249 results about "Modbus" patented technology

The invention relates to the technical field of equipment fault intelligent diagnosis, in particular to an equipment fault intelligent diagnosis method and system based on a Modbus protocol. The method comprises the following steps: acquiring real-time operation data from target industrial equipment through a Modbus protocol, dynamically adjusting an initial sampling frequency based on an equipment operation state, and performing multiple verification and compensation correction on the acquired data to obtain a stable data stream; performing multi-scale decomposition and feature enhancement processing on the stable data stream, extracting a time-frequency domain mixed feature set, and constructing a feature evolution trajectory; inputting the feature evolution trajectory into a double-branch diagnosis model integrating equipment state prediction and fault classification, and outputting an equipment health degree score and fault type probability distribution; and constructing a dynamic fault threshold curved surface, carrying out multi-dimensional fusion decision by combining the equipment health degree score and the fault type probability distribution, and generating a graded fault early warning and maintenance strategy. According to the invention, the accuracy, timeliness and adaptability of industrial equipment fault diagnosis can be greatly improved.

The invention relates to a production abnormality automatic identification and recovery process control method, which comprises the following steps of S1, realizing second-level synchronization of multi-source heterogeneous data, constructing a real-time data flow pipeline and generating a total-factor production situation data flow through a distributed message queue by adopting a Modbus / TCP protocol analysis algorithm based on industrial Internet of Things edge calculation; through the cooperative effect of industrial protocol analysis and distributed message queues, second-level synchronization of multi-source heterogeneous data is realized, a real-time data flow pipeline is constructed, data acquisition delay is effectively eliminated, the timeliness of anomaly detection is ensured, a dynamic weight distribution mechanism of a rule engine and a long and short-term memory network prediction model is adopted, and the real-time performance of the system is improved. By combining sliding window threshold detection, the accuracy and coverage of anomaly recognition are improved, false alarm and missing alarm caused by a single detection mechanism are reduced, and multi-dimensional root cause tracing is performed by combining a fault mode knowledge base through combined application of time sequence correlation analysis and a causal diagram inference engine.

The invention discloses a protocol conversion and protocol self-learning method and system for transformer area optical storage and charging cooperation, and the method comprises the steps: constructing a digital twinborn body of a transformer area optical storage and charging system, carrying out the parallel operation of a protocol agent and a protocol agent in a virtual environment, and achieving the cooperative training of the protocol agent and the protocol agent through a hierarchical reinforcement learning architecture, the protocol agent is responsible for learning a dynamic priority scheduling and compression strategy for heterogeneous protocol messages such as Modbus, CAN and IEC 104, the protocol agent is responsible for learning a power balance and voltage stability control strategy based on photovoltaic output, energy storage SOC and charging load, and the two agents realize cross-domain collaborative optimization through a reward function mutual coupling mechanism. And finally, safely deploying the collaborative strategy obtained by training to the edge control equipment of the physical transformer area. According to the method, the problems of disjunction of protocol conversion and cooperative control, protocol strategy solidification, insufficient cross-domain cooperation and the like in the prior art are solved, and the operation efficiency and the self-adaptive capability of the transformer area optical storage and charging system are improved.

The invention discloses a multi-protocol hardware communication adaptation module based on an energy storage system and a configuration method, the module comprises a protocol template library, an intelligent mapping engine and a model generator, and the method comprises the following steps: storing structured protocol point location information through the protocol template library; an intelligent mapping engine is used for shielding the isomerism of Modbus, MQTT, IEC104 and other underlying protocols, and a unified data interface is provided; intelligent matching among different protocol terms is realized by adopting a natural language processing technology through a semantic level mapping unit; and finally, generating a target data model by a model generator through one key. The method effectively solves the problems that when the energy storage system integrates multi-manufacturer equipment, protocol configuration depends on manpower, efficiency is low, errors are prone to occurring, and expansibility is poor.

The invention discloses an intelligent power grid load prediction and dynamic response coordinated scheduling method, and relates to the technical field of power system automation, and the method comprises the steps: accessing intelligent ammeters, distributed power controllers and other devices of Modbus, IEC61850 and DL / T645 protocols through a multi-protocol adaptive gateway, and achieving data standardization; time stamps are calibrated by means of Beidou time service and an IEEE1588PTP protocol, and it is ensured that multi-source data synchronization errors are controllable; deploying an edge computing node cluster, distributing high-priority tasks to low-load nodes through an edge coordinator in combination with a load fluctuation level and a greedy algorithm, and ensuring real-time processing efficiency; the edge nodes generate short-term load prediction, and the cloud platform outputs medium and long-term prediction based on a historical data training model; and finally, the coordinated scheduling decision module fuses the two types of prediction results and the real-time parameters of the power grid, and generates a dynamic instruction to control the output of the adjustable load and the distributed power supply.

The invention discloses an online stress monitoring device and method based on Modbus-RTU stress sensing and digital communication, and the method comprises the steps: collecting original stress data and a multi-dimensional environment parameter sequence through stress sensing nodes, constructing an exclusive environment gene map, generating a dynamic compensation model, and carrying out the environment coupling decoupling and self-adaptive correction of the original data; a periodic self-diagnosis process is executed in the monitoring process, signal impedance characteristics and output signal stability are analyzed, and an equipment state fault code is generated and actively uploaded through a Modbus-RTU protocol when abnormity occurs; triggering a cooperative monitoring mechanism based on the corrected stress measurement value, controlling adjacent nodes to enter a high-frequency sampling mode and generating a stress propagation dynamic cloud; meanwhile, a node performance baseline is established, and a gain self-regeneration process is started when performance degradation is detected. Accurate compensation and dynamic correction of stress data are realized, and the environmental adaptability, the operation reliability and the fault early warning capability of a monitoring system are remarkably improved.

The invention discloses a dynamic election method and system for an MODBUS redundant master station. The method comprises the steps that an initial master station broadcasts a specific heartbeat message to a bus regularly; all the candidate nodes continuously monitor the bus and judge whether the initial master station fails or not; if the initial master station breaks down, a master station election mechanism is triggered; calculating waiting delay time of each candidate node, and starting an ontology delay timer; when the delay timer of the candidate node expires, immediately carrying out carrier sensing, and judging whether a bus is idle or not; if the monitoring bus is idle, a master station declaration message is broadcasted immediately, and the self state is switched to a master station; and if the monitoring bus is busy, giving up the master station declaration and returning to the slave station state. Priority ranking logic is carried out preferentially through the minimum address, and it is ensured that a unique and optimal result can be rapidly output in each election process; and through carrier sensing, conflicts caused by the fact that a plurality of candidate nodes compete for the bus at the same time are effectively avoided, and the stability and reliability of the system are ensured.

The invention provides a multi-discontinuous register reading method for improving Modbus protocol communication rate and a function code. The multi-discontinuous register reading method comprises the following steps: defining a function code 43H in a Modbus protocol; the method comprises the following steps: determining the type, address list and number of discontinuous registers to be read through a master device, assembling a request frame, and sending the request frame to a slave device; after the slave device receives the request frame, address matching and verification are carried out on the request frame, and if the address is not matched or verification fails, the frame is discarded; if the address is matched and the verification is passed, analyzing, judging whether abnormity exists or not, and executing related operation based on a judgment result; the master device receives the response frame returned by the slave device, verifies the response frame, and analyzes a data list in the response frame to obtain data of each register if the response frame passes the verification and is a normal response frame; if verification fails or the frame is responded abnormally, error processing is carried out, and the multi-discontinuous register reading method which can improve the communication rate, reduce the communication overhead and enhance the real-time performance and is high in compatibility is provided.

The invention relates to the technical field of industrial automatic round hole welding, in particular to a template-based intelligent welding decision and path optimization method and system for tube plate round holes, the system comprises a CAD module, a file module, a template module and a function module, and all the modules realize data interaction through an internal data bus and communicate with external welding equipment through a Modbus TCP protocol; the method comprises the steps of (1) system initialization, (2) processing file importing, (3) template application, (4) path priority ranking, (5) user interaction modification, (6) data issuing and (7) processing state monitoring. According to the scheme, 3D scanning hardware is not needed, the problems that in the prior art, decision making efficiency is low, process consistency is poor, data modification is difficult, and cost is high can be solved, high-precision, high-efficiency and flexible tube plate round hole welding is achieved, cost is reduced, and welding seam quality consistency is improved.

The invention discloses an industrial-grade acquisition control device and method, and relates to the technical field of industrial automation, and the device comprises a main control module (including an APM32F030C8T6 microcontroller), a double RS485 communication module (based on MODBUS-RTU, and connected with an upper computer and a touch screen), an optical coupling isolation DI / DO module, an industrial-grade power supply and protection module (DC9-36V input, with a TVS tube and the like), a display module, a setting module and a watchdog circuit. According to the device and the method, through hardware modular design, access of an industrial protocol and reliable control of data are realized, and the efficiency and the flexibility of industrial data acquisition and control and the system reliability are remarkably improved.

The invention provides an industrial heating furnace temperature control method based on temperature increment prediction and model prediction control rolling optimization, and solves the problems that a traditional temperature control method is difficult to adapt to the characteristics of large hysteresis and strong nonlinearity of an industrial heating furnace, and the temperature control precision and the real-time performance are remarkably insufficient. According to the method, real-time temperature data of the industrial heating furnace are collected on line based on a Modbus-TCP protocol, a SimpTempPredictor temperature increment prediction network model is called, rolling prediction of future multi-step temperature is achieved, then a power sequence is generated by adopting a discrete power candidate set, and the temperature of the industrial heating furnace is predicted. And performing rolling optimization based on a cost function J formed by a temperature tracking error, an overshoot penalty, a rise time penalty and a power fluctuation penalty, and issuing an optimal power sequence to the industrial heating furnace. The temperature of the industrial heating furnace can be controlled in real time, and the system has the advantages of being high in precision and high in real-time performance.

The invention belongs to the field of underground equipment monitoring, particularly relates to a coal mine underground equipment real-time monitoring method based on a red mine system, and aims to solve the technical problems of low information transmission speed and low accuracy of manual monitoring equipment. The method comprises the following steps: acquiring underground equipment information in real time through a sensor and an adaptive module of a red mine system; the Modbus TCP protocol data stream is uploaded and converted into a Modbus TCP protocol data stream; the data stream is transmitted to a centralized management and control platform through an underground looped network; on the gateway side, edge side preprocessing is carried out on the collected data stream; and the centralized management and control platform receives the processed data flow, carries out platform-level data cleaning and fusion processing, and carries out real-time state monitoring, health degree evaluation and fault early warning on the equipment. According to the invention, the centralized management and control platform is established by adopting the Hong mine system to monitor and manage the underground equipment in a unified manner, so that the intelligent level, the information transmission speed and the accuracy of a coal mine are improved, and real-time monitoring, fault early warning and maintenance management can be better carried out on the underground equipment.

The invention discloses a remote OTA firmware upgrading method for multiple MCUs. The remote OTA firmware upgrading method comprises the steps that a master control MCU receives OTA firmware data issued by a cloud server in real time and stores the OTA firmware data; the main control MCU carries out protocol analysis on the received OTA firmware data, carries out shunting processing on the OTA firmware data and Modbus data, and carries out data analysis and verification on the OTA firmware data to obtain a data packet passing verification; the master control MCU subpacks the data packets passing the verification and forwards the data packets to the target sub-MCUs; the sub-MCUs receive the data packets and carry out subpackage recombination and sequence control on the data packets to form a complete OTA upgrade packet; and the sub MCU executes the Bootloader upgrade according to the OTA upgrade package.

The invention relates to the field of circuit breaker grid-connected and off-grid conversion, in particular to a system for realizing grid-connected and off-grid conversion based on a residual current protection circuit breaker, which is characterized in that a data sensing module acquires data through a Modbus-RTU protocol, processes the data through a linear active disturbance rejection control algorithm and outputs a pure data sequence; the power-off state analysis module predicts the power-off probability in combination with an echo state network algorithm, judges the island state through an improved island detection algorithm, fuses multi-source information by utilizing a D-S evidence theory, and judges whether the mains supply is powered off or not to generate a control instruction; the cooperative verification module carries out priority ranking on PCS based on an analytic hierarchy process and a fuzzy evaluation method and carries out cooperative control on off-grid mode switching by confirming the state of the commercial power, and the commercial power recovery module calculates the maximum recoverable power according to the rated power of the PCS and the SOC of a battery through load priority scheduling and a greedy algorithm, and gradually recovers load power supply; the system significantly improves the anti-interference capability of grid-connected and off-grid conversion, and is suitable for regions with unstable power grids. Customers feed back that the system is charged depending on an original photovoltaic system under the condition that the mains supply is in long-term power failure, so that the power utilization condition is greatly improved, and the power utilization difficulty is relieved.

The invention relates to the technical field of industrial control and management systems, in particular to a multi-chemical product full-process integrated intelligent operation management and control system, which comprises a basic data acquisition layer, an industrial operation system platform, a scene industrial APP layer and a mobile application layer, and is characterized in that the basic data acquisition layer comprises WebService, IEC104, OPC, Modbus and RTSP protocols; the basic data acquisition layer accesses production, equipment, security, environment, operation and energy system data through WebService, IEC104, OPC, Modbus and RTSP protocols, and the industrial operating system platform is constructed based on a supOS industrial operating system and comprises an industrial data lake module and a core capability module. Total element data such as production, equipment and energy are accessed through multiple protocols, the traditional MES range is expanded, and complete original data are provided for an upper layer; industrial data lake cleaning modeling is carried out to form standardized assets and unified format semantics for calling; and the scenarized APP layer realizes hierarchical data display, customization and multi-dimensional analysis through APPs such as a billboard and a report.

The invention discloses a virtual electric energy meter implementation method supporting multiple protocols, and belongs to the technical field of power equipment testing. The method comprises the following steps: (1) a protocol plug-in engine packages protocols such as DL / T645, DL / T698, ModBus and the like into source code level plug-ins capable of being hot-plugged; 2) the virtual table manager dynamically creates / destroys a virtual table instance according to a collection command, and supports automatic table number generation and resource recovery; the intelligent configuration unit (3) is specially used for configuring abnormal response modes including negative acknowledgement, null data and communication timeout to realize dynamic fault simulation; according to the scheme, the problems that real faults are difficult to simulate, protocol switching efficiency is low, virtual table configuration is rigid and the like in a traditional test are solved, the protocol compatibility test coverage rate and automatic test efficiency of the electric power acquisition terminal can be remarkably improved, and the method is particularly suitable for full-scene verification of equipment such as an intelligent electric meter and a concentrator.

The invention discloses a multi-machine collaborative welding autonomous decision-making and virtual-real closed-loop control system based on an LLM scheduling center. The multi-machine collaborative welding autonomous decision-making and virtual-real closed-loop control system comprises a welding seam real-time sensing module, an intelligent task decomposition and scheduling planning module, a multi-round iteration autonomous decision-making module and an execution and real-time closed-loop control module. Through YOLOv5s, in combination with a coordinate attention mechanism and RGB-D visual perception, welding seam classification and three-dimensional track extraction are achieved; fusing an infrared thermal image and temperature sensing to realize molten pool state identification and temperature field prediction, and generating a Ccontinuous fitting track and a heat balance parameter; task decomposition and collaborative planning are completed based on a knowledge graph and LLM reasoning, and a dynamic optimal scheme is formed through MATLAB optimization and VR simulation multi-round verification; and finally, synchronous welding of multiple mechanical arms is achieved through VR interpolation and TCP / Modbus layered control. A sensing-planning-execution-feedback full-closed-loop heat management framework is constructed, heat input balance and deformation suppression are achieved, and the precision, stability and intelligent level of multi-machine collaborative welding are remarkably improved.

Systems and methods for communication between a management system and a plurality of devices over a communication line are provided. One method includes the management system generating a Modbus packet comprising a block write command to a first contiguous array of registers of a device of the plurality of devices, collectively designated as a command buffer, where the block write command corresponds to a request for the device to perform an action, and a block read command to a second contiguous array of registers of the device, collectively designated as a response buffer. The method also includes the management system transmitting the Modbus packet over the communication line to the device and receiving data from the response buffer in response to the block read command, where the data is written into the response buffer by the device based on the request.

1. The name of the design product: graphical user interface of configuration gas fire extinguishing controller and fire alarm controller for electronic equipment. 2. The use of the design product: for electronic equipment. 3. The design points of the design product: in the graphical user interface. 4. The picture or photo that best shows the design points: design 1 front view. 5. Design 1 is designated as the basic design. 6. The use of the graphical user interface: adjustment configuration of functions of the fire alarm system. 7. The human-computer interaction mode of the graphical user interface: design 1 front view shows the interface of the new device of project programming of the fire alarm system, by clicking the drop-down arrow of the "device type" column box, design 1 change state diagram 1 is entered to select the device type; after selecting the device type, by clicking the "new" button in design 1 front view, design 1 change state diagram 2 showing the "controller" module is entered. Design 2 front view shows the interface of the "loop" module of project programming of the fire alarm system, by clicking the "point view" button on the right side of an item, design 2 change state diagram is entered. Design 3 front view shows the interface of the "controller" module of project programming of the fire alarm system, by clicking the "gas extinguishing controller" button, design 3 change state diagram is entered. Design 4 front view shows the interface of the "linkage logic" module of project programming of the fire alarm system, by clicking a check box in "zone A", design 4 change state diagram 1 is entered; by selecting "linkage equation" in the column box below "linkage mode", design 4 change state diagram 2 is entered; by clicking the "details" on the right side of a label (for example, general linkage equation 001), design 4 change state diagram 3 is entered. Design 5 front view shows the interface of the "main mapping list" module of "Modbus" of project programming of the fire alarm system, by clicking the "backup mapping list" button, design 5 change state diagram is entered, and design 5 front reference diagram is used to show that design 5 front view can have a drop-down interface. Design 6 front view shows the interface of the "database upgrade and download" module of the connected device of the fire alarm system, by clicking the "upgrade controller firmware" button, design 6 change state diagram 1 is entered; by clicking the "history record export" button, design 6 change state diagram 2 is entered. 8. Other circumstances that need to be explained: other views are omitted. The symbol "X" in the interface views of design 1 to design 6 indicates that the content such as text, symbol, icon, etc. can be changed or replaced.

This invention relates to the field of Industrial Internet of Things (IIoT) technology, and in particular to a method and system for automatic identification and data acquisition of coal mine sensors. The method for automatic identification and data acquisition of coal mine sensors of this invention automatically discovers sensor devices in the network through a broadcast query protocol and a physical layer identification mechanism, parses their self-describing metadata, and generates device identification results and register read instruction sets. Through conflict detection and dynamic addressing algorithms, it automatically assigns and configures conflict-free Modbus slave addresses for the sensors. Based on the register read instruction set, it acquires data from the sensors and automatically verifies the acquired data based on the range and timing information in the self-describing metadata and the built-in multi-level verification mechanism to generate valid data. This constructs a multi-layered, intelligent data quality assurance system, significantly improving data reliability and greatly enhancing deployment and maintenance efficiency.

The application discloses a serial port server Modbus performance test method, system and equipment, the method comprises the following steps: determining the number of master station inquiry frames corresponding to the Modbus data frame sent by the PCL equipment; determining the flag bit information corresponding to the slave station response data in the preset storage area, the flag bit information comprising a first flag bit count result and a second flag bit count result; determining the number of received data frames corresponding to the serial port communication data through a serial port debugging assistant; when the serial port server Modbus performance test is completed, performing data packet loss analysis based on the number of master station inquiry frames, the flag bit information and the number of received data frames. In the application, the PLC equipment is used as the upper computer to send the Modbus data frame at a fixed time, and the number of inquiry frames sent by the upper computer in a certain period is counted by using a counter, and then the data packet loss is accurately positioned based on the number of master station inquiry frames, the flag bit information and the number of received data frames.

The application discloses a kind of synthesis methods of alternating current residual current for electric power, belong to electric power technical field, alternating current residual current synthesis method is based on monitoring host computer and synthesis module constructs hardware system, adopts the way of combination of vector synthesis in module and cross-channel software synthesis, adapts alternating current distribution zero-sharing condition, first installs and configures equipment communication and acquisition channel, then sets single module in synthesis direction, output type and cross-channel software synthesis parameter;Configuration multistage current threshold and back difference, open alarm, recording, tripping and reset function;Host computer collects and calculates real leakage current according to preset period, triggers alarm, recording according to rules when threshold value is exceeded, supports data viewing, export and fault reset;After parameter one-key issue, host computer monitors in real time and interacts with upper computer through Modbus, realizes remote monitoring and insulation safety early warning, effectively improves monitoring precision and system stability.

The invention discloses a motor driver configuration method, tool and system based on a Modbus protocol. The configuration method comprises the steps of generating actual request data conforming to a target communication protocol according to request data in frame construction metadata configured by a user for the target communication protocol in a user-defined manner; the target communication protocol is a communication protocol corresponding to the driver to be configured; sending actual request data to the to-be-configured driver, and receiving actual response data from the to-be-configured driver; analyzing the actual response data according to the response data in the frame construction metadata; and under the condition of successfully analyzing the actual response data, storing the frame construction metadata as a template corresponding to the target communication protocol. According to the method, the actual request data conforming to the target communication protocol is generated according to the frame construction metadata configured by the user for the target communication protocol in a self-defined mode, configuration of various drivers is achieved, and the configuration method is high in integration degree and flexibility.

The invention discloses a configurable Modbus protocol analysis and simulation system which comprises a hardware supporting layer, a hardware interface layer, a software core layer, an application interface layer and an application interaction layer from bottom to top. The hardware supporting layer provides hardware resources for the software core layer through the hardware interface layer; the software core layer outputs a processing result to the application interaction layer, the application interaction layer issues a user configuration instruction to the software core layer, and the software core layer and the application interaction layer interact through the application interface layer. The software core layer comprises a configuration module, an analysis module and a simulation module which are mutually connected in pairs; the configuration module generates a configurable file based on the configuration instruction, stores configuration parameters and sends the configuration parameters to the analysis module and the simulation module; the analysis module analyzes the Modbus message based on the configuration parameters and sends an analysis result to the simulation module; and the simulation module executes simulation based on the configuration parameters and the analysis result. The method has the advantages of high configuration flexibility, strong compatibility, rich data type support and the like.

The invention provides a method and system for adjusting the speed of a variable-frequency driving motor through a controller, and relates to the technical field of speed regulation control, and the method comprises the steps: constructing a planetary gear train coupling structure based on the dual-motor power of a frequency converter; establishing two-wire communication connection by adopting a ModBus communication protocol, and dynamically acquiring real-time operation data of the frequency converter; the real-time operation data is dynamically analyzed through a PID controller, and a real-time speed regulation decision is obtained in combination with a predetermined load response strategy; and performing speed regulation control on the planetary gear train coupling structure according to the real-time speed regulation decision. According to the invention, the technical problem of low speed regulation control precision of the motor in the prior art can be solved, the technical targets of quick response, precise speed regulation and efficient energy distribution of the motor under different load working conditions are achieved, and the technical effect of improving the speed regulation control precision of the motor is achieved.

The invention provides a Modbus protocol automatic testing method and system suitable for an overspeed protector, and belongs to the technical field of industrial automatic testing. The method comprises the following steps: analyzing a protocol configuration file to generate a parameter list; a Modbus communication connection is established; upper computer software downloading parameters are automatically controlled through a UI, and a bottom register value is read through a protocol in real time for consistency verification; the control signal generation device inputs an analog signal and dynamically collects online data; relevance and interference verification is carried out based on a snapshot difference algorithm and a physical logic formula (such as the relation between the rotating speed and the frequency and the tooth number). The problem that the consistency of UI display and underlying storage in a traditional test is difficult to verify is solved through a black box and white box bidirectional verification mode, meanwhile, unexpected interference is effectively recognized in combination with physical formula verification, and the test efficiency and the coverage degree are greatly improved.

The utility model discloses an internet-of-things monitoring system for a wind generating set in the technical field of wind power generation detection equipment. The internet-of-things monitoring system comprises a cabin terminal, a tower drum terminal and a double-terminal communication module, the cabin terminal comprises a first shell with a built-in first control mainboard, and a meteorological data interface group is arranged on the surface of the first shell and comprises at least one RS-485 communication interface and two groups of analog input interfaces arranged side by side; the tower drum terminal comprises a second shell with a built-in second control mainboard, the surface of the second shell is provided with an electric power monitoring interface group, and the electric power monitoring interface group comprises a Modbus communication interface and an optical fiber transceiving interface; the double-terminal communication module is connected with the cabin terminal and the tower drum terminal through a magnetic isolation CAN bus communication link. According to the utility model, through a double-terminal distributed architecture, multi-protocol interface integration and magnetic isolation communication design, the reliability, expansibility and maintainability of the wind turbine generator monitoring system are significantly improved, and the situation of data congestion caused by complex working conditions is avoided.

This utility model relates to the field of vehicle manufacturing technology, specifically an intelligent control system for a fog cannon, comprising: a control unit with a built-in RS485 communication module and multiple I / O interfaces; a communication hub connected to the RS485 communication module of the control unit via the MODBUS RTU protocol; a data acquisition module that communicates bidirectionally with the communication hub via an RS485 branch line, including a dust concentration sensor, a multi-parameter meteorological sensor, a high-definition camera, and an angle encoder; an execution module that communicates bidirectionally with the communication hub via an RS485 branch line, including a high-pressure atomizing device, a servo gimbal, and a centrifugal fan; and an auxiliary module that communicates bidirectionally with the communication hub via an RS485 branch line, including a hypochlorous acid generator, a liquid level sensor, and a solenoid valve assembly. This utility model, through its modular architecture design, enables plug-and-play expansion of each functional module, significantly reducing maintenance costs.

The invention discloses a Modbus protocol secure transmission method and device and a medium, and the method comprises the steps: receiving a request data frame of a Modbus TCP client, and forwarding the request data frame to a Modbus TCP server; receiving a response data frame of the Modbus TCP server; processing the response data frame according to a preset working mode to generate a final response data frame; and the final response data frame is sent to the Modbus TCP client. According to the invention, the behavior of illegally stealing data is limited through the security mode, the transparent mode, the decoy mode and the free switching among the above modes, and the received and transmitted messages are transmitted from the bottom layer by adopting different physical communication links, so that the weak problem of the Modbus protocol is fundamentally solved. In addition, calculation services such as encryption are not needed, the requirement for hardware resources is low, and the safety protection requirements for light weight and low cost of an industrial site are met.

The application discloses a path planning control method and system based on a laboratory carrying robot, and belongs to the technical field of robots, and comprises the following steps: constructing a multi-dimensional semantic map, marking a functional entity attribute structure body in a semantic layer, and refreshing a state word to a dynamic layer through a Modbus protocol; switching a visual servo mode when entering a docking preparation area, identifying a first marker at a long distance to generate a transition path, identifying an infrared light-emitting diode array at a short distance to obtain a sub-centimeter pose, and completing docking by using a model predictive controller integrating a loading quality and a wheel-ground friction coefficient; monitoring currents of a lifting motor and a driving motor, and executing stress release when the currents exceed a threshold value; collecting historical operation data, uploading the historical operation data to a cloud, identifying a high-frequency congestion area through clustering, and feeding back and updating geometric layer cost weight values.