Module control method, intelligent driving module, storage medium and product

Abstract

The invention discloses a module control method, an intelligent driving module, a storage medium and a product, and relates to the technical field of industrial control. The module control method comprises the steps that a configuration action set is obtained, the configuration action set comprises a plurality of action templates, and each action template comprises at least one of a trigger condition, an action instruction, an echo condition and an output signal; and based on the configuration action set, a multi-axis movement mechanism and / or an end effector of the intelligent driving module are / is controlled, and the multi-axis movement mechanism comprises a linear movement shaft and a rotary movement shaft. According to the scheme, a user can dynamically combine the complex action sequences according to the action templates, the process change is quickly responded, and the flexibility of module control is improved.

Description

Technical Field

[0001] This application relates to the field of industrial control technology, and in particular to a module control method, a smart drive module, a storage medium, and a product. Background Technology

[0002] The technical architecture of motion modules widely used in industrial automation still has significant limitations. Specifically, the motion control logic of these motion modules heavily relies on dedicated programmable logic controllers (PLCs). Users must program them using complex ladder diagrams or specialized languages, making it difficult to flexibly and quickly adjust the motion control logic and adapt to the needs of multi-variety, small-batch industrial production.

[0003] Therefore, it is necessary to propose a module control method to improve the flexibility of module control. Summary of the Invention

[0004] The main objective of this application is to provide a module control method, a smart drive module, a storage medium, and a product, aiming to solve the technical problem of how to improve the flexibility of module control.

[0005] To achieve the above objectives, this application proposes a module control method, which includes: Obtain a configuration action set, which includes several action templates. Each action template includes at least one of a trigger condition, an action command, a response condition, and an output signal. Based on the configured action set, the multi-axis motion mechanism and / or end effector of the intelligent drive module are controlled, wherein the multi-axis motion mechanism includes linear motion axes and rotary motion axes.

[0006] In one embodiment, the step of controlling the multi-axis motion mechanism and / or end effector of the intelligent drive module based on the configured action set includes: The embedded controller based on the intelligent drive module generates several corresponding sets of action configurations to be executed according to the several action templates. The set of action configurations to be executed includes at least one of the following: action sequence number, trigger condition configuration, action instruction configuration, start instruction configuration, feedback condition configuration, and output signal configuration. According to the action sequence number, control the multi-axis motion mechanism and / or end effector to execute the action sequence corresponding to the several action configuration sets to be executed.

[0007] In one embodiment, the step of controlling the multi-axis motion mechanism and / or the end effector to execute the action sequence corresponding to the plurality of action configuration sets to be executed includes: For any set of actions to be executed, the triggering conditions are monitored in real time to determine whether they are met. When the triggering condition is met, the action command configuration is written into the multi-axis motion mechanism and / or end effector; Once the motion instruction configuration is written, a start command is sent to the multi-axis motion mechanism and / or end effector based on the start instruction configuration to control the multi-axis motion mechanism and / or end effector to execute the motion corresponding to the motion instruction configuration.

[0008] In one embodiment, the set of actions to be executed further includes an action status identifier. After the step of sending a start command to the multi-axis motion mechanism and / or end effector based on the start command configuration after the action instruction configuration is written, the method further includes: Acquire preset axis motion sensor signals and end effector execution status; Based on the feedback condition configuration, it is determined whether the feedback condition is met according to the preset axis motion sensor signal and the execution status of the end effector. When the feedback condition is met, the action status identifier is updated to the action completion status, and the output action feedback signal is configured based on the output signal.

[0009] In one embodiment, the set of actions to be executed further includes an action timeout period. After the step of sending a start command to the multi-axis motion mechanism and / or end effector based on the start command configuration after the action instruction configuration is written, the method further includes: Obtain the motion execution time of the multi-axis motion mechanism and / or end effector; When the execution time of the action exceeds the action timeout period, the action status identifier is updated to an abnormal action status, and an alarm notification is generated based on the abnormal action status.

[0010] In one embodiment, before the step of obtaining the configuration action set, the method further includes: A graphical configuration interface based on a pre-set host computer and pre-set debugging software receives user configuration commands. Based on the user configuration instructions, determine the set of configuration actions.

[0011] In one embodiment, after determining the configuration action set according to the user configuration instruction, the method further includes: Based on a preset host computer, the configuration action set is sent to the intelligent drive module through a Modbus communication interface. The Modbus communication interface supports at least the Modbus Remote Terminal Unit Protocol and the Modbus Transmission Control Protocol.

[0012] Furthermore, to achieve the above objectives, this application also proposes an intelligent drive module, which includes: An embedded controller is used to acquire a configuration action set, which includes several action templates. Each action template includes at least one of a trigger condition, an action command, a response condition, and an output signal. Based on the configuration action set, the controller controls the multi-axis motion mechanism and / or end effector of the intelligent drive module. A multi-axis motion mechanism, wherein the multi-axis motion mechanism includes a linear motion axis and a rotary motion axis; End effector.

[0013] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the module control method described above.

[0014] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the module control method described above.

[0015] One or more technical solutions proposed in this application have at least the following technical effects: The module control method, intelligent drive module, storage medium, and product proposed in this application specifically involve acquiring a configuration action set, which includes several action templates. Each action template includes at least one of trigger conditions, action commands, feedback conditions, and output signals. Based on the configuration action set, the multi-axis motion mechanism and / or end effector of the intelligent drive module are controlled. The multi-axis motion mechanism includes linear motion axes and rotary motion axes.

[0016] This application relies on a configuration action set including several action templates to control the multi-axis motion mechanism and / or end effector of the intelligent drive module. By decomposing the module action into reusable action templates and setting trigger conditions, action commands, feedback conditions and output signals for the action templates, users can dynamically combine complex action sequences based on the action templates to quickly respond to process changes and improve the flexibility of module control. At the same time, through the synchronous control of the linear and rotary axes of the multi-axis motion mechanism, precise trajectory motion control is achieved to meet the requirements of highly complex module control tasks. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the first embodiment of the module control method of this application. Figure 2 This is a flowchart illustrating the second embodiment of the module control method of this application. Figure 3 This is a flowchart illustrating the third embodiment of the module control method of this application. Figure 4 This is a schematic diagram of the module structure of the module control device of this application; Figure 5 This is a schematic diagram of the device structure of the hardware operating environment involved in the module control method of this application embodiment.

[0020] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0022] The main solution of this application embodiment is: to obtain a configuration action set, which includes several action templates, and the action template includes at least one of triggering conditions, action instructions, feedback conditions and output signals; based on the configuration action set, to control the multi-axis motion mechanism and / or end effector of the intelligent drive module, wherein the multi-axis motion mechanism includes linear motion axes and rotary motion axes.

[0023] Technical terms used in this application: Modbus communication protocol: The Modbus communication protocol is a serial communication protocol widely used in the field of industrial automation. Its core lies in the use of a master-slave architecture and a unified application data unit to realize standardized data exchange between different devices.

[0024] The Modbus communication protocol defines a function code mechanism, which encapsulates operation instructions through pre-defined codes, enabling the master device to read and write data areas such as coils, discrete inputs, and holding registers of the slave device. The Modbus communication protocol is designed to be independent of the physical layer and supports various variants, including Modbus RTU (Remote Terminal Unit) over RS-485 and Modbus TCP (Transmission Control Protocol) over Ethernet.

[0025] The technical architecture of motion modules widely used in industrial automation still has the following shortcomings: Firstly, these motion modules typically rely on external independent controllers for motion control. The separate design of the module and controller requires additional wiring, configuration, and integration, which not only increases system complexity but also introduces numerous potential failure points, affecting equipment reliability.

[0026] Secondly, the motion control logic of this type of motion module heavily relies on a dedicated programmable logic controller. Users must program it using complex ladder diagrams or specialized languages, making it difficult to flexibly and quickly adjust the motion control logic and adapt to the needs of multi-variety, small-batch industrial production.

[0027] Third, these motion modules can usually only execute preset fixed trajectories and lack the ability to perform highly complex module control tasks.

[0028] As can be seen from the above, it is necessary to propose a module control method to at least improve the flexibility of module control.

[0029] To address the aforementioned technical problems, this application proposes a solution that relies on a configuration action set including several action templates to control the multi-axis motion mechanism and / or end effector of the intelligent drive module. By decomposing the module's actions into reusable action templates and setting trigger conditions, action commands, feedback conditions, and output signals for the action templates, users can dynamically combine complex action sequences based on the action templates to quickly respond to process changes, thus improving the flexibility of module control. Simultaneously, through the synchronous control of the linear and rotary axes of the multi-axis motion mechanism, precise trajectory motion control is achieved, meeting the requirements of highly complex module control tasks.

[0030] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, personal computer, mobile phone, etc., or a module control device, intelligent drive module, etc. that can realize the above functions.

[0031] Based on this, the embodiments of this application provide a module control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the module control method of this application. The module control method includes steps S110 to S120: Step S110: Obtain a configuration action set, which includes several action templates. Each action template includes at least one of a trigger condition, an action command, a response condition, and an output signal. In this embodiment of the application, in order to improve the flexibility of module control, the complex module control motion task is decomposed into standardized and flexibly choreographable action templates. This allows users to dynamically combine complex action sequences by defining and configuring the templates of motion actions to form a configuration action set, and then control the module to perform complex motions based on the configuration action set.

[0032] Specifically, the intelligent drive module needs to execute step S110 to obtain the user-pre-configured set of actions from local memory, host computer, or cloud server, providing a decision-making basis for the subsequent automated control of the intelligent drive module. The intelligent drive module refers to an electromechanical integrated intelligent execution device that integrates multi-axis motion mechanisms, end effectors, drivers, sensors, and embedded controllers. This intelligent drive module possesses sensing, decision-making, and execution capabilities and can independently complete complex industrial operation tasks.

[0033] In this context, a configuration action set refers to a sequence file consisting of multiple action templates containing a specific execution order. It defines all the motion and operational logic required for the intelligent drive module to complete a complex task. To facilitate visual editing and parsing of the action templates, configuration action sets are typically described and stored in structured text format, such as YAML or JSON.

[0034] An action template refers to a single and independent control logic unit within a configuration action set. Each action template can correspond to a specific work scenario or event type, and its essence is the encapsulation of a complete, independently executable control cycle logic. Action templates include, but are not limited to, trigger conditions, action instructions, feedback conditions, and output signals.

[0035] Triggering conditions refer to the conditions for initiating the execution process of the corresponding action template. They are usually formed by logical operations on real-time data collected by sensors, system status flags, or external input signals. When the Boolean expression of the triggering condition is true, the corresponding action template will be activated.

[0036] Action instructions refer to the specific control command sequence contained in the action template. This control command sequence specifies the set of parameters that need to be sent to the intelligent drive module, including but not limited to target position coordinates, motion speed, acceleration, torque limit, and the operation mode of the end effector.

[0037] Feedback conditions refer to the feedback rules used to determine whether the execution status of an action command has achieved the expected goal. They are usually determined based on real-time monitoring data from feedback components such as encoders, sensors, and vision inspection devices, and are used to achieve closed-loop control of the module.

[0038] Output signals refer to the status indication information sent by the intelligent drive module to external devices or host computers after the action template is completed. This status indication information can be in the form of digital level signals, industrial bus messages or network data packets, and is used to realize collaborative operation or status reporting between multiple devices, such as triggering the next workstation or lighting up indicator lights with IO (Input / Output) signals.

[0039] Step S120: Based on the configured action set, control the multi-axis motion mechanism and / or end effector of the intelligent drive module, wherein the multi-axis motion mechanism includes a linear motion axis and a rotary motion axis.

[0040] It should be noted that a multi-axis motion mechanism refers to a mechanical structure composed of multiple linear and rotary axes combined in a specific topological configuration. This includes, but is not limited to, linear axes for achieving linear movement along the X, Y, and Z directions, rotary axes for achieving rotational movement around a specific axis, rotary joints for adjusting posture, and redundant axis systems for extending the working range. An end effector refers to a work tool installed at the end of a multi-axis motion mechanism that directly contacts the workpiece, including but not limited to pneumatic grippers, electric grippers, vacuum suction cups, welding torches, or vision inspection cameras.

[0041] Linear motion axes refer to motion units that achieve linear displacement by driving ball screws, linear motors, or synchronous belt mechanisms with servo motors. Their motion direction is usually arranged along the X, Y, or Z axis, and they are equipped with linear encoders to achieve closed-loop position control. Rotary motion axes refer to motion units that achieve angular rotation by direct drive of servo motors or transmission via reducers. They are typically used to adjust the attitude angle of end effectors or to achieve rotational positioning of workpieces, and are equipped with rotary encoders to achieve closed-loop angle control.

[0042] Specifically, based on the acquired configuration action set, and according to the action instruction sequence defined in each action template, parameters such as target position, speed, and torque are synchronously sent to each axis driver in the multi-axis motion mechanism, and / or parameters such as target position, speed, torque, and operation mode are synchronously sent to the end effector, ensuring that the multi-axis motion mechanism and the end effector work together to achieve precise control of the intelligent drive module.

[0043] In one implementable manner, step S120 includes steps A01-A02: Step A01: The embedded controller based on the intelligent drive module generates a number of corresponding action configuration sets to be executed according to the number of action templates. The action configuration sets to be executed include at least one of the following: action sequence number, trigger condition configuration, action instruction configuration, start instruction configuration, feedback condition configuration, and output signal configuration. It should be noted that the embedded controller refers to the computing unit integrated inside the intelligent drive module, which is based on an ARM architecture processor and is responsible for running the control logic and coordinating the various hardware components of the intelligent drive module.

[0044] Specifically, the embedded controller of the intelligent drive module parses, verifies, and converts the aforementioned action templates, transforming each action template into a standardized data structure set that can be directly scheduled and executed within the module—the action configuration set to be executed. The action configuration set to be executed is a structured dataset generated for a single action template, containing all necessary execution parameters.

[0045] Optionally, the action configuration set includes, but is not limited to, action sequence number, trigger condition configuration, action instruction configuration, start instruction configuration, response condition configuration, and output signal configuration. The action sequence number is used to uniquely identify the action corresponding to the action template within the entire action sequence, and is used to determine the execution order of the actions corresponding to the action template.

[0046] Trigger condition configuration refers to the parameterized definition of the conditions required for the action corresponding to the start action template. It can include the monitoring address and action triggering rules, such as setting the value of a specific Modbus coil address or the level of an external IO signal. Action command configuration refers to the definition of specific motion parameters for multi-axis motion mechanisms and end effectors, including the target position, motion speed, acceleration curve of each axis, and control commands for the end effector. Start command configuration refers to the set of initialization commands sent by the embedded controller to the underlying driver or actuator after the trigger conditions are met. Feedback condition configuration refers to the feedback condition parameters used to determine whether the action has been completed, such as setting the position error of each axis encoder feedback to be less than a threshold or setting a specific IO input signal to be valid. Output signal configuration refers to the definition of the control signals that the embedded controller needs to output after the action is completed, such as setting a specific Modbus register value or changing the IO output state.

[0047] Step A02: According to the action sequence number, control the multi-axis motion mechanism and / or end effector to execute the action sequence corresponding to the several action configuration sets to be executed.

[0048] Then, through the embedded controller of the intelligent drive module, each set of actions to be executed is activated in sequence according to the order specified by the preset action sequence number in the set of actions to be executed, and the multi-axis motion mechanism and / or end effector are driven to complete the corresponding actions, so as to realize the continuous and complex action sequence corresponding to several sets of actions to be executed.

[0049] In this embodiment, the present application relies on a configuration action set including several action templates to control the multi-axis motion mechanism and / or end effector of the intelligent drive module. By decomposing the module action into reusable action templates and setting trigger conditions, action commands, feedback conditions and output signals for the action templates, users can dynamically combine complex action sequences according to the action templates, quickly respond to process changes, and improve the flexibility of module control. At the same time, through the synchronous control of the linear and rotary axes of the multi-axis motion mechanism, precise trajectory motion control is achieved to meet the requirements of highly complex module control tasks.

[0050] Based on the above embodiments of this application, a second embodiment of this application is proposed. In the second embodiment of this application, content that is the same as or similar to the above embodiments can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the module control method of this application; as shown Figure 2 As shown, the step of controlling the multi-axis motion mechanism and / or the end effector to execute the action sequence corresponding to the plurality of action configuration sets to be executed includes steps S210 to S230: Step S210: For any set of actions to be executed, monitor in real time whether the triggering conditions are met according to the triggering condition configuration. Step S220: When the triggering condition is met, the action command configuration is written into the multi-axis motion mechanism and / or end effector; In this embodiment, for any set of actions to be executed, the embedded controller needs to periodically query relevant parameters according to the triggering conditions, and monitor in real time whether the relevant parameters meet the triggering conditions corresponding to the set of actions to be executed. When it is determined that the triggering conditions corresponding to the set of actions to be executed are met, the motion parameters and control commands defined in the action instruction configuration are immediately transmitted and stored in the control registers of the multi-axis motion mechanism and / or the end effector through the corresponding communication interface (e.g., analog interface, bus interface, etc.). It can be understood that when a certain action instruction configuration is only used to control the multi-axis motion mechanism to move, only the action instruction configuration is written to the control register of the multi-axis motion mechanism. However, when a certain action instruction configuration is used to control both the multi-axis motion mechanism and the end effector to move, the motion parameters and control commands associated with the multi-axis motion mechanism need to be written to the control register of the multi-axis motion mechanism, and the motion parameters and control commands associated with the end effector need to be written to the control register of the end effector.

[0051] Step S230: After the action instruction configuration is written, a start command is sent to the multi-axis motion mechanism and / or end effector based on the start instruction configuration to control the multi-axis motion mechanism and / or end effector to execute the action corresponding to the action instruction configuration.

[0052] Specifically, once the motion instruction configuration has been transmitted to the control register of the multi-axis motion mechanism and / or the end effector, and the embedded controller receives the configuration write confirmation from the control register, the motion instruction configuration is determined to be written successfully.

[0053] Then, the embedded controller sends enable signals (i.e., start commands) to the drive motors of each axis of the multi-axis motion mechanism according to the initialization command in the startup instruction configuration, and / or sends enable signals to the end effector, so that the motors start running and drive each axis to move. The end effector starts to change state, and the entire intelligent drive module starts to move in coordination according to the trajectory and running logic corresponding to the action instruction configuration, until all the action sequences corresponding to the action configuration set to be executed are completed in the order specified by the action sequence number.

[0054] Furthermore, to ensure the reliability and stability of module control, the intelligent drive module can also monitor the feedback signals from the multi-axis motion mechanism and the end effector to confirm whether the module has completed the corresponding action.

[0055] Specifically, the set of actions to be executed also includes an action status identifier. After the step of sending a start command to the multi-axis motion mechanism and / or end effector based on the start command configuration after the action instruction configuration is written, steps B01 to B03 are included: Step B01: Obtain the preset axis motion sensor signal and the end effector execution status; It should be noted that a preset axis motion sensor refers to a sensor that is pre-set to monitor the actual motion state of a multi-axis motion mechanism, such as an encoder configured on each motion axis servo motor or transmission mechanism. The preset axis motion sensor signal is the electrical signal generated by the preset axis motion sensor, such as the digital pulse signal or communication message fed back by the encoder. This preset axis motion sensor signal is used to reflect the real-time rotation angle and speed of the motor, and then the actual position and speed of each axis in the multi-axis motion mechanism can be obtained by converting the transmission ratio.

[0056] The execution status of the end effector refers to the real-time operating information of the end effector when it performs an action. Specifically, it is detected by microswitches installed on the end effector to detect the opening and closing status of the grippers, pressure sensors to detect the vacuum degree or clamping force of the suction cup, and execution signals fed back by current sensors or its own controller.

[0057] Specifically, the embedded controller actively reads or receives feedback signals from multiple sensors by mounting standardized IO modules to obtain preset axis motion sensor signals and end effector execution status.

[0058] Step B02: Based on the feedback condition configuration, determine whether the feedback condition is met according to the preset axis motion sensor signal and the execution status of the end effector; Step B03: When the feedback condition is met, update the action status identifier to the action completion status, and configure the output action feedback signal based on the output signal.

[0059] Then, based on the preset axis motion sensor signals and end effector execution status obtained above, the embedded controller determines the position error fed back by the encoders and end effectors of each axis of the multi-axis motion mechanism, or determines whether there are specific IO input signals for each axis of the multi-axis motion mechanism and the end effector. Then, according to the feedback condition parameters in the feedback condition configuration, it determines whether the feedback condition is met by detecting whether the position error is less than a certain threshold, or whether the received specific IO input signal is a valid signal. By judging the feedback condition, the execution quality and reliability of each action are ensured, thereby avoiding process errors or product defects caused by incomplete actions.

[0060] The embedded controller updates the action status flag in the action configuration set only when the feedback condition is met. By updating the field value of the action status flag to a specific value corresponding to the action completion status, it indicates that the action corresponding to the action instruction configuration in the action configuration set has been completed. Simultaneously, according to the output control signal definition specified in the output signal configuration, such as the output signal type and status representation value, a signal is output to provide feedback on the action execution status to external devices or the host computer, i.e., an action feedback signal.

[0061] Furthermore, during the process of the embedded controller driving the multi-axis motion mechanism and / or end effector to move, by setting a time window for the judgment process of the feedback condition, the response speed of the module control is ensured, effectively preventing the action from waiting indefinitely due to sensor failure, mechanism jamming or external interference, and improving the reliability of the module control.

[0062] The set of actions to be executed also includes an action timeout period. After the step of sending a start command to the multi-axis motion mechanism and / or end effector based on the start command configuration after the action instruction configuration is written, the set of actions to be executed also includes steps C01 to C02: Step C01: Obtain the motion execution time of the multi-axis motion mechanism and / or end effector; Step C02: When the execution time of the action exceeds the timeout period of the action, update the action status identifier to an abnormal action status, and generate an alarm notification based on the abnormal action status.

[0063] Specifically, after sending a start command to the multi-axis motion mechanism and / or end effector, the embedded controller needs to obtain the motion execution time of the multi-axis motion mechanism and / or the motion execution time of the end effector. The motion execution time refers to the time interval that has elapsed from the start time of receiving the start command to the current time of the multi-axis motion mechanism or end effector.

[0064] By determining whether the action execution time exceeds the action timeout period, it can be determined whether there is an abnormal state of the multi-axis motion mechanism and / or end effector at the current moment, which may prevent the corresponding action from being completed.

[0065] Once the action execution time exceeds the action timeout period, the embedded controller updates the action status identifier to an abnormal state by updating the field value of the action status identifier to the specific value corresponding to the abnormal action state. Simultaneously, to promptly notify relevant personnel of this execution anomaly, an alarm notification needs to be generated based on the abnormal action state. This alarm notification includes, but is not limited to, information such as the anomaly type, the abnormal action sequence number, and a timestamp.

[0066] In this embodiment, for any set of actions to be executed, this application monitors in real time whether the triggering conditions are met according to the triggering condition configuration. When the triggering conditions are met, the action instruction configuration is written into the multi-axis motion mechanism and / or end effector. After the action instruction configuration is written, a start command is sent to the multi-axis motion mechanism and / or end effector based on the start command configuration to control the multi-axis motion mechanism and / or end effector to execute the action corresponding to the action instruction configuration. This application ensures the accuracy and reliability of the multi-axis motion mechanism and / or end effector in executing the action corresponding to each action template by executing the triggering condition configuration, action instruction configuration, and start command configuration in the action configuration set.

[0067] Based on the above embodiments of this application, a third embodiment of this application is proposed. In this third embodiment, content that is the same as or similar to the above embodiments can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 , Figure 3 This is a flowchart illustrating the third embodiment of the module control method of this application; before the step of obtaining the configuration action set, steps S310~S320 are further included: Step S310: Receive user configuration commands based on the graphical configuration interface of the preset debugging software on the preset host computer. Step S320: Determine the configuration action set according to the user configuration instruction.

[0068] It should be noted that the preset host computer refers to a general-purpose or industrial computer that is pre-configured and typically located at the industrial field control or management level, connected to the intelligent drive module via a standard network (such as Ethernet) or serial bus (such as RS485). The preset debugging software refers to an application installed and running on the preset host computer. The core function of this software is to provide users with a human-machine interactive environment for visual configuration, debugging, and monitoring of the intelligent drive module.

[0069] Specifically, the system receives all operations and parameter inputs performed by the user through the input device based on the graphical configuration interface provided by the preset debugging software of the host computer, and then receives user configuration instructions. These user configuration instructions include, but are not limited to, a set of instructions such as defining action sequences, setting parameters for action templates, configuring input and output signal mapping, and setting communication parameters.

[0070] By parsing the aforementioned user configuration instructions, a set of configuration actions for controlling the movement of multi-axis motion mechanisms and / or end effectors is generated. The graphical configuration interface includes icons, buttons, drop-down menus, parameter input boxes, flowcharts, or virtual 3D models. Through this interface, users can intuitively create, edit, and debug actions corresponding to action templates by adjusting positions and entering parameters.

[0071] Furthermore, existing motion modules typically rely on external controllers that employ proprietary communication protocols, such as controller manufacturer-defined serial protocols, making it difficult to interact with standard Modbus devices, smart sensors, or MES systems. Therefore, this embodiment not only integrates the embedded controller with the motion mechanism but also enables the embedded controller to support standardized communication protocols. Specifically, after determining the configuration action set based on the user configuration instructions, the following steps are also included: Based on a preset host computer, the configuration action set is sent to the intelligent drive module through a Modbus communication interface. The Modbus communication interface supports at least the Modbus Remote Terminal Unit Protocol and the Modbus Transmission Control Protocol.

[0072] Specifically, after the user completes the configuration action set through the graphical configuration interface of the preset debugging software of the host computer, the host computer can send the configuration action set to the intelligent drive module through the Modbus communication interface, so that the embedded controller of the intelligent drive module can control the multi-axis motion mechanism and / or end effector to move based on the configuration action set.

[0073] Optionally, the Modbus communication interface must support at least the Modbus RTU (Remote Terminal Unit) protocol and the Modbus TCP (Transmission Control Protocol). The Modbus communication interface can also be extended to support other industrial Ethernet protocols, such as EtherCAT, PROFINET, and CAN.

[0074] In this embodiment, this application receives user configuration instructions based on the graphical configuration interface of the preset debugging software on the preset host computer; and determines the configuration action set according to the user configuration instructions. This application, through the graphical configuration interface of the preset debugging software on the preset host computer, transforms complex motion control logic, device parameters, and communication settings into an intuitive, easy-to-understand, and operable form. Users can easily and flexibly configure the action set by constructing flowcharts composed of multiple action templates on the interface through dragging, connecting lines, filling in forms, etc., and setting specific parameters for the trigger conditions, action instructions, response conditions, and output signals for each action template.

[0075] It should be noted that the above embodiments can be combined and implemented in a reasonable manner according to the actual situation, and this embodiment will not elaborate on this further.

[0076] This application also provides an intelligent drive module, please refer to... Figure 4 The intelligent drive module includes: An embedded controller 10 is used to acquire a configuration action set, which includes several action templates. Each action template includes at least one of a trigger condition, an action command, a response condition, and an output signal. Based on the configuration action set, the controller controls the multi-axis motion mechanism and / or end effector of the intelligent drive module. Multi-axis motion mechanism 20, the multi-axis motion mechanism includes a linear motion axis and a rotary motion axis; End effector 30.

[0077] The intelligent drive module provided in this application, employing the module control method described in the above embodiments, can solve the technical problem of how to improve the flexibility of module control. Compared with the prior art, the beneficial effects of the intelligent drive module provided in this application are the same as those of the module control method provided in the above embodiments, and other technical features in the intelligent drive module are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0078] This application provides a module control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the module control method in the above embodiments.

[0079] The following is for reference. Figure 5 The diagram illustrates a structural schematic suitable for implementing the module control device of the embodiments of this application. The module control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The module control device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0080] like Figure 5As shown, the module control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in the read-only memory 1002 or a program loaded from the storage device 1003 into the random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the module control device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 allows the module control device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show module control devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0081] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0082] The module control device provided in this application, employing the module control method in the above embodiments, can solve the technical problem of how to improve the flexibility of module control. Compared with the prior art, the beneficial effects of the module control device provided in this application are the same as those of the module control method provided in the above embodiments, and other technical features in this module control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0083] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0084] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0085] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the module control method in the above embodiments.

[0086] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0087] The aforementioned computer-readable storage medium may be included in the module control device; or it may exist independently and not assembled into the module control device.

[0088] The aforementioned computer-readable storage medium carries one or more programs. When the one or more programs are executed by the module control device, the module control device causes the module control device to: acquire a configuration action set, the configuration action set including several action templates, the action template including at least one of trigger conditions, action instructions, feedback conditions, and output signals; and control the multi-axis motion mechanism and / or end effector of the intelligent drive module based on the configuration action set, the multi-axis motion mechanism including linear motion axes and rotary motion axes.

[0089] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0090] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0091] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0092] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described module control method, thereby solving the technical problem of how to improve the flexibility of module control. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the module control method provided in the above embodiments, and will not be repeated here.

[0093] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the module control method described above.

[0094] The computer program product provided in this application can solve the technical problem of how to improve the flexibility of module control. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the module control method provided in the above embodiments, and will not be repeated here.

[0095] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A module control method, characterized in that, The module control method includes: Obtain a configuration action set, which includes several action templates. Each action template includes at least one of trigger conditions, action instructions, response conditions, and output signals. Based on the configured action set, the multi-axis motion mechanism and / or end effector of the intelligent drive module are controlled, wherein the multi-axis motion mechanism includes linear motion axes and rotary motion axes.

2. The module control method as described in claim 1, characterized in that, The step of controlling the multi-axis motion mechanism and / or end effector of the intelligent drive module based on the configured action set includes: The embedded controller based on the intelligent drive module generates several corresponding sets of action configurations to be executed according to the several action templates. The set of action configurations to be executed includes at least one of the following: action sequence number, trigger condition configuration, action instruction configuration, start instruction configuration, feedback condition configuration, and output signal configuration. According to the action sequence number, control the multi-axis motion mechanism and / or end effector to execute the action sequence corresponding to the several action configuration sets to be executed.

3. The module control method as described in claim 2, characterized in that, The step of controlling the multi-axis motion mechanism and / or end effector to execute the action sequence corresponding to the plurality of action configuration sets to be executed includes: For any set of actions to be executed, the triggering conditions are monitored in real time to determine whether they are met. When the triggering condition is met, the action command configuration is written into the multi-axis motion mechanism and / or end effector; Once the motion instruction configuration is written, a start command is sent to the multi-axis motion mechanism and / or end effector based on the start instruction configuration to control the multi-axis motion mechanism and / or end effector to execute the motion corresponding to the motion instruction configuration.

4. The module control method as described in claim 3, characterized in that, The set of actions to be executed further includes an action status identifier. After the step of sending a start command to the multi-axis motion mechanism and / or end effector based on the start command configuration after the action instruction configuration is written, the method further includes: Acquire preset axis motion sensor signals and end effector execution status; Based on the feedback condition configuration, it is determined whether the feedback condition is met according to the preset axis motion sensor signal and the execution status of the end effector. When the feedback condition is met, the action status identifier is updated to the action completion status, and the output action feedback signal is configured based on the output signal.

5. The module control method as described in claim 3, characterized in that, The set of actions to be executed also includes an action timeout. After the step of sending a start command to the multi-axis motion mechanism and / or end effector based on the start command configuration after the action instruction configuration is written, the method further includes: Obtain the motion execution time of the multi-axis motion mechanism and / or end effector; When the execution time of the action exceeds the action timeout period, the action status identifier is updated to an abnormal action status, and an alarm notification is generated based on the abnormal action status.

6. The module control method as described in claim 1, characterized in that, Before the step of obtaining the configuration action set, the method further includes: A graphical configuration interface based on a pre-set host computer and pre-set debugging software receives user configuration commands. The set of configuration actions is determined based on the user configuration instructions.

7. The module control method as described in claim 6, characterized in that, After determining the configuration action set according to the user configuration instruction, the method further includes: Based on a preset host computer, the configuration action set is sent to the intelligent drive module through a Modbus communication interface. The Modbus communication interface supports at least the Modbus Remote Terminal Unit Protocol and the Modbus Transmission Control Protocol.

8. A smart drive module, characterized in that, The intelligent drive module includes: An embedded controller is used to acquire a configuration action set, which includes several action templates. Each action template includes at least one of a trigger condition, an action command, a response condition, and an output signal. Based on the configuration action set, the controller controls the multi-axis motion mechanism and / or end effector of the intelligent drive module. A multi-axis motion mechanism, wherein the multi-axis motion mechanism includes a linear motion axis and a rotary motion axis; End effector.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the module control method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the module control method as described in any one of claims 1 to 7.

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