Controller and control method for industrial production line
By integrating a chip-based controller and utilizing the internal bus communication between the programmable array unit and the processing unit, the problem of high system response latency in automated production lines was solved, achieving efficient vision processing and motion control, improving production efficiency and reducing costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-05
- Publication Date
- 2026-05-19
AI Technical Summary
The long communication process between multiple systems in an automated production line leads to high response delays and affects production efficiency.
The controller uses an integrated chip, which integrates a programmable array unit and a processing unit. It realizes visual data acquisition and control command output through a vision interface and a control interface. Furthermore, the programmable array unit and the processing unit transmit data through an internal bus, avoiding external communication.
It reduces response latency, improves production efficiency, simplifies system architecture, reduces maintenance and development difficulty, and saves production costs.
Smart Images
Figure CN122064037A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the field of industrial automation technology, and in particular relates to a controller and control method for industrial production lines. Background Technology
[0002] Automated production lines use mechanical equipment and control systems to automate the production process, which can significantly improve production efficiency. Automated production lines typically include multiple functional systems such as vision systems, motion systems, and control systems, which work together to complete product manufacturing.
[0003] However, the long communication process between multiple systems leads to high response delays in automated production lines, affecting production efficiency. Summary of the Invention
[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a controller and control method for industrial production lines, which features low response latency and high production efficiency.
[0005] In a first aspect, this application provides a controller for an industrial production line, the controller comprising: An integrated chip that integrates a programmable array unit and a processing unit, wherein the programmable array unit is connected to the processing unit; The integrated chip is provided with a vision interface and a control interface, and the programmable array unit is connected to the vision interface and the control interface; The vision interface is used to acquire visual data, and the control interface is used to output control commands, which are generated by at least one of the programmable array unit and the processing unit.
[0006] According to the embodiments of this application, the controller for industrial production lines has an integrated chip with a vision interface and a control interface, and integrates a programmable array unit and a processing unit. The programmable array unit and the processing unit enable the controller to realize the functions of multiple hardware systems such as vision processing and motion control, which saves production costs and reduces the maintenance and development difficulty of industrial production lines. Furthermore, the data transmission between the programmable array unit and the processing unit of the controller does not require external communication, resulting in low response latency and high production efficiency.
[0007] According to one embodiment of this application, the control instructions include at least one of motion control instructions, robot control instructions, and programmable logic control instructions; The motion control commands are used to control the execution equipment of the industrial production line to perform actions. The robot control commands are used to control the robot equipment on the industrial production line to perform actions. The programmable logic control instructions are used to control the input / output devices of the industrial production line.
[0008] According to one embodiment of this application, the motion control command includes at least one of the following: multi-axis motion point positioning, interpolation motion trajectory, electronic gear action, and electronic cam action of the execution device.
[0009] According to one embodiment of this application, the robot control instructions include the trajectories of each joint axis of the robot device.
[0010] According to one embodiment of this application, the programmable logic control instructions include at least one of the triggering logic and triggering sequence of the input / output device.
[0011] According to one embodiment of this application, the controller further includes: Input / output interfaces and / or data transmission interfaces; The input / output interface is connected to the input / output device of the industrial production line, and the input / output interface is used to output the control command to the input / output device; The data transmission interface is connected to the communication device, and the data transmission interface is used to realize data transmission between the controller and the communication device.
[0012] According to one embodiment of this application, the visual interface includes at least one of a Universal Serial Bus interface and an Ethernet interface; And / or, the control interface includes an Ethernet automatic control bus interface.
[0013] According to one embodiment of this application, the programmable array unit and the processing unit are connected via an advanced scalable bus.
[0014] Secondly, this application provides a control method for a controller used in an industrial production line. The method is used in the controller for an industrial production line as described in the first aspect, and includes: Obtain visual data through a visual interface; Control commands are output through a control interface, and the control commands are generated by at least one of the programmable array unit and the processing unit.
[0015] The control method for an industrial production line controller provided in the embodiments of this application enables the controller to realize the functions of multiple hardware systems such as vision processing and motion control. This not only saves production costs but also reduces the maintenance and development difficulty of the industrial production line. Furthermore, the data transmission between the programmable array unit and the processing unit of the controller does not require external communication, resulting in low response latency and high production efficiency.
[0016] According to one embodiment of this application, the control command is obtained through the following steps: The visual data is input into the programmable array unit to obtain the image processing result output by the programmable array unit; The image processing result is input into the processing unit to obtain the pose information output by the processing unit; The pose information is input into the programmable array unit to obtain the control commands output by the programmable array unit.
[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0018] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the integrated chip structure of the controller provided in the embodiments of this application; Figure 2 This is one of the flowcharts illustrating the control method for a controller used in an industrial production line provided in this application embodiment; Figure 3 This is a second schematic flowchart of the control method for a controller used in an industrial production line provided in the embodiments of this application.
[0019] Figure label: The system includes an integrated chip 100, a programmable array unit 110, a processing unit 120, a vision interface 131, and a control interface 132. Detailed Implementation
[0020] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.
[0021] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0022] The controller for industrial production lines and the control method for the controller for industrial production lines provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.
[0023] like Figure 1 As shown, the controller of this industrial production line includes an integrated chip 100.
[0024] The integrated chip 100 integrates a programmable array unit 110 and a processing unit 120, with the programmable array unit 110 connected to the processing unit 120.
[0025] The programmable array unit 110 can be a semi-custom integrated circuit. The programmable array unit 110 includes programmable logic blocks and interconnect resources. The internal connections and logic functions of the programmable array unit 110 can be configured through a hardware description language to enable it to implement the corresponding digital circuit functions.
[0026] The processing unit 120 can integrate a complete computer system, and the processing unit 120 can include functional modules such as a central processing unit, a memory controller, and peripheral interfaces.
[0027] In actual implementation, the programmable array unit 110 can be a field-programmable gate array (FPGA), and the processing unit 120 can be a system on chip (SoC).
[0028] The programmable array unit 110 and the processing unit 120 can achieve communication and data transmission functions through the internal bus in the integrated chip 100.
[0029] In this embodiment, the integrated chip 100 is provided with a vision interface 131 and a control interface 132, and the programmable array unit 110 is connected to the vision interface 131 and the control interface 132.
[0030] The vision interface 131 is a hardware interface in the integrated chip 100 used to receive and process image and video signals. Through the vision interface 131, the integrated chip 100 can realize functions such as acquiring, processing and transmitting visual data.
[0031] In practice, the vision interface 131 includes, but is not limited to, Gigabit Ethernet Vision, Universal Serial Bus (USB3) Vision, Camera Link, and CoaXPress, etc.
[0032] Among them, GigE Vision communicates based on Gigabit Ethernet and supports long-distance transmission; USB3 Vision communicates based on USB 3.0 interface, which can realize plug and play and has high convenience; Camera Link communicates based on dedicated cable and has low latency; CoaXPress can communicate through coaxial cable to realize high-speed long-distance transmission.
[0033] In this embodiment, the control interface 132 is a hardware interface for the integrated chip 100 to connect to external devices such as execution devices, robots, or various sensors. The control interface 132 is used to output control commands and can also be used to transmit status information, thereby realizing the control of external devices.
[0034] It should be noted that the specific number of vision interfaces 131 and control interfaces 132 can be determined according to the actual configuration of the industrial production line. The integrated chip 100 can be provided with one or more vision interfaces 131 and control interfaces 132. The interface types of each vision interface 131 and control interface 132 can be the same or different. This application embodiment does not limit this.
[0035] For example, the integrated chip 100 is provided with two vision interfaces 131, one of which is a GigE Vision interface and the other is a USB3 Vision interface, which are used to connect different industrial cameras respectively.
[0036] For example, the integrated chip 100 is provided with three control interfaces 132, which are respectively connected to the execution equipment, robot equipment and input-output (IO) devices in the industrial production line.
[0037] In this embodiment, by writing corresponding programs or algorithms into the programmable array unit 110 or the processing unit 120, the programmable array unit 110 or the processing unit 120 can perform various tasks.
[0038] For example, by writing an image processing program into the programmable array unit 110, the programmable array unit 110 can process the visual data input from the vision interface 131 and obtain the image processing result.
[0039] For example, by writing a positioning algorithm into the processing unit 120, the processing unit 120 can calculate pose information based on the image processing results.
[0040] For example, writing a motion control algorithm into the programmable array unit 110 can enable the programmable array unit 110 to calculate control commands based on pose information.
[0041] In actual implementation, both the programmable array unit 110 and the processing unit 120 have computing and control functions. Based on the characteristics of the programmable array unit 110 and the processing unit 120, they can handle different tasks respectively.
[0042] For example, the programmable array unit 110 has the characteristics of high real-time performance and low latency, and can handle tasks such as visual data acquisition and processing, motion control and trajectory determination.
[0043] For example, the processing unit 120 has high computing power and can handle tasks such as visual algorithms and robot motion calculation.
[0044] It should be noted that the control instructions are generated by at least one of the programmable array unit 110 and the processing unit 120. That is, they can be generated by the programmable array unit 110, the processing unit 120, or the programmable array unit 110 and the processing unit 120 in concert. The specific generation path of the control instructions can be flexibly adjusted according to the different control objects and task categories to achieve accurate and efficient output of the control instructions. This application embodiment does not limit this.
[0045] In this embodiment, during the generation of control commands, data transmission between the programmable array unit 110 and the processing unit 120 can be achieved through an internal bus located in the integrated chip 100. This communication method based on the internal bus has low latency and fast response speed.
[0046] The following section uses screen assembly as an application scenario to introduce a specific implementation example.
[0047] The industrial production line is equipped with an adsorption mechanism and an industrial camera. The industrial camera is used to capture images of mobile phone screens on the industrial production line, and the adsorption mechanism is used to pick up the mobile phone screens and transport them to a specific location.
[0048] In this controller for industrial production lines, the programmable array unit 110 and the processing unit 120, which are located in the integrated chip 100, are connected via an Advanced Scalable Integrated (AXI) bus. The programmable array unit 110 is equipped with a vision interface 131 and a control interface 132. The vision interface 131 is a USB3 Vision interface, which is connected to an industrial camera and is used to acquire visual data captured by the industrial camera. The control interface 132 is an EtherCAT bus master interface, which is connected to the adsorption mechanism and is used to output corresponding control commands to the adsorption mechanism to control the adsorption mechanism to accurately pick up the mobile phone screen and transport it to a specific position.
[0049] Control commands can be generated through the following steps: The programmable array unit 110 acquires visual data through the vision interface 131, that is, the mobile phone screen in a specific area captured by the industrial camera. After receiving the visual data, the programmable array unit 110 can process the visual data through the corresponding algorithm program. The processing steps include, but are not limited to, image sharpening, distortion correction and target recognition. After obtaining the image processing result, the programmable array unit 110 can transmit the image processing result to the processing unit 120 through the AXI bus.
[0050] The processing unit 120 performs pose recognition on the image processing results through the corresponding algorithm program to determine the pose information such as the coordinates, distance and orientation of the mobile phone screen. After obtaining the pose information, the processing unit 120 can transmit the pose information to the programmable array unit 110 through the AXI bus.
[0051] The programmable array unit 110 determines the control commands of each drive motor in the adsorption mechanism based on the pose information through the corresponding algorithm program. After determining the control commands, the programmable array unit 110 can send them to the adsorption mechanism in real time through the control interface 132 via the EtherCAT bus to control the adsorption mechanism to complete the accurate picking up and transport of the mobile phone screen.
[0052] In this embodiment, tasks requiring high real-time performance (such as image processing and control command determination) are handled by the programmable array unit 110, while tasks requiring high computational complexity or strong logic (such as position calculation) are handled by the processing unit 120. The programmable array unit 110 and the processing unit 120 communicate and transmit data through an internal bus. This scheme, which utilizes the characteristics of the programmable array unit 110 and the processing unit 120 for collaborative task processing, can effectively improve the processing efficiency of the controller and reduce response latency.
[0053] In related technologies, automated production lines typically include multiple functional systems such as vision systems, motion systems, and control systems. These systems work together to complete product manufacturing. They communicate with each other via industrial Ethernet, serial ports, or hardwired I / O signals, and achieve data exchange and process scheduling by writing complex integration code (i.e., "glue code") in a host computer. This results in high response latency and low production efficiency in automated production lines. Furthermore, the independent architecture of the multiple systems makes the maintenance and development of automated production lines difficult and costly.
[0054] In this embodiment, the controller for an industrial production line includes an integrated chip 100. The integrated chip 100 is provided with a vision interface 131 and a control interface 132. The vision interface 131 can be connected to image acquisition devices such as industrial cameras to acquire visual data. The control interface 132 can be connected to execution devices and robotic devices in the industrial production line to output control commands. The programmable array unit 110 and processing unit 120 integrated in the integrated chip 100 enable the controller to acquire visual data through the vision interface 131, determine control commands based on the visual data, and output control commands through the control interface 132. This allows the controller to realize the functions of multiple hardware systems such as vision processing and motion control. This integrated solution simplifies the system structure of the industrial production line, saves production costs, and reduces the difficulty of maintenance and development of the industrial production line. Furthermore, the programmable array unit 110 and the processing unit 120 can communicate and transmit data through an internal bus without the need for external communication, resulting in low response latency and high production efficiency.
[0055] According to the embodiment of this application, the controller for industrial production lines has an integrated chip 100 with a vision interface 131 and a control interface 132, and integrates a programmable array unit 110 and a processing unit 120. The programmable array unit 110 and the processing unit 120 enable the controller to realize the functions of multiple hardware systems such as vision processing and motion control, which saves production costs and reduces the maintenance and development difficulty of industrial production lines. Furthermore, the data transmission between the programmable array unit 110 and the processing unit 120 of the controller does not require external communication, resulting in low response latency and high production efficiency.
[0056] In some embodiments, the control instructions include at least one of motion control instructions, robot control instructions, and programmable logic control instructions.
[0057] Motion control commands are used to control the actuators in industrial production lines to perform actions. The actuators are movable mechanisms in the industrial production line, such as lifting devices, translation devices, and clamping devices. Through motion control commands, the displacement, speed, or torque parameters of cylinders and motors in the actuators can be accurately adjusted, thereby enabling the actuators to complete specific actions.
[0058] Robot control commands are used to control the actions of robotic equipment on industrial production lines. Robotic equipment is automated equipment on industrial production lines that can perform high-precision and high-complexity operations through programming or commands, such as industrial robots and robotic arms. Through robot control commands, the multi-axis motion of robotic equipment can be coordinated, thereby enabling precise movements of robotic equipment in three-dimensional space.
[0059] Programmable Logic Control (PLC) instructions are used to control input-output (IO) devices in industrial production lines. Input-output devices are devices in industrial production lines that implement input or output functions through standard IO interfaces, such as various sensors and relays. Through programmable logic control instructions, signal conversion and electrical control of input-output devices can be achieved.
[0060] In this embodiment, the control refers to motion control instructions, robot control instructions, and programmable logic control instructions. The controller can realize the control functions of various types of equipment in the industrial production line. Each type of equipment does not need to be equipped with a dedicated control system, which saves production costs and reduces the difficulty of maintenance and development of the industrial production line.
[0061] In some embodiments, motion control commands include at least one of the following: multi-axis motion point positioning of the execution device, interpolation motion trajectory, electronic gear action, and electronic cam action.
[0062] Among them, the multi-axis motion point can be the position coordinates that each motion axis in the execution equipment of the industrial production line needs to reach. The position coordinates can include the absolute / relative coordinate values of the motion axis in the rectangular coordinate system or the joint coordinate system at different times. Based on the multi-axis motion point, the position loop of each axis motor of the execution equipment can be controlled, so that the execution equipment can accurately reach the predetermined position or accurately perform the predetermined action.
[0063] The interpolation motion trajectory can be a continuous path of the actuator. The interpolation motion trajectory can include linear interpolation trajectory and circular interpolation trajectory. The linear interpolation trajectory can control the actuator to move along a straight line with a set start and end point, while the circular interpolation trajectory can control the actuator to achieve smooth movement along a curved path.
[0064] Electronic gear motion and electronic cam motion are motion control methods that simulate mechanical transmission. Electronic gear motion can control the speed ratio between the master and slave shafts, so that the slave shaft moves synchronously with the master shaft. Electronic cam motion can describe the positional relationship with a function curve, realizing the non-linear periodic motion of the execution device, which is suitable for clamping or conveying scenarios.
[0065] In actual execution, motion control commands can be determined by the programmable array unit 110 to improve command real-time performance and response speed.
[0066] In this embodiment, motion control commands may include multi-axis motion points of the execution device, interpolation motion trajectory, electronic gear action and electronic cam action. The controller can realize motion control of various execution devices in different scenarios by outputting motion control commands.
[0067] In some embodiments, robot control commands include the trajectories of each joint axis of the robot device.
[0068] Among them, the trajectory of each joint axis can be the position, velocity and acceleration change curve of each motion joint (such as rotary axis, linear axis) of the robot device during the action process.
[0069] In actual execution, the trajectory of each joint axis can be calculated by inverse kinematics to decompose the target path of the end effector into the independent motion trajectory of each joint, thereby realizing smooth and precise movement of the robot in three-dimensional space. The inverse kinematics calculation can be performed in the processing unit 120 to improve computational efficiency and command accuracy.
[0070] In this embodiment, the robot control commands include the trajectories of each joint axis of the robot device. By outputting the trajectories of each joint axis of the robot device, the controller can achieve precise control of the robot device in the industrial production line.
[0071] In some embodiments, the programmable logic control instructions include at least one of the triggering logic and triggering sequence of the input / output device.
[0072] Triggering logic is a rule in programmable logic control instructions that performs conditional judgments on input signals. Triggering logic can associate input signals with output actions through logical operations (such as AND, OR, and NOT) to achieve conditional control of input and output devices.
[0073] For example, by sending the corresponding trigger logic, the photoelectric sensor can be controlled to trigger the conveyor belt to start when it detects an object (input signal is true) and the safety door is closed (input signal is true) (output signal is true).
[0074] In actual execution, the triggering logic can be in the form of a ladder diagram or an instruction list.
[0075] Trigger sequence is a rule in programmable logic control instructions that governs the timing of actions in a process flow. Trigger sequence can enable multiple input / output devices to trigger actions in a preset order, thereby reducing the probability of action conflicts between input / output devices.
[0076] For example, first activate the sensor to detect the material position, then control the cylinder to push it out, and finally activate the gripper to close.
[0077] In this embodiment, the programmable logic control instructions may include trigger logic and trigger sequence. The controller can achieve efficient coordinated operation of input and output devices in the industrial production line through the trigger logic and trigger sequence.
[0078] In some embodiments, the controller further includes input / output interfaces and / or data transmission interfaces.
[0079] The input / output interface connects to the input / output devices of the industrial production line. The input / output interface can provide digital input / output terminals for outputting control commands to input / output devices (such as sensors, solenoid valves, etc.).
[0080] In practice, the input / output interfaces can be general-purpose I / O interfaces.
[0081] In this embodiment, the data transmission interface is connected to the communication device. The data transmission interface is a high-speed data exchange channel between the controller and the external communication device, used to realize data transmission between the controller and the communication device.
[0082] It is understandable that communication equipment can be used for program development and system maintenance, such as programmers and debugging terminals. Communication equipment can establish a connection with the controller through a data transmission interface, thereby realizing functions such as program download, parameter configuration, and operation monitoring.
[0083] In practice, data transmission interfaces include, but are not limited to, gigabit Ethernet ports and USB ports. Gigabit Ethernet ports can be used for real-time device networking, while USB ports can be used to quickly upload programs or export runtime logs.
[0084] In this embodiment, the controller also integrates input / output interfaces and data transmission interfaces. The input / output interfaces make the connection between the controller and I / O devices simpler and more convenient, thereby reducing the wiring complexity of industrial production lines. The data transmission interfaces can improve the efficiency of data interaction and programming debugging of the controller, making it easier to flexibly adjust the process flow and parameters of industrial production lines, thereby improving the applicability of industrial production lines and reducing the difficulty of operation and maintenance.
[0085] In some embodiments, the vision interface 131 includes at least one of a universal serial bus interface and an Ethernet interface.
[0086] In this embodiment, the Universal Serial Bus interface can be a USB3 Vision interface, and the Ethernet interface can be a GigE Vision interface.
[0087] The USB3 Vision interface enables high-speed data transmission for industrial vision devices. Based on USB 3.0 technology, it can transmit image data captured by high-resolution cameras in real time, while also providing plug-and-play and bus power supply functionality.
[0088] The GigE Vision interface can transmit visual data over Gigabit Ethernet. It supports multi-camera synchronous triggering and precise timing protocols, enabling it to coordinate the acquisition timing of multiple vision sensors and is suitable for distributed vision inspection systems.
[0089] It should be noted that the vision interface 131 may include one or more universal serial bus interfaces, or one or more Ethernet interfaces. The specific interface configuration scheme can be determined according to the actual needs of the industrial production line, and this application embodiment does not limit it.
[0090] In some embodiments, the control interface 132 includes an Ethernet automatic control bus interface.
[0091] In this embodiment, the Ethernet automatic control bus interface can be an EtherCAT bus master interface. The EtherCAT bus master interface is a high-speed real-time communication interface based on industrial Ethernet, and adopts a master-slave architecture to realize synchronous data interaction between the controller and multiple slave devices.
[0092] In some embodiments, the programmable array unit 110 and the processing unit 120 are connected via an advanced scalable bus.
[0093] In this embodiment, the advanced scalable bus can be an AXI (Advanced eXtensible Interface) bus. Through the AXI bus, efficient data transmission between the programmable array unit 110 and the processing unit 120 can be achieved, thereby improving the response speed of the controller.
[0094] This application also provides a control method for a controller used in an industrial production line, the method being used in the controller described above for an industrial production line. like Figure 2 As shown, the method includes steps 210 and 220.
[0095] Step 210: Obtain visual data through visual interface 131.
[0096] Step 220: Output control commands through control interface 132. The control commands are generated by at least one of programmable array unit 110 and processing unit 120.
[0097] According to the control method for an industrial production line controller provided in the embodiments of this application, the controller can realize the functions of multiple hardware systems such as vision processing and motion control, which saves production costs and reduces the maintenance and development difficulty of industrial production lines. Furthermore, the data transmission between the programmable array unit 110 and the processing unit 120 of the controller does not require external communication, resulting in low response latency and high production efficiency.
[0098] In some embodiments, such as Figure 3 As shown, the control command is obtained through steps 221, 222 and 223.
[0099] Step 221: Input the visual data into the programmable array unit 110 to obtain the image processing result output by the programmable array unit 110.
[0100] Step 222: Input the image processing result into the processing unit 120 to obtain the pose information output by the processing unit 120.
[0101] Step 223: Input the pose information into the programmable array unit 110 to obtain the control command output by the programmable array unit 110.
[0102] The image processing result is the result obtained by the programmable array unit 110 after performing image processing on the visual data. The image processing includes, but is not limited to, operations such as image sharpening, distortion correction, and target recognition.
[0103] Pose information is spatial position and orientation data calculated by the processing unit 120 based on the image processing results, including but not limited to the X / Y / Z coordinates and rotation angles of the target object in three-dimensional space. Pose information can provide a data basis for control commands. For example, pose information can be the target pose that the lifting mechanism needs to reach.
[0104] In this embodiment, tasks requiring high real-time performance (such as image processing and control command determination) are handled by the programmable array unit 110, while tasks requiring high computational complexity or strong logic (such as position calculation) are handled by the processing unit 120. The programmable array unit 110 and the processing unit 120 communicate and transmit data through an internal bus. This scheme, which utilizes the characteristics of the programmable array unit 110 and the processing unit 120 for collaborative task processing, can effectively improve the processing efficiency of the controller and reduce response latency.
[0105] The following section uses screen assembly as an application scenario to introduce a specific implementation example.
[0106] The industrial production line is equipped with an adsorption mechanism and an industrial camera. The industrial camera is used to capture images of mobile phone screens on the industrial production line, and the adsorption mechanism is used to pick up the mobile phone screens and transport them to a specific location.
[0107] In this controller for industrial production lines, the programmable array unit 110 and the processing unit 120, which are located in the integrated chip 100, are connected via an Advanced Scalable Integrated (AXI) bus. The programmable array unit 110 is equipped with a vision interface 131 and a control interface 132. The vision interface 131 is a USB3 Vision interface, which is connected to an industrial camera and is used to acquire visual data captured by the industrial camera. The control interface 132 is an EtherCAT bus master interface, which is connected to the adsorption mechanism and is used to output corresponding control commands to the adsorption mechanism to control the adsorption mechanism to accurately pick up the mobile phone screen and transport it to a specific position.
[0108] Control commands can be generated through the following steps: The programmable array unit 110 acquires visual data through the vision interface 131, that is, the mobile phone screen in a specific area captured by the industrial camera. After receiving the visual data, the programmable array unit 110 can process the visual data through the corresponding algorithm program. The processing steps include, but are not limited to, image sharpening, distortion correction and target recognition. After obtaining the image processing result, the programmable array unit 110 can transmit the image processing result to the processing unit 120 through the AXI bus.
[0109] The processing unit 120 performs pose recognition on the image processing results through the corresponding algorithm program to determine the pose information such as the coordinates, distance and orientation of the mobile phone screen. After obtaining the pose information, the processing unit 120 can transmit the pose information to the programmable array unit 110 through the AXI bus.
[0110] The programmable array unit 110 determines the control commands of each drive motor in the adsorption mechanism based on the pose information through the corresponding algorithm program. After determining the control commands, the programmable array unit 110 can send them to the adsorption mechanism in real time through the control interface 132 via the EtherCAT bus to control the adsorption mechanism to complete the accurate picking up and transport of the mobile phone screen.
[0111] The controller in this application embodiment can be an electronic device or a component within an electronic device. The electronic device can be a terminal or any other device besides a terminal; this application embodiment does not impose specific limitations.
[0112] The controller in this application embodiment can be a device with a real-time operating system. For example, the operating system can be Linux with Preempt-RT, an RTOS, or other possible operating systems; this application embodiment does not specifically limit the scope of the application.
[0113] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.
[0114] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
[0115] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.
[0116] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.
[0117] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0118] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.
Claims
1. A controller for industrial production lines, characterized in that, include: An integrated chip that integrates a programmable array unit and a processing unit, wherein the programmable array unit is connected to the processing unit; The integrated chip is provided with a vision interface and a control interface, and the programmable array unit is connected to the vision interface and the control interface; The vision interface is used to acquire visual data, and the control interface is used to output control commands, which are generated by at least one of the programmable array unit and the processing unit.
2. The controller for industrial production lines according to claim 1, characterized in that, The control instructions include at least one of motion control instructions, robot control instructions, and programmable logic control instructions; The motion control commands are used to control the execution equipment of the industrial production line to perform actions. The robot control commands are used to control the robot equipment on the industrial production line to perform actions. The programmable logic control instructions are used to control the input / output devices of the industrial production line.
3. The controller for industrial production lines according to claim 2, characterized in that, The motion control commands include at least one of the following: multi-axis motion point position, interpolation motion trajectory, electronic gear action, and electronic cam action of the execution device.
4. The controller for industrial production lines according to claim 2, characterized in that, The robot control commands include the trajectories of each joint axis of the robot device.
5. The controller for industrial production lines according to claim 2, characterized in that, The programmable logic control instructions include at least one of the triggering logic and triggering sequence of the input / output device.
6. The controller for an industrial production line according to any one of claims 1-5, characterized in that, Also includes: Input / output interfaces and / or data transmission interfaces; The input / output interface is connected to the input / output device of the industrial production line, and the input / output interface is used to output the control command to the input / output device; The data transmission interface is connected to the communication device, and the data transmission interface is used to realize data transmission between the controller and the communication device.
7. The controller for an industrial production line according to any one of claims 1-5, characterized in that, The visual interface includes at least one of a universal serial bus interface and an Ethernet interface; And / or, the control interface includes an Ethernet automatic control bus interface.
8. The controller for an industrial production line according to any one of claims 1-5, characterized in that, The programmable array unit is connected to the processing unit via an advanced scalable bus.
9. A control method for a controller used in an industrial production line, characterized in that, The method is used in a controller for an industrial production line as described in any one of claims 1-8, the method comprising: Obtain visual data through a visual interface; Control commands are output through a control interface, and the control commands are generated by at least one of the programmable array unit and the processing unit.
10. The control method for a controller used in an industrial production line according to claim 9, characterized in that, The control command is obtained through the following steps: The visual data is input into the programmable array unit to obtain the image processing result output by the programmable array unit; The image processing result is input into the processing unit to obtain the pose information output by the processing unit; The pose information is input into the programmable array unit to obtain the control commands output by the programmable array unit.