CN110531678A - Robot control system(RCS) and its O&M method - Google Patents
Robot control system(RCS) and its O&M method Download PDFInfo
- Publication number
- CN110531678A CN110531678A CN201910872010.7A CN201910872010A CN110531678A CN 110531678 A CN110531678 A CN 110531678A CN 201910872010 A CN201910872010 A CN 201910872010A CN 110531678 A CN110531678 A CN 110531678A
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- Prior art keywords
- controller
- rcs
- control system
- robot control
- subordinate
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses the O&M method of robot control system(RCS), robot control system(RCS) includes: host computer and at least two controllers, and host computer connects all controllers by server, and each controller manages its subordinate's equipment independently.O&M method is the following steps are included: server judges whether there is the failed controller of misoperation, if then finding the spare controller for taking over failed controller from the controller of normal operation, spare controller manages its subordinate's equipment and failed controller subordinate's equipment simultaneously.Server Automatic-searching takes over the spare controller of failed controller in the present invention, spare controller concurrently acts as the work of two controllers, the controller of robot control system(RCS) is rationally utilized, amount controller simplifies, and system is with good stability, availability and fault-tolerance.
Description
Technical field
The present invention relates to robot control system(RCS) technical field more particularly to robot control system(RCS) and its O&M methods.
Background technique
With technology of Internet of things continuous development and cater to the demand in market, automatic building control system gradually in a distributed manner, side
The main flow directions development such as edge calculating.
In the automatic building control system calculated currently based on distributed edge, Edge position control core network controller is carry
Control manages the operation logic of its subordinate's equipment, although controller Reliability comparotive itself is stablized, failure rate is lower, but still has
The influences such as a possibility that failure or other external inevitable factors, such as power failure, network failure can all cause
Controller is operating abnormally, when a certain controller is abnormal, monitoring management means of the controller to its subordinate's management equipment
It fails, field device can not normal operation.In the prior art after controller is operating abnormally, needs artificial investigation problem or replace
Changer controller after taking a substantial amount of time, could restore the normal operation of building equipment, in strong influence building construction
The development of normal work.
Therefore, how to design the robot control system(RCS) that can successfully manage abnormal conditions and its O&M method is that industry is urgently to be resolved
Technical problem.
Summary of the invention
It is mentioned to solve the prior art recovery time length, the defect of low efficiency, present invention after robot control system(RCS) is abnormal
It is capable of the robot control system(RCS) and its O&M method of automatic O&M out.
The technical solution adopted by the present invention is that design the O&M method of robot control system(RCS), robot control system(RCS) includes: host computer and extremely
Few two controllers, host computer connect all controllers by server, and each controller manages its subordinate's equipment independently.Fortune
Dimension method is the following steps are included: server judges whether there is the failed controller of misoperation, if then from normal operation
The spare controller for taking over failed controller is found in controller.
Preferably, spare controller manages its subordinate's equipment and failed controller subordinate's equipment simultaneously.
Preferably, each controller is equipped with main memory and shelf storage, has control where it in main memory
The subordinate's facility information and operation logic script of device；Controller is patrolled according to the subordinate's facility information and operation that store in main memory
Script is collected to be managed its subordinate's equipment.
Preferably, subordinate's facility information includes: device name, IP address, point bit address and point type.
Preferably, each controller is equipped with corresponding exclusive identification code, and controller will store in identification code and main memory
Subordinate's facility information and the binding of operation logic script after be sent to server and back up.
Preferably, server is in the controller of normal operation after finding and taking over the spare controller of failed controller,
Subordinate's facility information of failed controller and operation logic script are sent to the shelf storage storage of spare controller；It is spare
Controller is according to the subordinate's facility information and operation logic script stored in the shelf storage to the subordinate of failed controller
Equipment is managed.
Preferably, O&M method further include: failed controller restores after operating normally, and empties the spare of spare controller
Memory.
Preferably, each spacing of controls preset time sends heartbeat signal to server and uploads the reality of its subordinate's equipment
When data information；The failed controller that server judges whether there is misoperation includes: that server receives all controller hairs
The heartbeat signal sent, does not receive the heartbeat signal of a certain controller yet when the preset time is exceeded, then judges the controller to lose
Imitate controller.
Preferably, server is found from the controller of normal operation takes over the spare controller of failed controller and includes:
According to the identification code of controller round-robin order prepared in advance, server judges to press there are after the failed controller of misoperation
Spare controller is begun look for from the controller for being located at failed controller next bit according to round-robin order.
Preferably, each controller is equipped with corresponding digital identification code, and round-robin order is from as low as greatly or from greatly to small.
Preferably, server is found from the controller of normal operation takes over the spare controller of failed controller and includes:
Server detects the data volume size of the controller of each normal operation, begins look for spare control from the smallest controller of data volume
Device.
Preferably, the server, controller of robot control system(RCS) and subordinate's equipment communicate in the same local area network.
The invention also provides robot control system(RCS)s, use the automatic O&M of O&M method of above-mentioned robot control system(RCS).
Compared with prior art, the invention has the following advantages that
1, server is mentioned there are the spare controller that Automatic-searching when failed controller takes over failed controller in robot control system(RCS)
The high stability of system, availability and high fault tolerance；
2, the mechanism for quickly judging and coping with the system failure, greatly reduces the consumption of human resources and time resource, improves
The efficiency that system is restored；
3, spare controller is found in the existing controller of normal operation, spare controller concurrently acts as the work of two controllers
Make, rationally utilizes the controller of robot control system(RCS), do not need to configure additional spare controller, robot control system(RCS) to each controller
Amount controller simplify, use at low cost, easy to spread.
Detailed description of the invention
Below with reference to embodiment and attached drawing, the present invention is described in detail, in which:
Fig. 1 is the configuration diagram of robot control system(RCS) in the present invention；
Fig. 2 is the flow diagram of O&M method in the present invention.
Specific embodiment
As shown in Figure 1, O&M method proposed by the present invention is useful in robot control system(RCS), it is especially suitable distributed building from
In control system.Robot control system(RCS) includes: host computer, server, at least two controllers and multiple field devices, and host computer passes through clothes
Business device connects all controllers, and controller uses network controller, and server, controller and field device are in the same local
In net, communicated with the communication modes of TCP.Wherein each controller is responsible for the field device of management a part.In more detail
Say, all field devices in robot control system(RCS) are divided into several groups, and for every group of field device by a controller management, the group is existing
The entirety interaction operation logic of field device operates in corresponding controller, and the field device that controller is managed is controller
Subordinate's equipment, each controller manages its corresponding subordinate's equipment independently.
As shown in Fig. 2, O&M method is the following steps are included: server judges whether there is the Failure Control of misoperation
Device, if then finding the spare controller for taking over failed controller from the controller of normal operation, spare controller is managed simultaneously
Manage its corresponding subordinate's equipment and the corresponding subordinate's equipment of failed controller.
In a preferred embodiment, each controller is equipped with main memory and shelf storage, has it in main memory
The corresponding subordinate's facility information of place controller and operation logic script, subordinate's facility information include: device name, IP address,
Point bit address and point type, point bit address can be the physical location of subordinate's equipment, such as building, building where subordinate's equipment
Layer, room number etc., point type can be the job category, such as temperature detection, Humidity Detection, illumination condition etc. of subordinate's equipment
Deng the above is only for example, not to limit the present invention, point bit address and point type in subordinate's facility information can be according to
It is arranged according to actual conditions.When robot control system(RCS) is initially installed, the corresponding subordinate's facility information of each controller and operation are patrolled manually
It collects script to be stored in its main memory, controller is according to the subordinate's facility information and operation logic script pair stored in main memory
Subordinate's equipment is managed.Further, each controller is equipped with corresponding exclusive identification code, and controller is by identification code and main memory
Server is sent to after subordinate's facility information and operation logic the script binding stored in reservoir to back up.
When entire robot control system(RCS) operates normally, each spacing of controls preset time sends heartbeat signal simultaneously to server
The real time data information for uploading its corresponding subordinate's equipment, when robot control system(RCS) is abnormal, at least one controller stops
Heartbeat signal is sent to server.Server judges whether there is the failed controller of misoperation by heartbeat signal, specifically
Judgment mode is: server receives the heartbeat signal that all controllers are sent, and does not receive a certain control yet when the preset time is exceeded
The heartbeat signal of device processed then judges the controller for failed controller.
As shown in Fig. 2, O&M method further include: server is found from the controller of normal operation and takes over failed controller
Spare controller after, subordinate's facility information of failed controller and operation logic script are sent to the standby of spare controller
It is stored with memory, spare controller is according to the subordinate's facility information and operation logic script pair stored in the shelf storage
Subordinate's equipment of failed controller is managed, at this time operation maintenance personnel can guarantee robot control system(RCS) operate normally in the case where,
Maintenance and inspection or replacement are carried out to failed controller, failed controller restores after operating normally, and empties the standby of spare controller
Use memory.Certainly, herein to failed controller carry out maintenance and inspection include two kinds of situations, the first be failed controller not
Damage makes failed controller restore to operate normally by maintenance；Second is failed controller damage, is removed from robot control system(RCS)
Failed controller replaces failed controller to access robot control system(RCS) using new controller, and all information of failed controller are same
The new controller of the deposit of sample, all information of failed controller include identification code, subordinate's facility information and operation logic script
Deng, also correspond at this time failed controller restore operate normally.
Wherein, server finds there are many ways to spare controller, is illustrated for following two:
The first is identification code prepared in advance round-robin order of the server according to controller, and there are misoperations for server judgement
After failed controller, according to the identification code of controller round-robin order prepared in advance, there are the mistakes of misoperation for server judgement
After imitating controller, spare controller is begun look for from the controller for being located at failed controller next bit according to round-robin order.In
In preferred embodiment, each controller is equipped with corresponding digital identification code, round-robin order be from as low as big or from greatly to small, with
Round-robin order is for as low as greatly, it is assumed that No. 1 controller is failed controller, then begins look for spare control from No. 2 controllers
Device processed, for example, whether the shelf storage for judging No. 2 controllers is empty, if then with No. 2 controllers for spare control
Device, if not then No. 2 controllers are occupied, judge No. 3 controllers shelf storage whether be it is empty, according to similarly patrolling
Collecting until searching out the controller that shelf storage is sky is spare controller.
It is for second the data volume size for the controller that server detects each normal operation, from the smallest controller of data volume
Begin look for taking over the spare controller of the failed controller, for example, judging spare the depositing of the smallest controller of data volume
Whether reservoir is sky, if then using the smallest controller of data volume as spare controller, if not then the data volume is the smallest
Controller is occupied, judges whether the shelf storage of the penultimate controller of data volume is sky, according to same logic
It is spare controller until searching out the controller that shelf storage is sky.
If it should be noted that being sent out when occurring more than two controller misoperations in robot control system(RCS) according to server
The chronological order of existing controller misoperation successively finds the spare controller of each failed controller.Further, root
It is pressed according to the identification code of controller priority orders prepared in advance if the time of server discovery controller misoperation is identical
The spare controller of each failed controller is successively found according to priority orders.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (13)
1. the O&M method of robot control system(RCS), the robot control system(RCS) includes: host computer and at least two controllers, and the host computer is logical
It crosses server and connects all controllers, each controller manages its subordinate's equipment independently；
It is characterized in that, the O&M method is the following steps are included: the server judges whether there is the failure of misoperation
Controller, if then finding the spare controller for taking over the failed controller from the controller of normal operation.
2. the O&M method of robot control system(RCS) as described in claim 1, which is characterized in that the spare controller manages under it simultaneously
Belong to subordinate's equipment of equipment and the failed controller.
3. the O&M method of robot control system(RCS) as described in claim 1, which is characterized in that each controller is equipped with primary storage
Device and shelf storage, the subordinate's facility information and operation logic script of controller where having it in the main memory；
The controller is according to the subordinate's facility information and operation logic script stored in the main memory to its subordinate's equipment
It is managed.
4. the O&M method of robot control system(RCS) as claimed in claim 3, which is characterized in that subordinate's facility information includes: equipment
Title, IP address, point bit address and point type.
5. the O&M method of robot control system(RCS) as claimed in claim 3, which is characterized in that each controller be equipped with it is corresponding only
One identification code, the subordinate's facility information and operation logic foot that the controller will store in the identification code and the main memory
The server is sent to after this binding to be backed up.
6. the O&M method of robot control system(RCS) as claimed in claim 5, which is characterized in that control of the server from normal operation
It is found in device after taking over the spare controller of the failed controller, by the subordinate's facility information and fortune of the failed controller
Row logic script is sent to the shelf storage storage of the spare controller；
The spare controller is according to the subordinate's facility information and operation logic script stored in the shelf storage to described
Subordinate's equipment of failed controller is managed.
7. the O&M method of robot control system(RCS) as claimed in claim 6, which is characterized in that the O&M method further include: the mistake
It imitates controller to restore after operating normally, empties the shelf storage of the spare controller.
8. the O&M method of robot control system(RCS) as described in claim 1, which is characterized in that each spacing of controls preset time
Heartbeat signal is sent to the server and uploads the real time data information of its subordinate's equipment；
The failed controller that the server judges whether there is misoperation includes: that the server receives all controls
The heartbeat signal that device is sent judges the control if being more than the heartbeat signal that the preset time does not receive a certain controller yet
Device processed is failed controller.
9. the O&M method of robot control system(RCS) as described in any one of claim 1 to 8, which is characterized in that the server is from normal
Finding in the controller of operation and taking over the spare controller of the failed controller includes: to be compiled in advance according to the identification code of controller
Round-robin order processed, server judgement are described from being located at according to round-robin order there are after the failed controller of misoperation
The controller of failed controller next bit begins look for spare controller.
10. the O&M method of robot control system(RCS) as claimed in claim 9, which is characterized in that each controller is equipped with corresponding
Digital identification code, the round-robin order are from as low as greatly or from greatly to small.
11. the O&M method of robot control system(RCS) as described in any one of claim 1 to 8, which is characterized in that the server is from normal
Finding in the controller of operation and taking over the spare controller of the failed controller includes: that the server detects each normal operation
Controller data volume size, begin look for spare controller from the smallest controller of data volume.
12. the O&M method of robot control system(RCS) as described in claim 1, which is characterized in that the server of the robot control system(RCS), control
Device and subordinate's equipment communicate in the same local area network.
13. robot control system(RCS), which is characterized in that it uses the O&M method of the robot control system(RCS) as described in any one of claim 1 to 12
Automatic O&M.
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| CN201910872010.7A CN110531678B (en) | 2019-09-16 | 2019-09-16 | Automatic control system and operation and maintenance method thereof |
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| CN201910872010.7A CN110531678B (en) | 2019-09-16 | 2019-09-16 | Automatic control system and operation and maintenance method thereof |
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|---|---|
| CN110531678B (en) | 2020-10-02 |
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