Electronic control system, control method and device for electronic control system and storage medium

Abstract

The invention relates to the technical field of mechanical electric control, in particular to an electric control system, a control method and device for the electric control system and a storage medium. The electric control system comprises a plurality of execution mechanisms, and each execution mechanism is provided with a corresponding electric drive module and a sensing unit. The input end of the rectification module is connected with an alternating current power supply, the first output end of the rectification module is connected with the electric drive module of each execution mechanism and used for providing a power supply for the electric drive module, and the second output end of the rectification module is electrically connected with the input end of the control module and used for providing a control power supply for the control module; and the output end of the control module is electrically connected with each electric drive module and each sensing unit, and the control module is used for sending a control electric signal to each electric drive module and each sensing unit so as to realize corresponding control. According to the scheme, the rectification module is adopted to supply power to the driving modules, the control module and the sensing module, and the cost of internal parts of the electrical system is saved.

Description

Technical Field

[0001] The present application relates to the field of mechanical and electrical control technologies, and particularly to an electrical control system, a control method, a device, and a storage medium for an electrical control system. Background Art

[0002] Palletizers have become very popular with the rapid development of the logistics industry and are widely used in industries such as warehousing logistics and intelligent manufacturing. Among them, the aisle-type palletizer, as the main carrier for material warehousing, outbound, turnover, and handling in an automated three-dimensional warehousing logistics system, has become the most core and complex mobile device in the automated three-dimensional warehouse system.

[0003] The existing palletizer electrical control system is developed based on the integration of mature electrical components and can only select complete electrical components one by one from the perspective of system functions. That is to say, in the existing system, the drive frequency converter / servo system of each mechanism includes a set of rectification and inversion systems, which will lead to waste of resources, performance exceeding requirements, and functional redundancy among components, resulting in a relatively high overall cost; at the same time, there are many wire harnesses during the layout of the electrical system, resulting in a decrease in stability and reliability. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide an electrical control system, a control method, a device, and a storage medium for an electrical control system to solve the problem of waste of component resources in the prior art.

[0005] To achieve the above purpose, the first aspect of the present application provides an electrical control system applied to a palletizer. The electrical control system includes:

[0006] Multiple actuators, each actuator having a corresponding electric drive module and a sensing unit;

[0007] A rectification module, the input end of the rectification module is connected to an AC power supply, the first output end of the rectification module is respectively connected to the electric drive module of each actuator to provide a power supply for the electric drive module, and the second output end of the rectification module is electrically connected to the input end of the control module to provide a control power supply for the control module;

[0008] A control module, the output end of the control module is respectively electrically connected to each electric drive module and each sensing unit to send control electrical signals to each electric drive module and each sensing unit to achieve corresponding control.

[0009] In the embodiments of the present application, the electrical control system further includes: an energy storage unit, the energy storage unit includes a charge and discharge circuit and an energy storage battery, and the energy storage unit is electrically connected to the rectification module, the control module, and multiple actuators for storing the recovered energy of multiple actuators.

[0010] In the embodiments of the present application, the electric control system further includes: an interaction unit for interacting with the user, and the interaction unit is connected to the output end of the control module. In the embodiments of the present application, the multiple actuators include a gripping mechanism, a traveling mechanism, and a lifting mechanism. The electric control system further includes: a first sub-control module, the input end of the first sub-control module is connected to the control module, and the output end of the first sub-control module is connected to the gripping mechanism for controlling the gripping mechanism according to the control electric signal; a second sub-control module, the input end of the second sub-control module is connected to the control module, and the output end of the second sub-control module is connected to the traveling mechanism for controlling the traveling mechanism according to the control electric signal; a third sub-control module, the input end of the third sub-control module is connected to the control module, and the output end of the third sub-control module is connected to the lifting mechanism for controlling the lifting mechanism according to the control electric signal.

[0011] The second aspect of the present application provides a control method for an electric control system, which is applied to the electric control system as described in any one of the above embodiments. The control method includes:

[0012] When the AC power supply is connected to the rectification module, control the second output end of the rectification module to provide control power for the control module;

[0013] When the self-detection tests of the interaction unit, the control module, and all electric drive modules pass, obtain the action instruction for the palletizer;

[0014] Decompose the action instruction to determine the action requirements corresponding to the action instruction;

[0015] Identify the action requirements. When it is determined that the action requirements are not emergency stop requirements, control the first output end of the rectification module to provide power supply for each actuator;

[0016] Send the corresponding control instruction to the actuator corresponding to the action requirements through the control module according to the action requirements, so as to control the actuator to complete the operation corresponding to the control instruction.

[0017] In the embodiments of the present application, the control method further includes: when the self-detection test of any one of the interaction unit, the control module, and all electric drive modules fails, obtain the interaction information input by the user through the interaction unit; determine the action requirements corresponding to the interaction information according to the interaction information input by the user, and return to the step of identifying the action requirements.

[0018] In the embodiments of the present application, the control method further includes: when it is determined that the action requirements are emergency stop requirements, control the rectification module to cut off the power supply output by the first output end.

[0019] In an embodiment of the present application, the energy storage unit includes an energy storage battery and a charge-discharge circuit, and the control method further includes: controlling the energy storage unit to perform a self-detection test; when the self-detection test of the energy storage unit passes, controlling the energy storage unit to perform an operation of recovering electric energy on the traveling mechanism and the lifting mechanism; when the energy storage battery is not fully charged, controlling the charge-discharge circuit to store electric energy; when the energy storage battery is fully charged, prohibiting the energy storage unit from performing the operation of recovering electric energy, and controlling the charge-discharge circuit to consume electric energy; when the self-detection test of the energy storage unit fails, prohibiting the energy storage unit from performing the operation of recovering electric energy.

[0020] A third aspect of the present application provides a control device for an electric control system, and the device includes:

[0021] a memory configured to store instructions; and

[0022] a processor configured to call instructions from the memory and capable of implementing the control method for the electric control system according to any one of the above embodiments when executing the instructions.

[0023] A fourth aspect of the present application provides a machine-readable storage medium, characterized in that instructions are stored on the machine-readable storage medium, and the instructions are used to cause a machine to execute the control method for the electric control system according to any one of claims 5 to 8.

[0024] In the above technical solution, a rectification module is used to supply power to the drive module, the control module, and the sensing module, reducing the requirement that each device in the existing electrical system needs to perform rectification or rectification-inversion for power supply, and saving the cost of components.

[0025] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. They are used together with the following specific implementation to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0027] Figure 1 A schematic block diagram of the structure of an electric control system according to an embodiment of the present application is schematically shown;

[0028] Figure 2 A schematic flowchart of a control method for an electric control system of a palletizer according to an embodiment of the present application is schematically shown;

[0029] Figure 3 A schematic flowchart of a control method for an electric control system according to an embodiment of the present application is schematically shown;

[0030] Figure 4 Schematically shows a structural schematic block diagram of a control device for an electric control system according to an embodiment of the present application;

[0031] Figure 5 Schematically shows a flowchart of another control method for an electric control system according to an embodiment of the present application;

[0032] Figure 6 Schematically shows an internal structure diagram of a computer device according to an embodiment of the present application. Detailed implementation manners

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the specific implementation manners described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0034] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0035] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present application.

[0036] Figure 1 Schematically shows a structural schematic block diagram of an electric control system according to an embodiment of the present application. The electric control system is applied to a palletizer, as Figure 1 shown, the electric control system includes:

[0037] A plurality of actuators, each actuator has a corresponding electric drive module and a sensing unit;

[0038] Rectifier module 101, the input end of the rectifier module 101 is connected to the AC power supply 102, the first output end of the rectifier module 101 is respectively connected to the electric drive modules of each actuator, and is used to provide power supply for the electric drive modules. The second output end of the rectifier module 101 is electrically connected to the input end of the control module 103, and is used to provide control power supply for the control module;

[0039] Control module 103, the output ends of the control module 103 are respectively connected to each electric drive module and each sensing unit, and are used to send control electrical signals to each electric drive module and each sensing unit to achieve corresponding control.

[0040] The electric control system applied to the palletizer may include multiple actuators, each actuator has a corresponding electric drive module and a sensing unit. The input end of the rectifier module 101 included in the electric control system is connected to the AC power supply 102. The first output end (not shown in the figure) of the rectifier module 101 is respectively connected to the electric drive modules of each actuator, and can be used to provide power supply for each electric drive module. The second output end of the rectifier module 101 is connected to the input end of the control module 103, and is used to provide control power supply for the control module 103. The output ends of the control module 103 are respectively connected to the electric drive modules and sensing units of each actuator, and the user sends control electrical signals to achieve corresponding control.

[0041] In one embodiment, as Figure 1 shown, the electric control system further includes: an energy storage unit 104, the energy storage unit 104 includes a charge and discharge circuit 104-1 and an energy storage battery 104-2. The energy storage unit 104 is electrically connected to the rectifier module 101, the control module 103 and multiple actuators, and is used to store the recovered energy of multiple actuators.

[0042] In one embodiment, as Figure 1 shown, the electric control system further includes: an interaction unit 105, which is used to perform interaction operations with the user. The interaction unit 105 is connected to the output end of the control module 103.

[0043] The interaction unit 105 is connected to the control module 103. The user can send relevant control instructions to the control module 103 through the interaction unit 105, so that the control module 103 can perform corresponding control operations according to the instructions sent by the user received through the interaction unit 105.

[0044] In one embodiment, as Figure 1 shown, the multiple actuators include a gripper mechanism 106, a traveling mechanism 107 and a lifting mechanism 108. The electric control system further includes:

[0045] The first sub-control module 109, the input end of the first sub-control module 109 is connected to the control module 103, and the output end of the first sub-control module 109 is connected to the lifting and gripping mechanism 106, and is used to control the lifting and gripping mechanism 106 according to the control electrical signal;

[0046] The second sub-control module 110, the input end of the second sub-control module 110 is connected to the control module 103, and the output end of the second sub-control module 110 is connected to the traveling mechanism 107, and is used to control the traveling mechanism 107 according to the control electrical signal;

[0047] The third sub-control module 111, the input end of the third sub-control module 111 is connected to the control module 103, and the output end of the third sub-control module 111 is connected to the lifting mechanism 108, and is used to control the lifting mechanism 108 according to the control electrical signal.

[0048] The execution mechanism included in the electric control system applied to the palletizer may include a lifting and gripping mechanism 106, a traveling mechanism 107, and a lifting mechanism 108. As Figure 1 shown, each execution mechanism includes an electric drive module, a drive motor, and a sensing unit. The electric drive module is connected to the drive motor and is used to provide a power supply to the drive motor. The output end of the control module 103 may be respectively connected to the electric drive module and the sensing unit of each execution mechanism. The electric control system may further include a plurality of sub-control modules. Each sub-control module may be respectively connected to each execution mechanism. The control module 103 may be connected to the plurality of sub-control modules, and each execution mechanism is controlled through the plurality of sub-control modules.

[0049] In the above technical solution, the rectification module is used to supply power to the drive module, the control module, and the sensing module, reducing the requirement that each device in the existing electrical system needs to perform rectification or rectification and inversion for power supply, saving the cost of components. And the power supplies of each structure are uniformly supplied with power, which is easy to implement energy management and wastes less.

[0050] Figure 2 Schematically shows a flowchart of a control method for an electric control system for a palletizer according to an embodiment of the present application. As Figure 2 shown, the embodiment of the present application provides a control method for an electric control system for a palletizer. The method may include the following steps.

[0051] Step 201, when the AC power supply is connected to the rectification module, control the second output end of the rectification module to provide a control power supply for the control module;

[0052] Step 202, when the self-detection tests of the interaction unit, the control module, and all electric drive modules are passed, obtain an action instruction for the palletizer;

[0053] Step 203: Decompose the action instruction to determine the action requirements corresponding to the action instruction;

[0054] Step 204: Identify the action requirements. When it is determined that the action requirements are not emergency stop requirements, control the first output terminal of the rectification module to provide power supply for each actuator;

[0055] Step 205: Send corresponding control instructions to the actuator corresponding to the action requirements through the control module to control the actuator to complete the operation corresponding to the control instructions.

[0056] As Figure 2 shown, the control method of the electric control system for the palletizer can be applied to the electric control system of the palletizer as Figure 1 shown. The AC power supply is electrically connected to the rectification module. When the AC power supply is connected to the rectification module to provide power for the rectification module, the electric control system can control the rectification module to provide control power for the control module through the second output terminal. The electric control system can control the self-test of all electric drive modules in the interaction unit, the control module, and all actuators included in the palletizer. When it is determined that the self-tests of the interaction unit, the control module, and all electric drive modules are all passed, the electric control system can obtain the action instruction for the palletizer, and the action instruction can be pre-stored in the control module according to the data input by the user. The electric control system can decompose the action instruction to determine the action requirements corresponding to the action instruction, and identify the decomposed action requirements to determine whether the action requirements are emergency stop requirements. When it is determined that the action requirements are not emergency stop requirements, the electric control system can control the rectification module to provide power supply for each actuator through the first output terminal. The electric control system can send corresponding control instructions to the actuator corresponding to the action requirements through the control module to control the actuator to complete the operation corresponding to the control instructions.

[0057] In one embodiment, the method further includes: when the self-test of any one of the interaction unit, the control module, and all electric drive modules fails, obtain the interaction information input by the user through the interaction unit; determine the action requirements corresponding to the interaction information according to the interaction information input by the user, and return to the step of identifying the action requirements.

[0058] When the electronic control system controls all electric drive modules in the interaction unit, the control module, and all actuators included in the palletizer to perform self-detection tests, and when it is determined that the self-detection test of any one of the interaction unit, the control module, and all electric drive modules fails, the electronic control system can obtain the interaction information input by the user through the interaction unit. And determine the action requirement corresponding to the interaction information according to the interaction information input by the user. After obtaining the action requirement corresponding to the interaction information, the electronic control system can enter the step of identifying the action requirement to determine whether the action requirement is an emergency stop requirement.

[0059] In one embodiment, the method further includes: when it is determined that the action requirement is an emergency stop requirement, controlling the rectifier module to cut off the power supply output from the first output terminal.

[0060] The electronic control system can identify the action requirement to determine whether the action requirement is an emergency stop requirement. When the electronic control system determines that the action requirement is an emergency stop requirement, the electronic control system can control the rectifier module to cut off the power supply output from the first output terminal for each actuator.

[0061] In one embodiment, the energy storage unit includes an energy storage battery and a charge and discharge circuit. The method further includes: controlling the energy storage unit to perform a self-detection test; when the self-detection test of the energy storage unit passes, controlling the energy storage unit to perform an operation of recovering electric energy on the traveling mechanism and the lifting mechanism; when the energy storage battery is not fully charged, controlling the charge and discharge circuit to store electric energy; when the energy storage battery is fully charged, prohibiting the energy storage unit from performing the operation of recovering electric energy and controlling the charge and discharge circuit to consume electric energy; when the self-detection test of the energy storage unit fails, prohibiting the energy storage unit from performing the operation of recovering electric energy.

[0062] The electronic control system includes an energy storage unit, and the energy storage unit includes an energy storage battery and a charge and discharge circuit. As Figure 3As shown, a schematic flowchart of a control method for an electric control system is schematically shown. The electric control system can control the energy storage unit to perform a self-detection test. When it is determined that the self-detection test of the energy storage unit passes, the electric control system can control the energy storage unit to perform an operation of recovering electric energy on the traveling mechanism and the lifting mechanism. While when it is determined that the self-detection test of the energy storage unit fails, the electric control system can not allow the energy storage unit to perform the operation of recovering electric energy. During the process that the electric control system controls the energy storage unit to perform the operation of recovering electric energy on the traveling mechanism and the lifting mechanism, the energy storage battery included in the energy storage unit can be detected. When the energy storage battery is not fully charged, the electric control system can control the charge and discharge circuit to store electric energy. While when it is determined that the energy storage battery is already fully charged, the electric control system can not allow the energy storage unit to perform the operation of recovering electric energy and control the charge and discharge circuit to consume electric energy. In the prior art, the path to realize energy feedback is: mechanism recovers energy -> rectifies to direct current -> inverses to grid alternating current -> feeds back to the grid. In this application, it can be directly from recovering energy -> rectifies to direct current -> stores energy, greatly reducing the path length of energy recovery and having higher efficiency.

[0063] In one embodiment, as Figure 4 shown, a control device 400 for an electric control system is provided. The device includes:

[0064] A memory 401 configured to store instructions; and

[0065] A processor 402 configured to call instructions from the memory 401 and capable of implementing the control method for the electric control system according to any one of the above embodiments when executing the instructions.

[0066] In one embodiment, as Figure 5As shown, a schematic flow diagram of a control method for an electric control system is schematically shown. After the three-phase AC power supply is powered on, the rectification module connected to the three-phase AC power supply can be powered on for control, that is, the rectification module provides control power for the control module through the second output terminal. After the control power supply is powered on, the processor can control all the electric drive modules in the interaction unit, the control module, the sub-control module, and all the actuators included in the palletizer to perform self-detection tests, and determine whether all the modules undergoing self-check pass. In the case where it is determined that all self-checks pass, the processor can decompose the action requirements of the palletizer. In the case where it is determined that any one module fails the self-check, the processor can perform information interaction through the interaction unit to obtain the action execution requirements through the interaction unit, and decompose the action execution requirements obtained through the interaction unit. After the requirements are decomposed, it can be determined whether the current action requirement is an emergency stop requirement. If so, the processor can control the rectification module to cut off the power supply, and continue to decompose the next action requirement. In the case where it is determined that the current action requirement is an emergency stop requirement, the processor can control the rectification module to supply power, that is, provide power for each module connected to the first output terminal through the first output terminal. The control module can send the decomposed action requirements to the drive module in sequence, and the drive module can execute the requirements according to the received control instructions, so that the drive motor drives the mechanism to move, and send the information obtained by the sensing unit to the control module. The control module can also send the action requirements to the sub-control module, and the sub-control module can execute the action requirements. The sub-control module can send the action requirements to the drive module, and the drive module can execute the requirements according to the received control instructions, so that the drive motor drives the mechanism to move, and send the information obtained by the sensing unit to the sub-control module.

[0067] In the above technical solution, the rectification module is used to supply power to different mechanisms of the palletizer uniformly. And in the prior art, generally, a PLC controller, distributed I / O, and frequency conversion / servo also include an MCU control module. In actual use, it often takes the PLC control as the center, the distributed I / O executes the mechanism control, and the frequency converter / servo driver only completes the execution, resulting in a great waste of the control resources of the distributed I / O and the frequency converter / servo driver in the whole system. This system adopts a control module and a sub-control module according to the regional function. Compared with the prior art, it has higher integration and lower cost.

[0068] The embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to make the machine execute the above-mentioned control method for the electric control system.

[0069] In one embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 6As shown in the figure. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store relevant data obtained during the operation of the palletizer. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, it realizes a control method for an electric control system.

[0070] Figure 2 It is a schematic flowchart of a control method for an electric control system in an embodiment. It should be understood that although Figure 2 the steps in the flowchart are shown in sequence according to the indication of the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, Figure 2 at least a part of the steps in

[0071] The embodiments of the present application provide a device, which includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, the following steps are realized: when the AC power supply is connected to the rectification module, control the second output terminal of the rectification module to provide a control power supply for the control module; when the self-detection tests of the interaction unit, the control module, and all electric drive modules pass, obtain an action instruction for the palletizer; decompose the action instruction to determine the action requirements corresponding to the action instruction; identify the action requirements, and when it is determined that the action requirements are not emergency stop requirements, control the first output terminal of the rectification module to provide a power supply for each actuator; send corresponding control instructions to the actuator corresponding to the action requirements through the control module according to the action requirements to control the actuator to complete the operation corresponding to the control instructions.

[0072] In one embodiment, the control method further includes: when the self-detection test of any one of the interaction unit, the control module, and all the electric drive modules fails, obtaining interaction information input by the user through the interaction unit; determining an action requirement corresponding to the interaction information according to the interaction information input by the user, and returning to the step of identifying the action requirement.

[0073] In one embodiment, the control method further includes: when it is determined that the action requirement is an emergency stop requirement, controlling the rectifier module to cut off the power supply output from the first output end.

[0074] In one embodiment, the energy storage unit includes an energy storage battery and a charge-discharge circuit, and the control method further includes: controlling the energy storage unit to perform a self-detection test; when the self-detection test of the energy storage unit passes, controlling the energy storage unit to perform an operation of recovering electric energy on the traveling mechanism and the lifting mechanism; when the energy storage battery is not fully charged, controlling the charge-discharge circuit to store electric energy; when the energy storage battery is fully charged, prohibiting the energy storage unit from performing the operation of recovering electric energy, and controlling the charge-discharge circuit to consume electric energy; when the self-detection test of the energy storage unit fails, prohibiting the energy storage unit from performing the operation of recovering electric energy.

[0075] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0076] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0077] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions in the processFigure 1 one process or multiple processes and / or blocks Figure 1 the functions specified in one block or multiple blocks.

[0078] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 the one block or multiple blocks.

[0079] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0080] The memory may include non-permanent memory in the computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0081] Computer-readable media include permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media do not include transitory computer-readable media, such as modulated data signals and carrier waves.

[0082] It should also be noted that the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, commodity or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, commodity or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, commodity or device comprising the element.

[0083] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. An electric control system is applied to a palletizer, characterized in that, The electric control system includes: Multiple actuators, each of which has a corresponding electric drive module and a sensing unit; A rectification module, the input end of the rectification module is connected to an AC power supply, the first output end of the rectification module is respectively connected to the electric drive module of each actuator, and is used to provide a power supply for the electric drive module. The second output end of the rectification module is electrically connected to the input end of the control module, and is used to provide a control power supply for the control module; The control module, the output end of the control module is respectively electrically connected to each electric drive module and each sensing unit, and is used to send control electrical signals to each electric drive module and each sensing unit to achieve corresponding control.

2. The electronic control system according to claim 1, characterized in that The electric control system further includes: An energy storage unit, the energy storage unit includes a charge and discharge circuit and an energy storage battery, and the energy storage unit is electrically connected to the rectification module, the control module and multiple actuators, and is used to store the recovered energy of the multiple actuators.

3. The electronic control system according to claim 1, wherein The electric control system further includes: An interaction unit, which is used to perform interaction operations with the user, and the interaction unit is connected to the output end of the control module.

4. The electronic control system according to claim 1, wherein The multiple actuators include a grasping mechanism, a traveling mechanism and a lifting mechanism, and the electric control system further includes: A first sub-control module, the input end of the first sub-control module is connected to the control module, and the output end of the first sub-control module is connected to the grasping mechanism, and is used to control the grasping mechanism according to the control electrical signal; A second sub-control module, the input end of the second sub-control module is connected to the control module, and the output end of the second sub-control module is connected to the traveling mechanism, and is used to control the traveling mechanism according to the control electrical signal; A third sub-control module, the input end of the third sub-control module is connected to the control module, and the output end of the third sub-control module is connected to the lifting mechanism, and is used to control the lifting mechanism according to the control electrical signal.

5. A control method for an electric control system, characterized in that, Applied to the electric control system according to any one of claims 1 to 4, the control method includes: When the AC power supply is connected to the rectification module, control the second output end of the rectification module to provide a control power supply for the control module; When the self-detection tests of the interaction unit, the control module and all electric drive modules pass, obtain an action instruction for the palletizer; Decompose the action instruction to determine the action requirements corresponding to the action instruction; Identify the action requirements. When it is determined that the action requirements are not emergency stop requirements, control the first output end of the rectification module to provide a power supply for each actuator; Send corresponding control instructions to the actuator corresponding to the action requirements through the control module according to the action requirements, so as to control the actuator to complete the operation corresponding to the control instructions.

6. The control method for an electronic control system according to claim 5, wherein The control method further includes: When the self-detection test of any one of the interaction unit, the control module and all electric drive modules fails, obtain interaction information input by the user through the interaction unit; Determine the action requirement corresponding to the interaction information according to the interaction information input by the user, and return to the step of identifying the action requirement.

7. The control method for an electric control system according to claim 5, characterized in that, The control method further includes: When it is determined that the action requirement is an emergency stop requirement, control the rectification module to cut off the power supply output from the first output terminal.

8. The control method for an electric control system according to claim 5, wherein The energy storage unit includes an energy storage battery and a charge-discharge circuit, and the control method further includes: Control the energy storage unit to perform a self-detection test; When the self-detection test of the energy storage unit passes, control the energy storage unit to perform an operation of recovering electric energy on the traveling mechanism and the lifting mechanism; When the energy storage battery is not fully charged, control the charge-discharge circuit to store electric energy; When the energy storage battery is fully charged, prohibit the energy storage unit from performing the operation of recovering electric energy, and control the charge-discharge circuit to consume electric energy; When the self-detection test of the energy storage unit fails, prohibit the energy storage unit from performing the operation of recovering electric energy.

9. A control device for an electric control system, characterized in that, The device includes: A memory configured to store instructions; and A processor configured to call instructions from the memory and capable of implementing the control method for the electric control system according to any one of claims 5 to 8 when executing the instructions.

10. A machine-readable storage medium, characterized in that, Instructions are stored on the machine-readable storage medium, and the instructions are used to cause the machine to execute the control method for the electric control system according to any one of claims 5 to 8.

Images