A communication control method, device, control unit, and medium

Abstract

This invention discloses a communication control method, device, control unit, and medium. The method, applied to the control unit, acquires motion commands, including a target device identifier and motion parameters. Based on the target device identifier, it queries a device type database to determine the target device's type, which includes intelligent servo and traditional servo types. The motion parameters are then converted according to the communication method corresponding to the device type, generating a task command which is sent to the target device. By automatically discovering and identifying the servo type through the control unit, manual axis type configuration is eliminated, significantly reducing debugging workload and avoiding human error. Seamless compatibility and collaborative operation of new and old servos on the same bus are achieved, meeting the practical needs of mixing traditional and intelligent equipment during production line upgrades.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, and in particular to a communication control method, device, control unit, and medium. Background Technology

[0002] With the advancement of industry and intelligent manufacturing, motion control systems are evolving from centralized to distributed systems.

[0003] The new generation of intelligent servo drives possesses local autonomous decision-making capabilities and supports high-level "task contract" communication modes, which can significantly reduce bus load and improve system robustness. However, there are a large number of traditional servo drives already deployed in industrial settings. These devices only support periodic position / speed command communication (such as CANopen's standard PDO mode and EtherCAT's periodic data exchange) and lack the ability to parse contracts.

[0004] In actual production line upgrades, users typically cannot replace all traditional servos at once. The new system and old equipment need to coexist and run on the same bus. For production lines that have both traditional and intelligent servo drives, engineers need to manually configure the type (intelligent / traditional) of each axis in the programmable logic controller program and write two different sets of control logic.

[0005] However, when the production line is large-scale (hundreds of axes), the configuration workload is large, and communication anomalies are easily caused by human error. The event-triggered and contract negotiation mechanisms used by intelligent servos are fundamentally different from the periodic communication mode of traditional servos at the protocol level, and cannot be directly interoperated. Summary of the Invention

[0006] This invention provides a communication control method, device, control unit, and medium to achieve seamless compatibility and collaborative operation of new and old servos on the same bus.

[0007] According to a first aspect of the present invention, a communication control method is provided, applied to a control unit, comprising:

[0008] Obtain motion instructions, wherein the motion instructions include the target device identifier and motion parameters of the target device;

[0009] Based on the target device identifier, the device type of the target device is queried in the device type database. The device type includes intelligent servo and traditional servo.

[0010] The motion parameters are converted according to the communication method corresponding to the device type, and a task instruction is generated and sent to the target device.

[0011] According to a second aspect of the present invention, a communication control device is provided, comprising:

[0012] The instruction acquisition module is used to acquire motion instructions, which include the target device identifier and motion parameters of the target device.

[0013] The type determination module is used to query the device type database of the target device based on the target device identifier, wherein the device type includes intelligent servo type and traditional servo type;

[0014] The instruction sending module is used to convert the motion parameters according to the communication method corresponding to the device type, generate task instructions, and send them to the target device.

[0015] According to a third aspect of the present invention, a control unit is provided, the control unit comprising:

[0016] At least one controller; and

[0017] A memory communicatively connected to the at least one controller; wherein,

[0018] The memory stores a computer program that can be executed by the at least one controller, which enables the at least one controller to perform the communication control method described in any embodiment of the present invention.

[0019] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a controller to execute and implement the communication control method described in any embodiment of the present invention.

[0020] The technical solution of this invention is applied to a control unit. It acquires motion commands, including the target device identifier and motion parameters. Based on the target device identifier, it queries a device type database to determine the target device type, which includes intelligent servo and traditional servo types. The motion parameters are then converted according to the communication method corresponding to the device type, generating a task command which is sent to the target device. By automatically discovering and identifying the servo type through the control unit, manual axis type configuration is eliminated, significantly reducing debugging workload and avoiding human error. Seamless compatibility and collaborative operation of new and old servos on the same bus are achieved, meeting the practical needs of mixing traditional and intelligent equipment during production line upgrades.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a communication control method provided according to Embodiment 1 of the present invention;

[0024] Figure 2 This is an example flowchart of a communication control method provided according to Embodiment 1 of the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of a communication control device according to Embodiment 2 of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the control unit that implements the embodiments of the present invention. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Example 1

[0030] Figure 1The flowchart of a communication control method is provided for Embodiment 1 of the present invention. This embodiment is applicable to the collaborative operation of intelligent servos and traditional servos. The method can be executed by a communication control device, which can be implemented in hardware and / or software and can be configured in a control unit.

[0031] In this embodiment, the control unit can be a programmable logic controller (PLC) or a motion controller. In industrial control or humanoid robot applications, both PLCs and motion controllers can achieve the same function.

[0032] like Figure 1 As shown, the method includes:

[0033] S110. Obtain motion instructions, which include the target device identifier and motion parameters of the target device.

[0034] In this embodiment, motion commands can be understood as unified process tasks (e.g., "move to position P, speed V, S-curve"). The target device identifier can be understood as an identifier used to locate which device it is, such as the servo node ID / axis number. Motion parameters include control data such as position, speed, acceleration, and trajectory type.

[0035] Specifically, the control unit can receive control data sent by the user and generate a unified motion command, which includes the identifier of the target device to be controlled and specific motion parameters.

[0036] S120. Based on the target device identifier, query the device type database for the target device. The device type includes intelligent servo and traditional servo.

[0037] In this embodiment, the device type database can be understood as an internal module within the control unit, used to store the device type (intelligent / traditional), capability description (such as contract support, maximum data length, etc.), and corresponding communication parameters for each node. Device types include intelligent servo classes and traditional servo classes. Intelligent servo classes support contract communication, SDO extended services, and local autonomous decision-making. Traditional servo classes only support periodic PDO commands and lack contract capabilities.

[0038] Specifically, the control unit can query the corresponding device type in the device type database based on the target device identifier to determine whether the device is an intelligent servo or a traditional servo, providing a basis for subsequent selection of communication methods.

[0039] S130. Convert the motion parameters according to the communication method corresponding to the device type, generate task instructions and send them to the target device.

[0040] In this embodiment, the communication method can be understood as the method of transmitting task instructions. For example, the communication method for intelligent servos can be SDO extended service (contract communication), while the communication method for traditional servos is periodic PDO instructions. The task instruction can be understood as the executable control frame ultimately sent to the servo.

[0041] Specifically, the control unit can convert motion parameters into commands based on the device type, generate task commands, and send the task commands to the target device via communication.

[0042] The technical solution of this invention is applied to a control unit. It acquires motion commands, including the target device identifier and motion parameters. Based on the target device identifier, it queries a device type database to determine the target device type, which includes intelligent servo and traditional servo types. The motion parameters are then converted according to the communication method corresponding to the device type, generating a task command which is sent to the target device. By automatically discovering and identifying the servo type through the control unit, manual axis type configuration is eliminated, significantly reducing debugging workload and avoiding human error. Seamless compatibility and collaborative operation of new and old servos on the same bus are achieved, meeting the practical needs of mixing traditional and intelligent equipment during production line upgrades.

[0043] Furthermore, based on the above embodiments, when the device type is an intelligent servo type, the steps of converting motion parameters according to the communication method corresponding to the device type, generating task instructions, and sending them to the target device can be refined as follows:

[0044] The motion commands are encapsulated into a task contract frame, the task commands are obtained, and sent to the target device through the SDO extended service.

[0045] In this embodiment, the task contract frame is a high-level task description frame containing motion parameters and execution constraints, designed for intelligent servo design, and executed autonomously by the servo locally. The Service Data Object (SDO) extended service is a high-level SDO communication service in the CANopen / EtherCAT bus used for contract issuance and large data transmission.

[0046] Specifically, when the target device is determined to be an intelligent servo, the control unit can encapsulate the motion instructions sent from the upper layer in a structured manner according to the communication protocol, generate a task contract frame that meets the recognition requirements of the intelligent servo, and use this as the final task instruction. Then, the task instruction is sent to the corresponding target intelligent servo through the SDO extension service of the bus. After receiving the contract, the intelligent servo autonomously completes motion planning and execution, and waits for the promised response and completion event.

[0047] Furthermore, based on the above embodiments, when the device type is a traditional servo type, the steps of converting motion parameters according to the communication method corresponding to the device type, generating task instructions, and sending them to the target device can be refined as follows:

[0048] The motion parameters are discretized into a sequence of position points based on the interpolation algorithm to obtain the task instructions; the task instructions are periodically sent to the target device through the standard PDO channel.

[0049] In this embodiment, the interpolation algorithm can be understood as a calculation method used to decompose a continuous motion trajectory into continuous control point positions. The position point sequence can be understood as a set of discrete position data generated after interpolation calculation and output sequentially according to the control cycle. The standard process data object (PDO) channel is the default communication channel in the CANopen / EtherCAT bus used for periodic real-time data interaction.

[0050] Specifically, the control unit can first call the interpolation algorithm to convert the extracted motion parameters into a discrete position point sequence arranged according to the control cycle (such as one point every 1ms), thereby forming a task instruction adapted to the traditional servo. Then, the task instruction is continuously sent to the corresponding traditional servo (such as using CANopen contour position mode or PVT mode) through the standard PDO channel of the bus at a fixed period, so that the traditional servo can complete the specified motion according to the point sequence.

[0051] For example, the traditional servo mode and the intelligent servo mode in this solution can be compared using the following table:

[0052] Table 1 Servo Comparison Table

[0053]

[0054] As can be seen, because traditional servos lack local autonomous decision-making capabilities and cannot handle high-level semantics in task contracts, when both traditional and intelligent servos exist simultaneously, the periodic instruction generator in the communication method needs to undergo constraint mapping during task transitions, including ignoring the autonomy level. Traditional servos strictly follow instructions. The allowable error band is converted into the accuracy requirements of PDO instructions; if the feedback error exceeds the limit, a simulated warning event can be triggered. Renegotiation request: Traditional servos cannot initiate renegotiation, therefore this function is ignored.

[0055] Furthermore, after periodically sending task instructions to the target device via the standard PDO channel, it also includes:

[0056] When the last location point in the location point sequence is issued and the movement time ends, a simulation task completion event is generated.

[0057] In this embodiment, the last position point can be understood as the last set of control data in the position point sequence used to complete the target motion. Motion time refers to the total duration required to complete this motion task, which can be calculated by the control unit based on motion parameters and the cycle. The simulated task completion event can be understood as a task completion notification autonomously generated by the control unit through internal logic for traditional servos that lack proactive event reporting capabilities, used to maintain a unified format with the event reporting mechanism of intelligent servos.

[0058] Specifically, during the process of the control unit periodically sending the sequence of position points corresponding to the task command to the traditional servo through the standard PDO channel, the control unit can continuously monitor the sending progress and use a timer to time the motion. When the last position point in the sequence is sent and the total motion time reaches the end time, the control unit can generate a simulated task completion event according to a unified event format to achieve consistent processing of task completion feedback between traditional servos and intelligent servos.

[0059] The technical solution of this invention automatically sends an SDO query to determine whether the device is an intelligent servo or a traditional servo when a new servo is powered on or a device is connected. This eliminates the need for engineers to manually configure axis types or write two sets of control logic, significantly reducing debugging workload, avoiding communication anomalies caused by human configuration errors, and improving system deployment efficiency. The control unit automatically selects contractual communication or periodic PDO communication based on the device type. The two types of devices do not interfere with each other and work collaboratively, meeting the practical needs of mixing new and old equipment during production line upgrades and protecting users' existing equipment investments. Upper-level processes only need to issue motion tasks in a unified format, without needing to know whether the lower-level system uses intelligent or traditional servos. The control unit handles parameter conversion and routing, reducing software development complexity and facilitating program reuse, maintenance, and expansion. Intelligent servos use SDO extended services and event triggering mechanisms to reduce the periodic load on the bus; traditional servos use standard PDOs to ensure compatibility. This hybrid mode balances intelligence and stability, making the overall system more reliable and responsive under complex operating conditions.

[0060] As a first optional embodiment of this embodiment, based on the above embodiments, the steps for generating the device type database include:

[0061] When a device meets the initialization conditions, a capability query request is sent to the device to determine the capability request result. Based on the capability request result, the device type, communication parameters, and capability description parameters are determined. The device identifier is bound to the device type, communication parameters, and capability description parameters and stored in the device type database.

[0062] In this embodiment, initialization conditions may include conditions that trigger device identification, such as device power-on, new device access to the bus, or system restart. A capability query request can be understood as a query instruction used to read a preset capability description object dictionary. The capability request result refers to the response data returned by the device to the capability query request, including information such as whether contractual communication is supported and device attributes. Communication parameters can be understood as parameters such as the bus communication mode adapted to the device, data length, and transmission format. Capability description parameters are used to characterize the functional characteristics supported by the device, such as whether it supports contracts, health reporting, and local autonomous decision-making. The device identifier is a node ID, axis number, or bus address used on the bus to uniquely distinguish the device.

[0063] Specifically, when a device on the bus meets initialization conditions such as power-on, new connection, or restart, the control unit can send a capability query request in SDO format to the device and obtain the capability request result returned by the device. Based on the result, it determines whether the device supports intelligent features such as contract communication, and thus determines whether the device belongs to the intelligent servo class or the traditional servo class, while determining the corresponding communication parameters and capability description parameters. The device identifier that uniquely identifies the device is associated and bound with the determined device type, communication parameters, and capability description parameters, and stored uniformly in the device type database inside the control unit to provide a basis for subsequent communication routing and task issuance.

[0064] Based on the above embodiments, the steps of determining the device type, communication parameters, and capability description parameters according to the capability request results can be refined as follows:

[0065] If the capability request result is a successful read and the returned data conforms to the intelligent servo format, then the device type is determined to be an intelligent servo; based on the returned data, the communication parameters and capability description parameters are determined; if the capability request result is a failed read or the returned data does not conform to the intelligent servo format, then the device type is determined to be a traditional servo.

[0066] Specifically, the control unit can judge the capability request result returned by the device. If the result is a successful read and the returned data fully conforms to the intelligent servo format, the device can be identified as an intelligent servo, and the corresponding communication parameters and capability description parameters can be extracted based on the returned data. If the capability request result is a read failure, or the returned data format does not meet the intelligent servo convention requirements, the device is directly identified as a traditional servo, thus completing the automatic differentiation of device types.

[0067] In the first optional embodiment of this embodiment, the database automatically sends an SDO capability query when the device is powered on, newly connected, or the system restarts through the capability discovery engine of the control unit. Based on the returned results, it automatically determines whether the device is an intelligent servo or a traditional servo and completes the binding and storage of device identification, communication parameters, and capability description parameters. Engineers do not need to manually configure axis types, communication protocols, and parameters, which completely eliminates manual configuration errors, greatly shortens the production line debugging cycle, and realizes plug-and-play deployment.

[0068] As a second optional embodiment of this first embodiment, based on the above embodiment, it further includes:

[0069] When a new device is detected to be online during the task instruction process, a capability query request is sent to the new device to determine the device type and switch the communication method in order to continue executing the task instruction.

[0070] Specifically, during the process of the control unit continuously issuing task commands and executing motion control, if a new device is detected to be connected online through the bus heartbeat mechanism (detecting whether the device is offline) or device status monitoring, the automatic capability identification process is triggered. The control unit can send an SDO capability query request to the new device, determine whether it is an intelligent servo or a traditional servo based on the response result, and automatically switch the corresponding communication mode according to the determination result. Without stopping the machine or modifying the upper-level program, the current and subsequent task commands can continue to be executed normally.

[0071] In the second optional embodiment of this first embodiment, when equipment is replaced (such as replacing a traditional servo with an intelligent servo), the control unit senses the equipment change through heartbeat detection, automatically re-identifies the type and switches the communication mode. The entire process does not require machine downtime, modification of the control unit program, or restart of the process task, significantly improving production line flexibility and production continuity.

[0072] For example, a specific example can be used to demonstrate this. Figure 2 A flowchart of a communication control method provided in Embodiment 1 of the present invention is shown below. Figure 2 As shown, after receiving the unified motion command from the upper layer, the control unit first queries the device type database to obtain the target device type. If it is an intelligent servo, it forwards the command to the contract communication stack in the control unit, encapsulates the command into a task contract frame, issues the contract through the SDO extended service, and waits for the commitment response and completion event. If it is a traditional servo, it forwards the command to the periodic command generator in the control unit, parses the parameters, and generates a position point sequence through interpolation calculation. After starting the timer, it periodically issues PDO commands. After the command sequence is completed, it generates a simulated completion event. Finally, both types of processing flows return to the execution endpoint, realizing compatible control of intelligent servos and traditional servos.

[0073] Example 2

[0074] Figure 3 This is a schematic diagram of a communication control device provided in Embodiment 2 of the present invention. Figure 3 As shown, the device includes:

[0075] Instruction acquisition module 31 is used to acquire motion instructions, which include the target device identifier and motion parameters of the target device;

[0076] The type determination module 32 is used to query the device type database of the target device based on the target device identifier, wherein the device type includes intelligent servo type and traditional servo type;

[0077] The instruction sending module 33 is used to convert the motion parameters according to the communication method corresponding to the device type, generate task instructions, and send them to the target device.

[0078] The technical solution of this invention is applied to a control unit. It acquires motion commands, including the target device identifier and motion parameters. Based on the target device identifier, it queries a device type database to determine the target device type, which includes intelligent servo and traditional servo types. The motion parameters are then converted according to the communication method corresponding to the device type, generating a task command which is sent to the target device. By automatically discovering and identifying the servo type through the control unit, manual axis type configuration is eliminated, significantly reducing debugging workload and avoiding human error. Seamless compatibility and collaborative operation of new and old servos on the same bus are achieved, meeting the practical needs of mixing traditional and intelligent equipment during production line upgrades.

[0079] Furthermore, the device also includes a database generation module.

[0080] The database generation module includes:

[0081] The result determination unit is used to send a capability query request to a device when a device meets the initialization conditions, and to determine the capability request result of the device.

[0082] The parameter determination unit is used to determine the device type, communication parameters, and capability description parameters of the device based on the capability request result.

[0083] The database generation unit is used to bind the device identifier of the device with the device type, the communication parameters and the capability description parameters, and store them in the device type database.

[0084] Specifically, the parameter determination unit is used for:

[0085] If the capability request result is a successful read and the returned data conforms to the smart servo format, then the device type is determined to be a smart servo type.

[0086] Based on the returned data, determine the communication parameters and capability description parameters;

[0087] If the capability request result is a read failure or the returned data does not conform to the smart servo format, then the device type is determined to be a traditional servo type.

[0088] Furthermore, when the device type is the intelligent servo type, the instruction sending module 33 is specifically used for:

[0089] The motion command is encapsulated into a task contract frame, and the task command is obtained and sent to the target device through the SDO extended service.

[0090] Furthermore, when the device type is the traditional servo type, the instruction sending module 33 is specifically used for:

[0091] The motion parameters are discretized into a sequence of position points based on the interpolation algorithm to obtain the task instructions;

[0092] The task instructions are periodically sent to the target device via the standard PDO channel.

[0093] Optionally, the device may further include an event generation module.

[0094] The event generation module is specifically used for:

[0095] After the task instructions are periodically sent to the target device through the standard PDO channel, a simulated task completion event is generated when the last position point in the position point sequence is sent and the movement time ends.

[0096] Optionally, the device further includes a device switching module.

[0097] The device switching module is specifically used to: when a new device is detected to be online during the task instruction process, send a capability query request to the new device, determine the device type of the new device, and switch the communication mode to continue executing the task instruction.

[0098] The communication control device provided in the embodiments of the present invention can execute the communication control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0099] Example 3

[0100] Figure 4A schematic diagram of a control unit 40 that can be used to implement embodiments of the present invention is shown. The control unit is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The control unit can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0101] like Figure 4 As shown, the control unit 40 includes at least one controller 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one controller 41. The memory stores computer programs executable by the at least one controller. The controller 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded from the storage unit 48 into the RAM 43. The RAM 43 can also store various programs and data required for the operation of the control unit 40. The controller 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.

[0102] Multiple components in the control unit 40 are connected to the I / O interface 45, including: an input unit 46, such as a keyboard, mouse, etc.; an output unit 47, such as various types of displays, speakers, etc.; a storage unit 48, such as a disk, optical disk, etc.; and a communication unit 49, such as a network card, modem, wireless transceiver, etc. The communication unit 49 allows the control unit 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0103] Controller 41 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Controller 41 executes the various methods and processes described above, such as communication control methods.

[0104] In some embodiments, the communication control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on control unit 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by controller 41, one or more steps of the communication control method described above may be performed. Alternatively, in other embodiments, controller 41 may be configured to perform the communication control method by any other suitable means (e.g., by means of firmware).

[0105] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable controller, which may be a dedicated or general-purpose programmable controller, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0106] Computer programs used to implement the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the controller, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0107] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on 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 fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0108] To provide interaction with the user, the systems and techniques described herein can be implemented on a control unit having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the control unit. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0109] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0110] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0111] In one embodiment, the present invention further includes a computer program product, which includes a computer program that, when executed by a controller, implements the communication control method of any embodiment of the present invention.

[0112] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar 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).

[0113] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0114] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A communication control method, characterized in that, Applied to control units, including: Obtain motion instructions, wherein the motion instructions include the target device identifier and motion parameters of the target device; Based on the target device identifier, the device type of the target device is queried in the device type database. The device type includes intelligent servo and traditional servo. The motion parameters are converted according to the communication method corresponding to the device type, and a task instruction is generated and sent to the target device.

2. The method according to claim 1, characterized in that, The steps for generating the device type database include: When a device meets the initialization conditions, a capability query request is sent to the device to determine the capability request result of the device. Based on the capability request result, determine the device type, communication parameters, and capability description parameters of the device; The device identifier of the device is bound to the device type, the communication parameters and the capability description parameters, and stored in the device type database.

3. The method according to claim 2, characterized in that, The step of determining the device type, communication parameters, and capability description parameters of the device based on the capability request result includes: If the capability request result is a successful read and the returned data conforms to the smart servo format, then the device type is determined to be a smart servo type. Based on the returned data, determine the communication parameters and capability description parameters; If the capability request result is a read failure or the returned data does not conform to the smart servo format, then the device type is determined to be a traditional servo type.

4. The method according to claim 1, characterized in that, When the device type is the intelligent servo type, the step of converting the motion parameters according to the communication method corresponding to the device type, generating task instructions, and sending them to the target device includes: The motion command is encapsulated into a task contract frame, and the task command is obtained and sent to the target device through the SDO extended service.

5. The method according to claim 1, characterized in that, When the device type is the traditional servo type, the step of converting the motion parameters according to the communication method corresponding to the device type, generating task instructions, and sending them to the target device includes: The motion parameters are discretized into a sequence of position points based on the interpolation algorithm to obtain the task instructions; The task instructions are periodically sent to the target device via the standard PDO channel.

6. The method according to claim 5, characterized in that, After periodically sending the task instructions to the target device via the standard PDO channel, the method further includes: When the last location point in the location point sequence is issued and the movement time ends, a simulated task completion event is generated.

7. The method according to claim 1, characterized in that, Also includes: When a new device is detected to be online during the task instruction process, a capability query request is sent to the new device to determine the device type and switch the communication mode in order to continue executing the task instruction.

8. A communication control device, characterized in that, include: The instruction acquisition module is used to acquire motion instructions, which include the target device identifier and motion parameters of the target device. The type determination module is used to query the device type database of the target device based on the target device identifier, wherein the device type includes intelligent servo type and traditional servo type; The instruction sending module is used to convert the motion parameters according to the communication method corresponding to the device type, generate task instructions, and send them to the target device.

9. A control unit, characterized in that, The control unit includes: At least one controller; and A memory communicatively connected to the at least one controller; wherein, The memory stores a computer program that can be executed by the at least one controller, the computer program being executed by the at least one controller to enable the at least one controller to perform the communication control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause the controller to perform the communication control method according to any one of claims 1-7.

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