

[0097] S34. Communicate with the collaborative control center 5 in real time to obtain the accurate time in the current system;

[0098] S35. Retrieve the evaluation parameters of the performance of the driver 3 and the data collector 1 involved in the task in the local or core controller 7, and evaluate whether the current subtask instruction exceeds its performance range based on this;

[0099] S36. Adjust the time parameters in the subtasks of each driver 3 according to the lead-lag performance parameters of each driver 3 to compensate for the asynchrony caused by their mechanical and electrical differences;

[0100] S37. Receive the feedback instruction related to the current subtask instruction in real time, judge the task execution status according to the feedback instruction, form a secondary subtask instruction, and send the secondary subtask instruction to the driver 3.

[0101] In one embodiment, step S3 further includes the following steps: Use the historical data of the execution process and feedback instructions stored in the edge controller 2 to correct the performance parameters of the driver 3 and the data collector 1, and upload the relevant results to the core controller 7.

[0102] In one embodiment, step S4 includes the following steps:

[0103] S41. Communicate with the edge controller 2 to obtain the secondary subtask instruction from the edge controller 2;

[0104] S42. Check the correctness and continuity of the secondary subtask instruction, and apply for a new secondary subtask instruction from the edge controller 2 when an error occurs;

[0105] S43. Communicate with the collaborative control center 5 in real time to obtain the accurate time in the current system;

[0106] S44. Establish a local sub-task buffer queue and execute the secondary sub-task instructions in chronological order;

[0107] S45. Drive the actuator 4 to perform task operations according to the secondary sub-task instructions.

[0108] More specifically, taking the control module integrated in a multi-axis machining system as an example of the modular collaborative control system, the modular collaborative control method provided in this embodiment will be described:

[0109] After obtaining the total task instruction from the production scheduling system, the core controller 7 decomposes the task. The part machining task is decomposed into multiple sub-tasks, and each sub-task corresponds to a specific operation of a machining axis (actuator 4). For example, for a complex part machining task, multiple machining axes (actuators 4) may need to perform operations such as displacement and cutting respectively. Relative time information and dependencies are set for each sub-task. The relative time information represents the time sequence and time interval of the sub-task in the entire machining process; the dependency represents the sequence and mutual restriction relationship between sub-tasks. For example, the cutting operation of a certain machining axis (actuator 4) must start after another machining axis (actuator 4) completes positioning; the completion time of a certain sub-task must be within a specified time window, otherwise it will affect the execution of subsequent tasks.

[0110] The core controller 7 communicates with the collaborative control center 5 in real time to obtain the accurate time within the current system and form the current system timestamp; the core controller 7 replaces the relative time information in the sub-task with the absolute time of the current system to obtain the sub-task instruction and issues it to each edge controller 2. The edge controller 2 judges whether the current task exceeds the performance range according to the performance evaluation parameters of the driver 3 and the data collector 1 in the local or core controller. If the performance of the driver 3 of a certain machining axis (actuator 4) is insufficient to complete a specific task, the edge controller 2 will adjust the task parameters or request the core controller 7 to reallocate the task. For example, when the motor power of the machining axis (actuator 4) is insufficient, the edge controller 2 can reduce the machining speed or adjust the machining path to ensure the smooth completion of the task. At the same time, the edge controller 2 can also report the task adjustment situation to the core controller 7 so that the core controller 7 can monitor and adjust the entire machining process.

[0111] During the task execution, the data collector 1 provides real-time feedback on various data during the processing, such as temperature, pressure, vibration, displacement, etc. After adding time information to these data, the data collector 1 sends them to the edge controller 2. The edge controller 2 determines the task execution status based on these data and dynamically adjusts the task parameters of the processing axis (actuator 4). For example, if the data collector 1 detects severe tool wear, the edge controller 2 will immediately adjust the processing parameters to reduce the processing speed and extend the tool life; if it detects a workpiece position offset, the edge controller 2 will adjust the position of the processing axis (actuator 4) to ensure the processing accuracy. If abnormal situations occur, such as tool breakage, workpiece damage, processing axis failure, etc., the edge controller 2 will feedback to the core controller 7, and the core controller 7 will send instructions such as pausing execution and stopping the task according to the situation, and adjust the subtask instructions. For example, when the core controller 7 receives a report of tool breakage, it will immediately stop the operation of the relevant processing axis (actuator 4) and arrange for the operator to replace the tool. At the same time, the core controller 7 will adjust the time arrangement of the subtasks according to the actual situation to ensure the smooth progress of the entire processing process.

[0112] When in the no-task state, the edge controller 2 uses the stored execution process and status feedback historical data to correct the performance parameters of the driver 3 and the data collector 1, and uploads the relevant results to the core controller 7. This can continuously optimize the performance of the processing system, improve the processing accuracy and efficiency. For example, the edge controller 2 can analyze the tool wear pattern based on historical data, predict the tool life, and arrange the tool replacement plan in advance; it can adjust the control parameters of the driver 3 according to the operation data of the processing axis (actuator 4) to improve the operation efficiency and stability of the motor.

[0113] In summary, it can be known that this embodiment has at least the following beneficial effects;

[0114] 1) Improve the collaborative control accuracy

[0115] The timing center 51, as the only clock source of the system, can provide high-precision and highly reliable timing functions for the core controller 7, edge controller 2, driver 3, data collector 1, etc. in the system to achieve time synchronization. Through the precise time synchronization mechanism, the collaborative operations among the core controller 7, edge controller 2, driver 3, and data collector 1 can reach higher precision. In the scenario of multi-axis collaborative control, such as a machining system, the actions of different processing axes can be accurate to the microsecond level to ensure that the machining accuracy of complex parts meets high requirements.

[0116] 2) Enhance the system scalability and flexibility

[0117] The modular collaborative control method adopts a modular design, and each module (core controller 7, edge controller 2, driver 3, data collector 1) can be flexibly combined and configured according to different task requirements. In complex systems such as smart factories, as the production scale expands and production requirements change, new modules can be conveniently added to expand the functions and performance of the system. At the same time, different types of tasks can be flexibly decomposed and allocated by the core controller 7 to adapt to different production scenarios and task requirements.

[0118] 3) Ensure system stability and reliability

[0119] The edge controller 2 can monitor the task execution status in real time and dynamically adjust the task parameters according to the data feedback from the data collector 1. In case of abnormal situations, it can promptly feedback to the core controller 7, and the core controller 7 can quickly respond, send instructions such as pause and stop, and adjust the subtask instructions. This mechanism can effectively avoid asynchronization and error accumulation during task execution, reduce the risk of equipment failures and production interruptions, and improve the stability and reliability of the system.

[0120] 4) Optimize equipment performance

[0121] When the edge controller 2 is in a task-free state, it uses the stored execution process and status feedback historical data to correct the performance parameters of the driver 3 and the data collector 1, and uploads the relevant results to the core controller 7. This process can continuously optimize the performance of the equipment, extend the service life of the equipment, and reduce the maintenance cost. At the same time, through continuous optimization of the equipment performance, the system can better adapt to different task requirements and improve the overall production efficiency and quality.

[0122] Such as Figure 3 As shown, an embodiment of the present invention also provides an electronic device 100, including a memory 110, a processor 120, and a computer program 130 stored in the memory 110 and executable on the processor 120. When the processor 120 executes the computer program 130, it implements any one of the modular collaborative control methods in the above technical solutions.

[0123] Among them, the processor may include one or more of a central processing unit, an application processor (AP), a baseband processor, etc. The processor can be the nerve center and command center of a wireless router. The processor can generate operation control signals according to the instruction operation code and timing signal to complete the control of fetching and executing instructions. The memory can be used to store computer-executable program codes, and the executable program codes include instructions. The processor executes various functional applications and data processing of the network device by running the instructions stored in the memory. The memory can include a program storage area and a data storage area, such as storing data of sound signals to be played, etc. For example, the memory can be a double data rate synchronous dynamic random access memory (DDR) or a flash memory (Flash), etc.

[0124] The so-called processor 120 may be a central processing unit (CPU), and this processor 60 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0125] In some embodiments, the memory 110 may be an internal storage unit of a modular collaborative control system, such as the hard disk or memory of a modular collaborative control system. In some other embodiments, the memory 110 may also be an external storage device of the modular collaborative control system, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), etc., equipped on the modular collaborative control system. Further, the memory 110 may also include both the internal storage unit and the external storage device of the modular collaborative control system. The memory 110 is used to store an operating system, application programs, a boot loader (BootLoader), data, and other programs, such as the program codes of the computer programs, etc. The memory 110 may also be used to temporarily store data that has been output or will be output.

[0126] An embodiment of the present invention also provides a readable storage medium storing a computer program, which when executed by a processor implements any one of the modular collaborative control methods in the above technical solutions.

[0127] An embodiment of the present application provides a computer program product, which when running on a mobile terminal enables the mobile terminal to implement the steps in the above method embodiments when executed.

[0128] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present application, a computer program can be used to instruct the relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps in the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0129] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0130] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present application.

[0131] In the embodiments provided in the present application, it should be understood that the disclosed device / network device and method can be implemented in other ways. For example, the device / network device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0132] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0133] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A modular collaborative control system, characterized in that: The system comprises at least one data collector, at least one edge controller, at least one driver, at least one actuator, a collaborative control center, a task center and a core controller; the data collector, the edge controller and the driver communicate through the collaborative control center to achieve time synchronization and data interaction; The core controller is used to obtain the overall task instruction from the task center, decompose the overall task into multiple subtasks, and set relative time information and dependency for each subtask to form multiple subtask instructions with current system timestamps; The data collector is used to collect the real-time status of the corresponding driver and the corresponding actuator, and send the real-time status and its corresponding time information as feedback to the edge controller; The edge controller is used to receive the corresponding subtask instruction and the feedback designation, form a secondary subtask instruction, and send the secondary subtask instruction to the driver; The driver is used to drive the corresponding executor to perform the task operation according to the secondary subtask instruction.

2. The modular collaborative control system according to claim 1, characterized in that: The collaborative control center includes a timing center and a control network. The timing center is used to send time signals to the data collector, the edge controller and the driver to achieve time synchronization; the control network is used for information data transmission between the data collector, the edge controller and the driver.

3. A modular collaborative control method, characterized in that: The data collector, edge controller and driver communicate through the collaborative control center to achieve time synchronization and data interaction. The modular collaborative control method includes the following steps: S1. The core controller obtains the overall task instruction from the task center, decomposes the overall task into multiple subtasks, sets relative time information and dependencies for each subtask, obtains the current system timestamp from the collaborative control center, and forms multiple subtask instructions with the current system timestamp; S2, the data collector collects the real-time status of the corresponding driver and the corresponding actuator, and sends the real-time status and its corresponding time information as feedback to the edge controller; S3, the edge controller is used to receive the corresponding subtask instruction and the feedback designation, form a secondary subtask instruction, and send the secondary subtask instruction to the driver; S4. The driver is used to drive the corresponding executor to perform the task operation according to the secondary subtask instruction.

4. The modular collaborative control method according to claim 3, characterized in that: The step S1 comprises the following steps: S11, the core controller communicates with the task center to obtain the overall task instruction from the external system; S12, according to the division of labor of each component in the modular collaborative control system, decompose the overall task instruction into a number of subtasks with relative time information; S13. According to the characteristics of each subtask, set a priority for it and a dependency relationship between it and the execution status of other subtasks; S14, communicate with the collaborative control center in real time to obtain the precise time in the current system and form the current system timestamp; S15: Replace the relative time information in the subtask with the current system timestamp, obtain the subtask instruction, and send the subtask instruction to each edge controller.

5. The modular collaborative control method according to claim 3, characterized in that: The step S2 comprises the following steps: S21, communicating with the edge controller to obtain a secondary subtask instruction from the edge controller; S22, verifying the correctness and continuity of the secondary subtask instruction, and applying for a new secondary subtask instruction from the edge controller when an error occurs; S23, communicate with the collaborative control center in real time to obtain the precise time in the current system and form the current system timestamp; S24. Use standard protocols to collect and parse real-time data of the driver and actuator, add the current system timestamp to the collected real-time data, form a feedback instruction, and send the feedback instruction to the edge controller.

6. The modular collaborative control method according to claim 3, characterized in that: The step S3 comprises the following steps: S31, communicating with the core controller to obtain subtask instructions from the core controller; S32, verifying the integrity of the subtask instruction, and applying for a new subtask instruction from the core controller when an error occurs; S33, dynamically configuring communication parameters according to the subtask conditions in the subtask instructions; S34, communicate with the collaborative control center in real time to obtain the precise time in the current system; S35, calling the evaluation parameters of the performance of the driver and data collector involved in the task in the local or core controller, and evaluating whether the current subtask instruction exceeds its performance range based on the evaluation parameters; S36, adjusting the time parameters in each driver subtask according to the lead-lag performance parameters of each driver to compensate for the asynchrony caused by the mechanical and electrical differences; S37, receiving feedback instructions related to the current subtask instruction in real time, judging the task execution status according to the feedback instructions, forming a secondary subtask instruction, and sending the secondary subtask instruction to the driver.

7. The modular collaborative control method according to claim 6, characterized in that: The step S3 also includes the following steps: using the historical data of the execution process and feedback instructions stored in the edge controller to correct the performance parameters of the driver and the data collector, and uploading the relevant results to the core controller.

8. The modular collaborative control method according to claim 3, characterized in that: The step S4 comprises the following steps: S41, communicating with an edge controller to obtain a secondary subtask instruction from the edge controller; S42, verifying the correctness and continuity of the secondary subtask instruction, and applying for a new secondary subtask instruction from the edge controller when an error occurs; S43, communicate with the collaborative control center in real time to obtain the precise time in the current system; S44, establishing a local subtask buffer queue, and executing secondary subtask instructions according to time sequence; S45. Drive the executor to perform the task operation according to the secondary subtask instruction.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 3 to 8 is implemented.

10. A readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 3 to 8 is implemented.

Images