CN114675594B - Heterogeneous PLC cooperative control system, method, device, equipment and medium - Google Patents
Heterogeneous PLC cooperative control system, method, device, equipment and medium Download PDFInfo
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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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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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
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1192—Output of interfaces parallel, for safe load switch on, OR condition
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The disclosure provides a heterogeneous PLC cooperative control system, a method, a device, equipment and a medium, and relates to the technical field of industrial Internet. Wherein the control system comprises: the cloud control equipment is in communication connection with a plurality of controlled industrial equipment through a wired transmission link and/or a wireless transmission link, and is used for issuing corresponding cooperative operation instructions to the industrial equipment so as to be operated by the industrial equipment based on the cooperative operation instructions, wherein the industrial equipment is a PLC (programmable logic controller) equipment. Through the technical scheme of the disclosure, the PLC in different industrial equipment of the same production line only needs to be matched with the edge gateway to realize communication protocol adaptation between a wired transmission link and/or a wireless transmission link, so that decoupling among different PLCs is realized, the processing mode of direct cooperative operation of the PLCs of different industrial equipment is simplified, and light-weight connection management is realized.
Description
Technical Field
The disclosure relates to the technical field of industrial internet, in particular to a heterogeneous PLC cooperative control system, a heterogeneous PLC cooperative control method, a heterogeneous PLC cooperative control device, network equipment, industrial equipment and a computer readable storage medium.
Background
With the development of intelligent production, an industrial production line becomes more and more complex, and industrial equipment using a PLC (Programmable Logic Controller ) controller, such as a mechanical arm, a numerical control machine tool, an automatic navigation AGV car, and the like, is more and more PLCs need to be set for segment control.
In the related art, the sectional control needs to be realized through cooperative communication among different PLCs, but because PLCs in different industrial equipment on a production line are usually produced by different factories, communication interfaces, communication protocols and the like among the PLCs of different factories are incompatible, so that the complexity of a scheme for realizing cooperative communication among a plurality of PLCs is higher.
It should be noted that the information disclosed in the above background section is only for enhancing understanding of the background of the present disclosure and thus may include information that does not constitute prior art known to those of ordinary skill in the art.
Disclosure of Invention
The present disclosure aims to provide a heterogeneous PLC cooperative control system, a heterogeneous PLC cooperative control method, a heterogeneous PLC cooperative control apparatus, a network device, an industrial device, and a computer readable storage medium, which overcome, at least to some extent, the problem of higher complexity of a scheme due to cooperative communication between a plurality of PLCs in the related art.
Other features and advantages of the present disclosure will be apparent from the following detailed description, or may be learned in part by the practice of the disclosure.
According to one aspect of the disclosure, a heterogeneous PLC cooperative control system is provided, including a cloud control device, where the cloud control device is communicatively connected to a plurality of industrial devices under control through a wired transmission link and/or a wireless transmission link, and the cloud control device is configured to issue corresponding cooperative operation instructions to the industrial devices to be operated by the industrial devices based on the cooperative operation instructions, where the industrial devices are PLC devices.
In one embodiment, the industrial device is provided with a register, and the cloud control device is further configured to: receiving configuration information of the register reported by the industrial equipment, wherein the configuration information comprises an address of the register, attribute information of the register and operable information of the register; the cloud control device is further configured to: and generating the collaborative operation instruction based on the configuration information and the acquired collaborative request.
In one embodiment, the collaboration request includes a first operation request of the obtained whole production line collaboration; or the collaboration request includes a second operation request sent by a last one of the plurality of industrial devices, the second operation request being for requesting a next operation of the plurality of industrial devices; or the collaboration request includes a third operation request sent by one of the plurality of industrial devices, the third operation request being generated based on pending processes detected by its own sensors and/or I/O devices.
In one embodiment, the cloud control device is further configured to: generating a register management function block based on the address of the register, attribute information of the register, and operational information of the register; the heterogeneous PLC cooperative control system further comprises: the display device is in communication connection with the cloud control device and is used for displaying a graphical interface, and the graphical interface is generated based on the register management functional block; the display device is further configured to: receiving touch operation on the graphical interface; the cloud control device is further configured to: and identifying a register management function block corresponding to the touch operation and an editing instruction corresponding to the touch operation, and generating the collaboration request based on the editing instruction, wherein the editing instruction comprises at least one of an initializing instruction, a reading instruction and a writing instruction of a register.
In one embodiment, further comprising: the edge gateway is in communication connection with the cloud control equipment, is also in communication connection with the controlled industrial equipment through a wired transmission link and/or a wireless transmission link, and is used for receiving the cooperative operation instruction and routing the cooperative operation instruction to the corresponding industrial equipment, wherein the edge gateway is in communication connection with the cloud control equipment based on a 5G communication network, and the wired transmission link is established based on at least one of Modbus TCP IP protocol, ethercat protocol and Ethernet IP protocol.
According to another aspect of the present disclosure, there is provided a heterogeneous PLC cooperative control method applied to a cloud control apparatus, including: generating a collaborative operation instruction; and sending the collaborative operation instruction to corresponding industrial equipment.
In one embodiment, the generating the collaborative run instruction includes: receiving configuration information of a register reported by industrial equipment, wherein the configuration information comprises an address of the register, attribute information of the register and operable information of the register; and generating the collaborative operation instruction based on the configuration information and the acquired collaborative request.
In one embodiment, the collaboration request includes a first operation request of the obtained whole production line collaboration; or the collaboration request includes a second operation request sent by a last one of the plurality of industrial devices, the second operation request being for requesting a next operation of the plurality of industrial devices; or the collaboration request includes a third operation request sent by one of the plurality of industrial devices, the third operation request being generated based on pending processes detected by its own sensors and/or I/O devices.
In one embodiment, the generating the collaborative operation instruction based on the configuration information and the obtained collaboration request includes generating a register management function block based on an address of the register, attribute information of the register, and operational information of the register; receiving an editing instruction input to the register management function block through a graphical interface of display equipment; generating the collaboration request based on the editing instruction; and generating the collaborative operation instruction based on the collaborative request, wherein the editing instruction comprises at least one of an initialization instruction, a reading instruction and a writing instruction of a register.
According to still another aspect of the present disclosure, there is provided a heterogeneous PLC cooperative control method applied to an industrial device, including: receiving a collaboration operation instruction sent by cloud control equipment; and operating based on the cooperative operation instruction, wherein the industrial equipment is PLC equipment.
In one embodiment, before receiving the cooperative running instruction sent by the cloud control device, the method further includes: and responding to a communication connection instruction between the cloud control equipment and the cloud control equipment, and reporting configuration information of a register to the cloud control equipment, wherein the configuration information comprises an address of the register, attribute information of the register and operable information of the register, so that the cloud control equipment generates the corresponding cooperative operation instruction based on the configuration information.
In one embodiment, the executing based on the cooperative execution instruction specifically includes: modifying an XML configuration file of the register based on the collaborative operation instruction; and reading the modified XML configuration file, and running based on a reading result.
According to still another aspect of the present disclosure, there is provided a heterogeneous PLC cooperative control apparatus including: the generation module is used for generating a collaborative operation instruction; and the sending module is used for sending the collaborative operation instruction to corresponding industrial equipment.
According to still another aspect of the present disclosure, there is provided a heterogeneous PLC cooperative control apparatus including: the receiving module is used for receiving the cooperative operation instruction sent by the cloud control equipment; and the operation module is used for operating based on the cooperative operation instruction, wherein the industrial equipment is PLC equipment.
According to yet another aspect of the present disclosure, there is provided a network device comprising: a processor; and a memory for storing executable instructions of the processor; the processor is configured to perform the heterogeneous PLC cooperative control method of the second aspect described above via execution of the executable instructions.
According to yet another aspect of the present disclosure, there is provided an industrial apparatus comprising: a processor; and a memory for storing executable instructions of the processor; the processor is configured to perform the heterogeneous PLC cooperative control method of the third aspect described above via execution of the executable instructions.
According to still another aspect of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the heterogeneous PLC cooperative control method described above.
According to the heterogeneous PLC cooperative control system and method provided by the embodiment of the disclosure, by arranging the cloud control equipment and the edge gateway, the cloud control equipment can be in communication connection with at least one edge gateway, the edge gateway can be deployed on the network edge side, communication connection between the cloud control equipment and the industrial equipment is realized through functions such as network connection and protocol conversion, the cloud control equipment issues corresponding cooperative operation instructions to the industrial equipment through the edge gateway, the industrial equipment can operate based on the cooperative operation instructions, all messages such as the operation instructions can be issued to the industrial equipment through the cloud control equipment based on a wired transmission link and/or a wireless transmission link, and based on the system framework, on one hand, the communication protocol adaptation between the PLC and the edge gateway and between the PLC and/or between the PLC and the industrial equipment is not needed, decoupling between the PLCs in different equipment is realized, the processing mode of the PLC of the different industrial equipment and the industrial equipment is simplified, and light connection management is realized, on the other hand, the data transmission between the cloud control equipment and the industrial equipment can be realized, and the real-time data analysis and the application management are realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely examples of the disclosure and that other drawings may be derived from them without undue effort.
FIG. 1 shows a schematic block diagram of a heterogeneous PLC cooperative control system in an embodiment of the present disclosure;
FIG. 2 illustrates a schematic block diagram of another heterogeneous PLC cooperative control system in an embodiment of the present disclosure;
FIG. 3 illustrates a flow chart of a heterogeneous PLC cooperative control method in an embodiment of the disclosure;
FIG. 4 illustrates another heterogeneous PLC cooperative control method flow diagram in an embodiment of the present disclosure;
FIG. 5 illustrates a flow chart of yet another heterogeneous PLC cooperative control method in an embodiment of the present disclosure;
FIG. 6 illustrates a flow chart of yet another heterogeneous PLC cooperative control method in an embodiment of the present disclosure;
fig. 7 shows a schematic diagram of a heterogeneous PLC cooperative control apparatus in an embodiment of the present disclosure;
FIG. 8 illustrates a schematic diagram of another heterogeneous PLC cooperative control apparatus in an embodiment of the present disclosure;
FIG. 9 illustrates a block diagram of a computer device in an embodiment of the present disclosure; and
fig. 10 shows a block diagram of a program product in an embodiment of the disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
In the related art, a PLC is a digital operation controller with a microprocessor and used for automatic control, and the PLC consists of a CPU, a memory, an input/output interface, a power supply, digital-analog conversion and other functional units. Meanwhile, a plurality of complex devices are internally integrated with a PLC as a controller of the device, such as a mechanical arm, CNC, AGV and the like.
Along with the increasing production line standard of intelligent production, more and more PLC equipment of different brands and different models on the production line, the cooperation requirement between different controllers is more and more frequent, and the following problems exist in the application process of the existing PLC:
because the PLCs are relatively closed systems, each manufacturer has own standard and interfaces, such as common external communication interfaces of the PLCs comprise RS232, RS485, TCP/IP, ethercat and the like, common external communication protocols comprise Modbus, DF1, SNP, host Link, MEWTOCOL and the like, if different PLCs need to cooperate, related interfaces need to be defined between two PLC applications, if communication adaptation is respectively carried out between each pair of PLCs, the complexity is n multiplied by n, and if the number of the PLCs is larger, the corresponding complexity is higher, and the implementation difficulty is larger.
In addition, the internal data of the traditional PLC are all accessed through registers, and the number of the registers in one PLC device varies from tens to thousands according to different types. In order to meet different needs, the registers are classified into different types according to data length, use and the like, but different manufacturers and different models are different from each other, as shown in table 1, the types of registers in PLC devices of one manufacturer, including but not limited to types such as I, Q, AI, AQ, M, and the PLC devices of another manufacturer, including types such as X, Y, M, S, T, C, are different from each other in coding format, number and the like.
TABLE 1
| Storage area | Description of the invention | Direct addressing |
| I | Process image input memory | I10.1 IB10 IW10 ID12 |
| Q | Process image output memory | Q5.1 QB10 QW10QD20 |
| AI/AQ | Analog input/output | AIW0 AIW2 AQW0 AQW2 |
| M | Mark memory | M1.3 MB5 MW10 MD20 |
| V | Variable memory | V3.5 VB0VW10 VW20 |
| L | Local/(temporary) memory | |
| SM | Special memory | |
| T、C、HC、AC | Timer, … … |
Thus, when accessing different types of registers, the type, start address and number of registers need to be specified in the instruction, some devices even require translation of different types of register addresses into internal unified coded addresses, and each PLC application needs to know in depth the register type, access mode, instruction format, etc. of the PLC interfacing with it when the application is developed, resulting in higher difficulty in pipeline application development,
According to the scheme, the cloud control equipment and the edge gateway are arranged, the cloud control equipment can be in communication connection with at least one edge gateway, the edge gateway can be deployed on the network edge side, communication connection between the cloud control equipment and the industrial equipment is achieved through functions of network connection, protocol conversion and the like, corresponding cooperative operation instructions are issued to the industrial equipment through the edge gateway by the cloud control equipment, the industrial equipment operates based on the cooperative operation instructions, all messages such as the operation instructions can be issued to the industrial equipment through the cloud control equipment based on a wired transmission link and/or a wireless transmission link, and based on the system framework, on one hand, direct communication is not needed between PLCs in different industrial equipment on the same production line, only communication protocol adaptation between the PLCs and the edge gateway is needed, decoupling between PLCs in different equipment is achieved, the processing mode of direct cooperative operation of the PLCs of different industrial equipment is simplified, and light connection management is achieved, on the other hand, real-time data transmission between the cloud control equipment and the industrial equipment is achieved, and real-time data analysis and application management are achieved.
Hereinafter, each step of the heterogeneous PLC cooperative control method in the present exemplary embodiment will be described in more detail with reference to the accompanying drawings and examples.
Fig. 1 shows a schematic diagram of a heterogeneous PLC cooperative control system in an embodiment of the present disclosure.
As shown in fig. 1, a heterogeneous PLC cooperative control system according to an embodiment of the present disclosure includes: the cloud control device 102, wherein the cloud control device is in communication connection with a plurality of controlled industrial devices (including industrial devices 106A, 106B, 106N, etc.) through a wired transmission link and/or a wireless transmission link, and the cloud control device is configured to issue corresponding cooperative operation instructions to the industrial devices for operation by the industrial devices based on the cooperative operation instructions, where the industrial devices are PLC devices.
In some scenarios where the industrial device directly establishes a communication connection with the cloud control device, the heterogeneous PLC collaboration control system further includes: and the edge gateway 104 is in communication connection with the cloud control equipment, is also in communication connection with a plurality of controlled industrial equipment through a wired transmission link and/or a wireless transmission link, and is used for receiving the cooperative operation instruction and routing the cooperative operation instruction to the corresponding industrial equipment.
The cloud control equipment is used for issuing a cooperative operation instruction; the edge gateway is used for receiving the cooperative operation instruction and routing the cooperative operation instruction to the corresponding industrial equipment so as to be operated by the industrial equipment based on the cooperative operation instruction.
Specifically, since the I/O and the sensor in the PLC device already support the Ethernet interface, for example, control is performed through the interface of Modbus TCP, ethercat, ethernet IP, etc., for the device that cannot be controlled through the Ethernet, remote control is mainly implemented through the intermediary of the edge gateway of the industrial device, that is, the edge gateway is in communication connection with the cloud control device based on the 5G communication network, and the wired transmission link is established based on at least one of Modbus TCP protocol, ethercat protocol, and Ethernet IP protocol.
In addition, in a cloud industrial control system, namely a heterogeneous PLC cooperative control system, an edge gateway of industrial equipment only performs simple equipment access and communication with a system, and business logic is realized in the cloud control equipment.
In this embodiment, by setting the cloud control device and the edge gateway, the cloud control device may be in communication connection with at least one edge gateway, the edge gateway may be deployed on the network edge side, and communication connection between the cloud control device and the industrial device is achieved through functions such as network connection and protocol conversion, by issuing corresponding cooperative operation instructions to the industrial device by the cloud control device through the edge gateway, the industrial device is enabled to operate based on the cooperative operation instructions, all messages such as operation instructions can be issued to the industrial device by the cloud control device based on a wired transmission link and/or a wireless transmission link, and based on the system framework, on one hand, direct communication between PLCs in different industrial devices on the same production line is not required, only communication protocol adaptation between the PLCs and the edge gateway is required, so that decoupling between PLCs in different devices is achieved, a processing mode of direct cooperative operation of PLCs in different industrial devices is simplified, and connection management of light weight is achieved, on the other hand, real-time data transmission between the cloud control device and the industrial device is enabled to be achieved, and real-time data analysis and application management are further achieved.
In one embodiment, an industrial device is provided with a register; the industrial equipment is also used for reporting configuration information of the register to the cloud control equipment through the edge gateway, wherein the configuration information comprises an address of the register, attribute information of the register and operational information of the register.
Wherein the attribute information of the register includes, but is not limited to, the type of the register, the encoding format and number of the register, etc.
The register in the PLC industrial device is used for accessing data, that is, executing the application logic of the PLC according to the write data of the register, modifying the execution command of the PLC by modifying the write data of the register, and specifically, when the PLC detects the write data modified by the register, executing the corresponding operation according to the application logic.
The cloud control device is further configured to: and generating a cooperation running instruction based on the configuration information and the acquired cooperation request.
The industrial equipment can write the register data by receiving the cooperative operation instruction.
In this embodiment, the cloud control device obtains the configuration information of the registers reported by the industrial device, and because the configuration information includes the addresses of the registers, the attribute information of the registers, the operational information of the registers, and the like, the number and types of the registers in each industrial device can be obtained through the configuration information, so that when the configuration of the collaborative operation instruction of the production line is performed, the corresponding instruction can be written according to the addresses of the registers, and the reliability of the instruction configuration is ensured.
In one embodiment, the collaboration request includes a first operation request of the obtained whole production line collaboration; or the collaboration request includes a second operation request sent by a last one of the plurality of industrial devices, the second operation request being for requesting a next operation of the plurality of industrial devices; or the collaboration request includes a third operation request sent by one of the plurality of industrial devices, the third operation request being generated based on pending processes detected by its own sensors and/or I/O devices.
The first operation request refers to a cooperative operation request of a plurality of industrial devices of the whole production line, specifically, when the first operation request is received as the cooperative request, corresponding execution devices, namely corresponding industrial devices, are respectively determined based on operation requests of a plurality of groups of different devices in the first operation request, then the operation request is written into a corresponding register file template based on configuration information to generate a cooperative operation instruction, and the cooperative operation instruction is sent to the different industrial devices to realize linkage operation of the plurality of industrial devices.
The second operation request is sent by the last industrial equipment in linkage operation, and the request received by the cloud control equipment can comprise information indicating that the next equipment starts to operate after the step executed by the last industrial equipment is completed.
The third operation request refers to an operation instruction received by a sensor and/or an I/O device of the industrial equipment, and after the instruction is sent to the cloud control equipment, the cloud control equipment indicates operation after the cloud control equipment passes verification.
In one embodiment, the cloud control device is further configured to: the register management function block is generated based on the address of the register, attribute information of the register, and operational information of the register.
The register management functional block is a development component of the heterogeneous PLC cooperative control system, each functional block can be understood as a functional model for executing a specific function, and a plurality of different functional models can be sequentially executed through the connection of a plurality of functional blocks in time sequence so as to realize the cooperative operation of a plurality of different types of industrial equipment, and further, more complex service functions can be realized.
In this embodiment, when the conventional PLC implements cooperation of multiple PLCs, each PLC needs to write an application separately, in which not only its own logic but also reading and modifying registers of the PLC cooperating therewith are considered. The whole cooperation is scattered in the application of each PLC, the configuration information of the registers of the whole cooperation is reported to the cloud control equipment through the industrial equipment, so that the cloud control equipment edits the register data based on the configuration information and the cooperation request, after the cooperation control system of the heterogeneous PLC, all cooperation functions are uniformly realized by the cooperation control system of the heterogeneous PLC, each PLC does not need to consider how to realize cooperation with other PLCs, the cooperation control system of the heterogeneous PLC only needs to read and write the registers of each PLC to obtain the running state of each PLC and control the PLC to execute the appointed operation, and the general register module is not needed any more, so that the processing process of the register data in each industrial equipment is simplified while the reliable operation of the plurality of industrial equipment is integrally coordinated.
The heterogeneous PLC cooperative control system further comprises: the display device is in communication connection with the cloud control device and is used for displaying a graphical interface, and the graphical interface is generated based on the register management function block; the display device is further configured to: and receiving touch operation on the graphical interface.
The functional blocks are packaged in a graphical mode, so that the processing convenience in the development process can be improved.
The cloud control device is further configured to: and identifying a register management function block corresponding to the touch operation and an editing instruction corresponding to the touch operation, and generating a collaboration request based on the editing instruction, wherein the editing instruction comprises at least one of an initializing instruction, a reading instruction and a writing instruction of a register.
In this embodiment, when a touch operation is received on the graphical interface, a corresponding editing instruction is generated by identifying which functional block is operated and a specific operation type, and then a collaboration request is generated based on the editing instruction, so as to further generate a collaboration operation instruction.
As shown in fig. 2, a heterogeneous PLC cooperative control system according to another embodiment of the present disclosure is specifically a Bian Yun cooperative distributed cloud deployment industrial control system based on 5G cloud network capabilities.
Based on cloud control equipment, the heterogeneous PLC cooperative control system realizes unified programming, deployment, testing and management of industrial control across hardware equipment and across an operating system, promotes fusion of an OT domain and an IT domain of an industrial system, and creates a cloud industrial control intelligent manufacturing system with a universal terminal, an integrated network and a cloud platform as cores.
Specifically, based on cloud control equipment, functions such as MES, ERP, energy consumption management and industrial control can be realized.
By arranging the cloud control equipment and based on heterogeneous PLC cooperative control, the control and cooperation of various industrial equipment such as I/O equipment, sensors, stepping motors, servo systems, mechanical arms, CNCs and the like can be realized instead of the traditional PLC, and unified control and management are realized.
And the development of VPLC application, RTOS and the like is realized based on a universal PLC integrated development environment IDE of the cloud control equipment, wherein the RTOS is a real-time operating system. The general operating system is non-real-time, real-time information processing needs to be guaranteed for industrial application, real-time patching is generally achieved on the unix system at present, VPLC refers to a specific cloud PLC application, and after IDE development, the cloud PLC application runs on the running environment of the cloud industrial control system to achieve control of a production line.
In addition, the hardware layer of the cloud control device further comprises hardware facilities such as a CPU, a storage device, a network module, an I/O interface and the like.
Because the cloud control equipment can only communicate with the devices such as the edge sensor and the stepping motor through the 5G network, and part of the devices cannot support the interface of remote management, the functions such as equipment control, data reporting and 5G communication are required to be completed by taking the edge gateway as an intermediary, and the communication with the industrial devices such as the I/O device, the sensor, the mechanical arm, the numerical control machine tool and the AGV is realized by establishing a wired transmission link and/or a wireless transmission link.
In this embodiment, by using the heterogeneous PLC cooperative control system to perform access control and generation cooperation on the conventional heterogeneous PLCs, since each PLC only needs to perform communication adaptation with the cloud control device, the complexity is reduced from n 2 to n, so that the adaptation workload is reduced.
Based on cloud control equipment, the method can carry out integral modeling of application, and realize cooperative operation control of the PLC by reading the states of all the PLC registers in real time and then modifying the states of the PLC registers according to judgment of application logic.
Specifically, the application logic is an actual work flow of a production line, for example, a workpiece is judged to come according to a sensor, and the mechanical arm is controlled to grasp the workpiece for processing and then is transmitted to the next station. The judgment is based on the state of the I/O device or the sensor, and the judgment result is what specific operation is to be performed according to the current state of the sensor.
Based on the scheme of the disclosure, each PLC no longer needs to know the conditions of other PLCs, decoupling among PLs is realized, the difficulty of application development of each PLC is simplified, in addition, display and control of a graphical interface are realized based on display equipment, and development and deployment of collaborative application can be rapidly realized based on touch modes such as dragging and the like.
In addition, in order to realize the development of cooperative application, the heterogeneous PLC cooperative control system needs to provide a register management function block for the cooperative application development, and since the processing standards of registers of different PLCs are different, it is difficult to define all the register function blocks in advance in the IDE, and for this purpose, the register management function block is dynamically generated in the IDE by means of importing a register configuration file
Specifically, the XML configuration file of the register describes basic information of various registers in each PLC, including: register type (X, Y, C, D, etc.), number of registers, register data type, register start address, and executable operations, etc
The functional blocks generated according to the configuration file comprise various operations and execution returns which can be executed on the register, including register initialization, register reading, register writing and the like.
As shown in fig. 3, a heterogeneous PLC cooperative control method according to an embodiment of the present disclosure is applied to a cloud control apparatus, including:
step S302, generating a collaborative operation instruction.
Step S304, the collaborative operation instruction is sent to the corresponding industrial equipment.
In the embodiment, the cloud control equipment generates the cooperative operation instruction, and issues the corresponding cooperative operation instruction to the industrial equipment through the edge gateway, so that the industrial equipment operates based on the cooperative operation instruction, all messages such as the operation instruction can be issued to the industrial equipment through the cloud control equipment based on the wired transmission link and/or the wireless transmission link, on the one hand, direct communication is not needed between PLCs (programmable logic controllers) in different industrial equipment on the same production line based on the system framework, only communication protocol adaptation between the PLCs and the edge gateway is needed, decoupling between the PLCs in different equipment is realized, a processing mode of direct cooperative operation of the PLCs in different industrial equipment is simplified, light-weight connection management is realized, and on the other hand, real-time data transmission between the cloud control equipment and the industrial equipment can be realized, and real-time data analysis and application management are realized.
In one embodiment, generating the collaborative run instruction includes: receiving configuration information of a register reported by industrial equipment, wherein the configuration information comprises an address of the register, attribute information of the register and operational information of the register; and generating a cooperation running instruction based on the configuration information and the acquired cooperation request.
In one embodiment, the collaboration request includes a first operation request of the obtained whole production line collaboration.
Or the collaboration request includes a second operation request sent by a last one of the plurality of industrial devices, the second operation request being for requesting a next operation of the plurality of industrial devices.
Or the collaboration request includes a third operation request sent by one of the plurality of industrial devices, the third operation request being generated based on pending processes detected by its own sensors and/or I/O devices.
As shown in fig. 4, a heterogeneous PLC cooperative control method according to another embodiment of the present disclosure is applied to a cloud control apparatus, including:
step S402, a register management function block is generated based on the address of the register, attribute information of the register, and operational information of the register.
Step S404, receiving an editing instruction of the register management function block, which is input through a graphical interface of the display device.
Step S406, a collaboration request is generated based on the editing instruction.
In step S408, a collaboration operation instruction is generated based on the collaboration request.
Step S410, the collaboration running instruction is sent to the edge gateway, so that the edge gateway routes the collaboration running instruction to the corresponding industrial equipment.
Wherein the edit instruction includes at least one of an initialization instruction, a read instruction, and a write instruction to the register.
As shown in fig. 5, a heterogeneous PLC cooperative control method according to an embodiment of the present disclosure is applied to an industrial device, and includes:
step S502, a collaboration operation instruction sent by a cloud control device is received.
Step S504, running based on the collaborative running instruction.
Wherein, the industrial equipment is PLC equipment.
In the embodiment, by receiving the cooperative operation instruction issued by the cloud control device through the edge gateway, the industrial device operates based on the cooperative operation instruction, so that all messages such as the operation instruction can be issued to the industrial device through the cloud control device based on the wired transmission link and/or the wireless transmission link, on the one hand, the communication protocol adaptation between the PLC and the edge gateway and between the wired transmission link and/or the wireless transmission link is not needed between the PLCs in different industrial devices on the one hand, the decoupling between the PLCs in different devices is realized, the processing mode of the direct cooperative operation of the PLCs in different industrial devices is simplified, the light-weight connection management is realized, and on the other hand, the real-time data transmission between the cloud control device and the industrial devices is realized, and the real-time data analysis and the application management are realized.
As shown in fig. 6, a heterogeneous PLC cooperative control method according to another embodiment of the present disclosure is applied to an industrial device, and includes:
in step S602, in response to the communication connection instruction with the cloud control device, configuration information of the register is reported to the cloud control device, where the configuration information includes an address of the register, attribute information of the register, and operational information of the register, so that the cloud control device generates a corresponding collaborative operation instruction based on the configuration information.
Step S604, a collaboration operation instruction sent by the cloud control equipment through the edge gateway is received.
Step S606, the XML configuration file of the register is modified based on the collaborative operation instruction.
Step S608, reading the modified XML configuration file, and running based on the reading result.
It is noted that the above-described figures are only schematic illustrations of processes involved in a method according to an exemplary embodiment of the invention, and are not intended to be limiting. It will be readily appreciated that the processes shown in the above figures do not indicate or limit the temporal order of these processes. In addition, it is also readily understood that these processes may be performed synchronously or asynchronously, for example, among a plurality of modules.
A heterogeneous PLC cooperative control apparatus 700 according to an embodiment of the present invention is described below with reference to fig. 7. The heterogeneous PLC cooperative control apparatus 700 shown in fig. 7 is only an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.
The heterogeneous PLC cooperative control device 700 is expressed in the form of a hardware module. The components of heterogeneous PLC cooperative control apparatus 700 may include, but are not limited to: a generating module 702, configured to generate a collaborative operation instruction; and the sending module 704 is used for sending the collaborative operation instruction to the corresponding industrial equipment.
A heterogeneous PLC cooperative control apparatus 800 according to an embodiment of the present invention is described below with reference to fig. 8. The heterogeneous PLC cooperative control apparatus 800 shown in fig. 8 is only an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.
The heterogeneous PLC cooperative control apparatus 800 is expressed in the form of a hardware module. The components of heterogeneous PLC cooperative control apparatus 800 may include, but are not limited to: a receiving module 802, configured to receive a collaboration operation instruction sent by a cloud control device; the operation module 804 is configured to operate based on the cooperative operation instruction, where the industrial device is a PLC device.
Those skilled in the art will appreciate that the various aspects of the invention may be implemented as a system, method, or program product. Accordingly, aspects of the invention may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.
An electronic device 900 according to such an embodiment of the invention is described below with reference to fig. 9. The electronic device 900 shown in fig. 9 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 9, the electronic device 900 is embodied in the form of a general purpose computing device. Components of electronic device 900 may include, but are not limited to: the at least one processing unit 910, the at least one storage unit 920, and a bus 930 connecting the different system components (including the storage unit 920 and the processing unit 910).
Wherein the storage unit stores program code that is executable by the processing unit 910 such that the processing unit 910 performs steps according to various exemplary embodiments of the present invention described in the above-described "exemplary methods" section of the present specification. For example, the processing unit 910 may perform the schemes described in steps S302 to S304 shown in fig. 3.
The storage unit 920 may include readable media in the form of volatile storage units, such as Random Access Memory (RAM) 9201 and/or cache memory 9202, and may further include Read Only Memory (ROM) 9203.
The storage unit 920 may also include a program/utility 9204 having a set (at least one) of program modules 9205, such program modules 9205 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.
The bus 930 may be one or more of several types of bus structures including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.
The electronic device 900 may also communicate with one or more external devices 970 (e.g., keyboard, pointing device, bluetooth device, etc.), one or more devices that enable a user to interact with the electronic device 900, and/or any device (e.g., router, modem, etc.) that enables the electronic device 900 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 950. Also, electronic device 900 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 960. As shown, the network adapter 960 communicates with other modules of the electronic device 900 over the bus 930. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with electronic device 900, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a terminal device, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
In an exemplary embodiment of the present disclosure, a computer-readable storage medium having stored thereon a program product capable of implementing the method described above in the present specification is also provided. In some possible embodiments, the various aspects of the invention may also be implemented in the form of a program product comprising program code for causing a terminal device to carry out the steps according to the various exemplary embodiments of the invention as described in the "exemplary methods" section of this specification, when said program product is run on the terminal device.
Referring to fig. 10, a program product 1000 for implementing the above-described method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Furthermore, although the steps of the methods in the present disclosure are depicted in a particular order in the drawings, this does not require or imply that the steps must be performed in that particular order or that all illustrated steps be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.) or on a network, including several instructions to cause a computing device (may be a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the method according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (15)
1. A heterogeneous PLC cooperative control system is characterized by comprising a cloud control device, wherein the cloud control device is in communication connection with a plurality of controlled industrial devices through wired transmission links and/or wireless transmission links, the industrial devices are provided with registers,
the cloud control device is used for: receiving configuration information of the register reported by the industrial equipment, wherein the configuration information comprises an address of the register, attribute information of the register and operable information of the register, and the attribute information of the register comprises a type, a coding format and the number of the register;
The cloud control device is further configured to: generating a register management function block based on an address of the register, attribute information of the register, and operational information of the register, the register management function blocks of the plurality of industrial devices sequentially executing a plurality of different function models in a time series connection;
the cloud control device is further configured to: generating the cooperation running instruction based on the configuration information and the acquired cooperation request;
the cloud control device is further configured to: issuing a corresponding cooperative operation instruction to the industrial equipment, so that the industrial equipment writes a corresponding instruction into the register based on the cooperative operation instruction and the address of the register and operates based on the corresponding instruction,
wherein, the industrial equipment is PLC equipment.
2. The heterogeneous PLC cooperative control system of claim 1, wherein,
the collaboration request comprises a first operation request of the whole production line collaboration; or (b)
The collaboration request includes a second operation request sent by a last one of the plurality of industrial devices, the second operation request requesting a next operation of the plurality of industrial devices; or (b)
The collaboration request includes a third operation request sent by one of the plurality of industrial devices, the third operation request generated based on pending processes detected by its own sensors and/or I/O devices.
3. The heterogeneous PLC cooperative control system of claim 1, further comprising:
the display device is in communication connection with the cloud control device and is used for displaying a graphical interface, and the graphical interface is generated based on the register management functional block;
the display device is further configured to: receiving touch operation on the graphical interface;
the cloud control device is further configured to: identifying a register management function block corresponding to the touch operation and an editing instruction corresponding to the touch operation, generating the collaboration request based on the editing instruction,
wherein the edit instruction includes at least one of an initialization instruction, a read instruction, and a write instruction to a register.
4. The heterogeneous PLC cooperative control system of any of claims 1 to 3, further comprising:
an edge gateway in communication with the cloud control device, the edge gateway also in communication with the controlled plurality of industrial devices via the wired transmission link and/or the wireless transmission link,
The edge gateway is used for receiving the cooperative operation instruction and routing the cooperative operation instruction to the corresponding industrial equipment,
the edge gateway is in communication connection with the cloud control equipment based on a 5G communication network, and the wired transmission link is established based on at least one of Modbus TCP IP protocol, ethercat protocol and Ethernet IP protocol.
5. The heterogeneous PLC cooperative control method is characterized by being applied to cloud control equipment and specifically comprising the following steps:
receiving configuration information of a register reported by industrial equipment, wherein the configuration information comprises an address of the register, attribute information of the register and operable information of the register, and the attribute information of the register comprises a type, a coding format and the number of the register;
generating a register management function block based on an address of the register, attribute information of the register, and operational information of the register, the register management function blocks of the plurality of industrial devices sequentially executing a plurality of different function models in a time series connection;
generating a cooperation operation instruction based on the configuration information and the acquired cooperation request;
and sending the cooperative operation instruction to corresponding industrial equipment, so that the industrial equipment writes the corresponding instruction into the register based on the cooperative operation instruction and the address of the register, and operates based on the corresponding instruction.
6. The heterogeneous PLC cooperative control method of claim 5, wherein,
the collaboration request comprises a first operation request of the whole production line collaboration; or (b)
The collaboration request includes a second operation request sent by a last one of the plurality of industrial devices, the second operation request requesting a next operation of the plurality of industrial devices; or (b)
The collaboration request includes a third operation request sent by one of the plurality of industrial devices, the third operation request generated based on pending processes detected by its own sensors and/or I/O devices.
7. The heterogeneous PLC cooperative control method according to claim 5 or 6, wherein the generating the cooperative operation instruction based on the configuration information and the acquired cooperative request includes:
generating a register management function block based on the address of the register, attribute information of the register, and operational information of the register;
receiving an editing instruction input to the register management function block through a graphical interface of display equipment;
generating the collaboration request based on the editing instruction;
generating the collaboration execution instruction based on the collaboration request,
Wherein the edit instruction includes at least one of an initialization instruction, a read instruction, and a write instruction to a register.
8. The heterogeneous PLC cooperative control method is characterized by being applied to industrial equipment and specifically comprising the following steps of:
reporting configuration information of a register to cloud control equipment, wherein the configuration information comprises an address of the register, attribute information of the register and operable information of the register, and the attribute information of the register comprises a type, a coding format and the number of the register;
receiving a cooperative operation instruction sent by cloud control equipment, wherein the cooperative operation instruction is generated based on the configuration information;
writing a corresponding instruction into the register based on the cooperative operation instruction and the address of the register, and operating based on the corresponding instruction,
wherein, the industrial equipment is PLC equipment.
9. The heterogeneous PLC cooperative control method of claim 8, further comprising, before receiving the cooperative operation instruction sent by the cloud control device:
and responding to a communication connection instruction between the cloud control equipment and the cloud control equipment, and reporting configuration information of a register to the cloud control equipment, wherein the configuration information comprises an address of the register, attribute information of the register and operable information of the register, so that the cloud control equipment generates the corresponding cooperative operation instruction based on the configuration information.
10. The heterogeneous PLC cooperative control method according to claim 9, wherein the operating based on the cooperative operation instruction specifically includes:
modifying an XML configuration file of the register based on the collaborative operation instruction;
and reading the modified XML configuration file, and running based on a reading result.
11. The heterogeneous PLC cooperative control device is characterized by being applied to cloud control equipment and specifically comprising:
the device comprises a receiving module, a processing module and a processing module, wherein the receiving module is used for receiving configuration information of a register reported by industrial equipment, the configuration information comprises an address of the register, attribute information of the register and operable information of the register, and the attribute information of the register comprises a type, a coding format and the number of the register;
a generation module configured to generate a register management function block based on an address of the register, attribute information of the register, and operational information of the register, the register management function blocks of the plurality of industrial devices sequentially executing a plurality of different function models in a time-series connection order;
the generation module is also used for generating a cooperation running instruction based on the configuration information and the acquired cooperation request;
And the sending module is used for sending the cooperative operation instruction to corresponding industrial equipment, writing the corresponding instruction into the register by the industrial equipment based on the cooperative operation instruction and the address of the register, and operating based on the corresponding instruction.
12. The utility model provides a heterogeneous PLC cooperation controlling means which characterized in that is applied to industrial equipment, specifically includes:
the cloud control device comprises a reporting module, a cloud control device and a storage module, wherein the reporting module is used for reporting configuration information of a register to the cloud control device, the configuration information comprises an address of the register, attribute information of the register and operable information of the register, and the attribute information of the register comprises a type, a coding format and the number of the register;
the receiving module is used for receiving a cooperative operation instruction sent by the cloud control equipment, and the cooperative operation instruction is generated based on the configuration information;
an operation module for writing a corresponding instruction into the register based on the cooperative operation instruction and the address of the register, and operating based on the corresponding instruction,
wherein, the industrial equipment is PLC equipment.
13. A network device, comprising:
a processor; and
A memory for storing executable instructions of the processor;
wherein the processor is configured to perform the heterogeneous PLC cooperative control method of any of claims 5 to 7 via execution of the executable instructions.
14. An industrial device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the heterogeneous PLC cooperative control method of any of claims 8 to 10 via execution of the executable instructions.
15. A computer-readable storage medium having stored thereon a computer program, characterized in that the computer program, when executed by a processor, implements the heterogeneous PLC cooperative control method of any of claims 5 to 10.
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