CN116108707A - Virtual chip mounter simulation system, method and storage medium - Google Patents
Virtual chip mounter simulation system, method and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of chip mounter electronics, and particularly discloses a virtual chip mounter simulation system, a virtual chip mounter simulation method and a storage medium. The scheme comprises simulation of all modules and all functions of the real chip mounter, not only can be used for debugging and testing control software, but also can obtain upper and lower limit theoretical values of functions of certain modules and a real and reliable theoretical simulation result through system simulation operation, thereby providing real and reliable theoretical data for software testing and system testing in the research and development process of the real chip mounter and having a leading effect on design and perfection of certain functions.
Description
Technical Field
The invention relates to the technical field of chip mounter electronics, in particular to a virtual chip mounter simulation system, a virtual chip mounter simulation method and a storage medium.
Background
In the development process of the chip mounter, the chip mounter comprises software, hardware and structural designs. Compared with other parts, the development period of the software is short, when the software design is completed, the whole hardware structure of the chip mounter is not completed, or the hardware structure of a certain newly-added module is not completed, if the software test is performed after the hardware structure is completed, a software development lag period exists in the period before the hardware structure design is completed, so that the software cannot be tested and modified completely in time. Eventually, the development period of the software system is greatly prolonged, and the development progress is seriously affected. If a software simulation system for simulating functions of the chip mounter can be provided before the hardware structure is completed, the design and operation effect test of the software can be performed in advance, and then the defects of the software, even the defects of the operation functions of the system, can be tested as soon as possible. Therefore, the system problem can be found out in advance with high probability, and the problem of long overall research and development period caused by long research and development period of the hardware structure can be overcome to a certain extent.
For the function simulation of the chip mounter, simulation software capable of simulating the functions of a single module part of the chip mounter is designed at present, such as mounting head visual simulation software for sucking and mounting actions of the mounting head, but the functions of the simulation software are very limited, only rising and falling actions of the mounting head in the sucking and mounting process can be realized, the action of moving the mounting head in a large range in the whole horizontal direction can not be simulated, and the complete function simulation of a single module is not provided, such as the visual camera, the vacuum air valve and other functions used by the mounting head. The simulation effect is seriously insufficient, the test result is very unreliable, the simulation effect cannot be truly achieved in the development process of the chip mounter, and the simulation effect is not helpful for system test. The small module simulation does not have complete simulation software at present, and a set of chip mounter full-function software simulation system which has sound functions and good and reliable performances and can be provided for control software for debugging and testing is not provided.
How to design and provide a set of chip mounter simulation system capable of completely simulating the real working condition of the chip mounter, so that control software can carry out function debugging and system testing in advance without depending on a hardware platform, and the chip mounter simulation system becomes the problem to be solved at present.
Disclosure of Invention
The invention aims to overcome the problems in the prior art, and provides a virtual chip mounter simulation system, a virtual chip mounter simulation method and a storage medium, so that simulation including all modules and all functions of a real chip mounter can be realized as far as possible, the virtual chip mounter simulation system can be used for debugging and testing control software, upper and lower limit theoretical values of functions of certain modules and a real and reliable theoretical simulation result can be obtained through system simulation operation, and therefore real and reliable theoretical data are provided for software testing and system testing in the research and development process of the real chip mounter, and the virtual chip mounter simulation system has a leading effect on design and perfection of certain functions.
In order to achieve the above object, a first aspect of the present invention provides a virtual chip mounter simulation system, including a main control module, a system sub-module, a shaft motion simulation module, and an event bus;
the main control module is used for issuing a control event from the upper computer to the event bus;
the system sub-module is used for simulating the state of the chip mounter sub-module;
the shaft motion simulation module is used for simulating the states of all shafts;
the event bus comprises an event receiving buffer memory unit and an event management unit, wherein the event receiving buffer memory unit is used for receiving a control event issued by the main control module, and a task event returned by the system sub-module and the shaft motion simulation module; the event management unit is used for distributing the control event and the task event stored in the event receiving buffer unit, and the control event sends the corresponding event to all subscribers subscribing the event of the corresponding type according to the event type; the subscriber comprises a main control module, a system sub-module and an axial motion simulation module.
The second aspect of the present invention provides a method for creating and operating a simulation system, including the following steps:
creating and initializing an object instance of an event bus, comprising: an initialization event receiving buffer unit and an initialization event management unit;
initializing a storage object instance of machine parameters of the virtual chip mounter, analyzing a machine parameter file, storing the machine parameters into the machine parameter object instance, and calling the machine parameters when a simulation system of the virtual chip mounter works;
creating and initializing an object instance of the main control module, including: the system comprises an initialization event receiving unit, an initialization control event buffer area, an initialization control event issuing unit, an initialization monitoring unit and an initialization module management unit;
creating and initializing each object instance of the system sub-module, and initializing the component state of each module in the system sub-module;
creating and initializing an object instance of the axial motion simulation module;
creating and initializing object examples of each axis model, and importing axis related parameters in machine parameters into the object examples of each axis;
according to the module number of each axis, associating the object instance of each axis to the module object instance of each axis;
Establishing communication between an upper computer and a simulation system;
the main control module receives the control event issued by the upper computer and operates according to the event bus, the function and the operation logic of the shaft motion simulation module and the system sub-module.
The third aspect of the invention provides an operation method of a virtual chip mounter simulation system, which is based on the simulation system and comprises the following steps:
s9.1, each module in the main control module and the system sub-module is used as an event subscriber, and different types of events are subscribed according to the event types processed by the self module:
each module in the main control module and the system sub-module can subscribe various types of events, and each type of event can also be subscribed by a plurality of subscribers;
when a subscriber subscribes to an event, the event bus binds the subscriber information and the event type subscribed by the subscriber and stores the event type;
when the subscriber cancels the subscribed event, the event bus deletes the corresponding event type from the stored event types subscribed by the corresponding subscriber;
s9.2, the event bus receives a control event sent by the main control module, a task event returned by the system sub-module and the shaft motion simulation module:
the event bus uniformly stores the received control events and task events according to the first-in first-out sequence;
S9.3, the event bus takes out the control events and the task events one by one according to the first-in-first-out sequence and sends the control events and the task events to corresponding subscribers:
the event management unit firstly judges whether the event receiving buffer unit is empty, if the event receiving buffer unit is empty, the event receiving buffer unit waits for receiving the event, if the event receiving buffer unit is not empty, the event type of the extracted event is judged after the first event is extracted, the event type is used as an index, the stored subscribers are traversed and searched for subscribers subscribed to the event of the corresponding type, and each time one subscriber is searched for, the corresponding event is sent to the relevant subscribers.
A fourth aspect of the present invention provides a computer storage medium comprising:
a memory having a computer program stored thereon;
and a processor for executing the computer program in the memory to implement the steps of the above-described operation method.
Through the technical scheme, based on the system architecture and the complete functions of the real chip mounter, a complete set of virtual chip mounter simulation system is designed by using a modularized function simulation method, the functions of all modules of the real chip mounter are comprehensively simulated, and the theoretical result of the operation of all modules of the real chip mounter can be obtained through the simulation operation of the virtual chip mounter simulation system under the same system parameters and operation conditions; in the research and development process of the real chip mounter, the theoretical result can provide real and reliable theoretical data for software test of the real chip mounter and system performance test of the real chip mounter; by observing the operation process of the simulation system and analyzing theoretical data obtained by simulation, the theoretical effect of the actual chip mounter in operation can be reflected in advance, some technical problems and functional defects in the research and development process of the actual chip mounter can be found in advance, the research and development period of the actual chip mounter can be shortened to a certain extent, and the research and development time cost and material cost of the actual chip mounter are reduced; therefore, the virtual chip mounter simulation system has the advantages of complete system, perfect function, low cost, high reliability and leading effect on the research and development process of the real chip mounter.
Drawings
Fig. 1 is a main body architecture and an information interaction schematic diagram of a virtual chip mounter simulation system according to the present invention, wherein interaction information mainly includes a control event and a task event, and an information interaction direction is a direction indicated by an arrow;
FIG. 2 is a schematic flow chart of the shaft motion simulation method of the present invention;
FIG. 3 is a schematic diagram illustrating control event handling according to the present invention;
FIG. 4 is a schematic diagram illustrating classification of control event types according to the present invention;
FIG. 5 is a diagram illustrating task event type classification according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a virtual chip mounter simulation system based on a real chip mounter, which comprises the following components: the system comprises a main control module, a shaft motion simulation module, an event bus and a system sub-module; the system submodule includes: the system comprises a mounting head module, an XY module, a transmission module, a feeder module, a machine vision module, a peripheral module and a graphical interactive interface module, wherein the graphical interactive interface module is shown in figure 1;
The main control module comprises: the system comprises an event receiving unit, a control event buffer area, a control event issuing unit, a monitoring unit and a module management unit;
the event receiving unit is used for receiving various control events sent by the upper computer and judging the event type of the received control events, if the event type is the immediately executed event type, the event type is not stored in the control event buffer area, and the control event issuing unit directly executes the corresponding control events; if the event type is not immediately executed, storing the event type into a control event buffer area according to a first-in first-out rule;
when the control event issuing unit executes the control event, the control instruction content in the control event is firstly analyzed, and then the relevant simulation action is executed according to the specific instruction content. For example, the control command of a control event is timed for 1 second, and the control command is required to be suspended during the timing period, the control event issuing unit starts a timer, the timing time is 1 second, the main control module continues to receive the control command during the timing period, but the control event issuing unit stops issuing the control event. When the timing time of the timer is completed, the timer is closed, and the control event issuing unit continues to process the issuing control event.
The control event issuing unit is used for issuing the control event stored in the control event cache area to the event bus; when the control event issuing unit issues an event, the control event is transmitted to the event bus as a parameter of an interface function by calling the interface function which is opened by the event bus and is relevant to receive the control event.
The monitoring unit is used for monitoring the execution condition of the issued control event. The monitoring unit subscribes to the event type of the task event corresponding to the monitored control event, the event bus obtains the related execution task event after the execution of the control event is completed, and then the event bus issues the task event to the monitoring unit subscribed to the task event of the type. And after the monitoring unit receives the task event, the monitored control event is indicated to be executed and completed, and if the monitoring unit does not receive the task event, the monitored control event is indicated to be incomplete. When the monitored control event is not completed, the control event issuing unit stops the subsequent issuing of the instruction until the monitored control event is completed to execute the instruction, and continues to issue the instruction.
The module management unit comprises a power line management mechanism and a shaft interlocking detection mechanism, when the power line management mechanism receives error information returned by the system submodule, the power line of the simulation system is cut off, the control event buffer area and the monitoring event in the monitoring unit are emptied, a module resetting action is carried out on all the submodules, the power line is used for controlling a shaft enabling state in the chip mounter simulation system, if the power line is disconnected, the control shaft is not allowed to act, and the power line is in a power-on state in a normal working state. The shaft interlocking detection mechanism is used for detecting collision risk among shafts in the simulation system of the chip mounter in advance, detecting whether a collision problem exists in a control event issued by the upper computer or not by acquiring shaft state information returned by the system sub-module and a shaft motion control instruction issued by the upper computer, if so, generating error information by the shaft interlocking detection mechanism, notifying a power line management mechanism, and performing operations of cutting off a power line and resetting a main control board and the sub-module.
An event bus for event loop processing within a simulation system, comprising: the event receiving buffer unit and the event management unit; the event receiving buffer unit is used for receiving a control event issued by the main control module and a task event returned by the system submodule; the event management unit is used for issuing the control event stored in the event receiving buffer unit and sending the corresponding event to all subscribers subscribing the event of the corresponding type according to the event type; the subscriber comprises a main control module, a system sub-module and a graphic interaction interface module (namely a UI module shown in figure 1), the event bus reduces the coupling among the system sub-modules, ensures the independence of the sub-modules and realizes the mutual correlation among the sub-modules.
The main control module and the system sub-module serve as event subscribers to subscribe event types related to the main control module and the system sub-module. When subscribing an event, a subscriber transfers own object instance address information and the name of the event type to be subscribed to the event bus as parameters of the subscription interface function by calling the related subscription interface function opened by the event bus, the event bus adds the subscriber information to a subscriber queue of the corresponding event type according to the mode that the event type is an index, and if the subscriber already exists in the queue, the addition is not repeated. When the subscriber is unsubscribed, the subscriber can call another unsubscribed interface function opened on the event bus, the address information of the object instance of the subscriber and the name of the event type to be unsubscribed are used as parameters to be transmitted to the event bus through the unsubscribed interface function, the event bus takes the name of the event type as an index, the subscriber information is searched in a subscriber queue of the event type, if the subscriber information is found, the subscriber is deleted, unsubscribed is successful, and if the subscriber is not found, the subscriber is not subscribed to the event and does not perform any processing.
The shaft motion simulation module is used for simulating the states of all shafts, including real-time position, speed, acceleration, motion time, motion state and braking state; as shown in fig. 2, when the shaft motion simulation module performs shaft motion simulation, if a shaft stopping event is not received, calculating theoretical complete motion time according to a given initial position and motion speed, acceleration and target position of the shaft, timing the complete motion time by using a timer, when the shaft motion simulation starts, timing the time length of the shaft in real time by using the timer, and if the shaft motion simulation process is not interrupted, ending the shaft motion when the timing ends, updating the current position and the current state of the shaft, and feeding back a task event of the shaft motion simulation; if the shaft motion simulation process receives the shaft stop event, the shaft motion simulation process is interrupted, the motion duration of the shaft motion is obtained according to the timing duration of a timer at the moment of shaft stop, the position of the moment of shaft stop is calculated according to the initial position, the speed and the acceleration, the current various state parameters of the shaft are updated, and the task event of the shaft motion simulation is fed back.
The XY module is used for realizing various control simulation functions of the X axis and the Y axis, and comprises: shaft motion control simulation and shaft state control simulation. And the XY module receives the subscribed control event and judges the subscribed control event, if the subscribed control event is a motion control event, a corresponding shaft object instance is found in the XY module according to the shaft number in the control event, the shaft motion simulation module is called, the shaft object instance is transmitted to the shaft motion simulation module, the shaft motion simulation module executes a shaft motion instruction in the corresponding control event, and the shaft motion simulation module returns to an executed task event after the shaft motion is finished. If the control event is a state control event, after the shaft object instance is found according to the shaft number in the control event, directly controlling and changing the shaft state of the shaft object instance, and feeding back the simulated task event after the control event is executed.
The mounting head module is used for realizing functional simulation of sucking components, identifying the components, photographing by a camera, controlling vacuum pressure of a mounting head, moving each shaft of the mounting components and the mounting head, sucking air by a suction nozzle of the mounting head, blowing air by the suction nozzle of the mounting head and stopping air by the suction nozzle of the mounting head in the chip mounter;
when the mounting head module executes the component sucking instruction, a corresponding shaft object example is found in the module according to the shaft number in the control event, the shaft motion simulation module is called, the shaft object example is transmitted to the shaft motion simulation module, and the shaft motion simulation module executes the continuous movement motion of the Z-axis of the mounting head, which is firstly descending and then ascending, so as to simulate the mounting head sucking motion;
when the mounting head module executes a camera shooting instruction, the axis motion simulation module is called to execute the CA axis motion of the related reflector to simulate the axis motion of camera shooting, and after the CA axis motion is completed, the completion of shooting is identified, and a task event of shooting completion is fed back;
when the mounting head module executes vacuum pressure control of the mounting head, the state of related components is changed to simulate the operation actions of air suction, air blowing and air stopping, and task events of the states of the related components are fed back;
When the mounting head module executes the component identification instruction, the axis motion simulation module is called to execute the CA axis motion of the related reflector to simulate the photographing axis motion when the component is identified by using the same method as that when the component is absorbed, the CA axis motion is completed, the completion of identification photographing is indicated, and a photographing completed task event is fed back;
when the mounting head module executes a mounting element instruction, the shaft motion simulation module is called to execute continuous movement actions of descending and ascending of the Z shaft of the mounting head by using the same method as that of the component suction so as to simulate the mounting head mounting action;
when the mounting head module executes each shaft movement instruction of the mounting head, the shaft movement simulation module is called to execute the related shaft movement by using the same method as that when the component is sucked, and after each shaft movement is completed, the shaft movement control module feeds back the task event executed by the corresponding action;
when the mounting head module executes the suction, blowing and stopping actions of the mounting head suction nozzle, three air pressure operation actions are simulated by changing the states of the related components, and task events of the states of the related components are fed back.
The transmission module is used for realizing the relevant function simulation of the real chip mounter for transmitting the substrate, and comprises a plate transmission action, a substrate clamp action, a stop pin action, each shaft movement, a substrate thimble action and a transmission track width adjustment action;
The transfer board action comprises a substrate transfer-in action and a substrate transfer-out action;
the substrate transferring motion obtains the moving distance of substrate transfer according to the current position and the target position of the substrate, then calculates the motor transferring motion time according to the moving parameters of a transfer motor in the system parameters obtained by analyzing the system parameter file of the real chip mounter, simulates the transferring motion of a transfer rail according to the simulation process of the shaft motion simulation module, and controls the lifting of a baffle pin, the clamping of the substrate and the lifting of a thimble when the substrate is transferred to the mounting position, thereby realizing the fixation of the substrate;
the substrate outgoing motion firstly controls the stop pin to descend, the substrate to loosen and the thimble to descend, so that the fixation of the substrate is canceled, then the motion distance of substrate transmission is obtained according to the mounting position and the outlet position, then the motor transmission motion time is calculated according to the transmission motor motion parameters in the system parameters obtained by analyzing the real chip mounter system parameter file, and the outgoing motion of the transmission track is simulated according to the simulation process of the shaft motion simulation module;
the simulation of the action of the stop pin is realized by changing the state of the stop pin;
when each axis movement instruction of the transmission module is executed, the axis movement simulation module is called to execute the related axis movement, and after each axis movement is completed, the axis movement control module feeds back the task event executed by the corresponding action;
The simulation of the plate transfer action is to obtain the movement distance of the substrate transfer according to the current position and the target position of the substrate, then calculate the motor transfer movement time according to the transfer motor movement parameters in the system parameters obtained by analyzing the real chip mounter system parameter file, and simulate the transfer movement action of the transfer track according to the simulation process of the axis movement simulation module;
the simulation of the substrate clamp action and the substrate thimble is to simulate the action of fixing the substrate after the substrate is conveyed to the mounting position, and simulate the action of releasing the substrate from the mounting position;
simulation of the motion of the substrate chuck is achieved by changing the state of the substrate chuck; for example, when a control instruction of clamping the clamp is executed, directly changing a variable value corresponding to the clamp component in the module, for example, when the variable corresponding to the clamp component is of a bol type, the clamp is in a clamp-released state, and when the clamp is in a true state, the clamp is in a clamp-clamped state;
the simulation of the thimble action of the substrate is realized by calling a shaft movement module and simulating and controlling the movement of a shaft at the thimble position;
the simulation of the transfer track width adjustment action is used to adjust the width of the transfer track according to the substrate width,
The simulation of the width adjustment action of the conveying track is that when different substrates are used for production, the shaft movement module is called according to the widths of the substrates to execute shaft movement for adjusting the widths of the conveying track, so that the simulation of the width adjustment of the track is realized;
the simulation of the stop pin action is realized directly by changing the state of the stop pin part model; this operation is similar to a component state simulation of a substrate holder.
The feeder module is used for simulating the feeder function in a real chip mounter, and comprises: the simulation function of the feeder module is realized by controlling and changing the states of corresponding related module components; this operation is similar to a component state simulation of a substrate holder.
The machine vision module is used for executing simulation of result processing obtained by identifying and photographing on the materials after the materials are sucked, packaging the processing results into task events, and feeding back the task events to subscribers of related events through an event bus;
after the mounting head module recognizes the component, a recognition component result is given, the result is simulated recognition result image data, the mounting head module calls a relevant interface function opened in the machine vision module, and the simulated recognition result image data is transmitted to the machine vision module as parameters of the interface function. After the machine vision module receives the image data, simulation processing is carried out, and a simulation result of successful recognition or recognition failure is given. If the identification fails, the upper computer will issue a control event for re-executing the element which has failed to be identified last time after receiving the identification failure task event. If the identification is successful, the subsequent flow is continued.
The peripheral module is used for simulating the functions of a control panel, an indicator lamp and a buzzer in the real chip mounter;
the simulation of the control panel is used for realizing the functions of each control button, and comprises the following steps: control button functions of emergency stop buttons and other system states, wherein each button function is controlled by operating a button control on the graphical interactive interface module or by issuing related instructions by using an upper computer; for example, when an error occurs, the buzzer sounds, the red indicator light is turned on, and the error state can be cleared by pressing an error clearing button on the control panel, or an error clearing control event is issued by using the upper computer, and the error state can be cleared after the corresponding module executes the control event.
The indicator lamp is used for simulating various state prompt functions when the system operates;
the simulation of the buzzer is used for giving a prompt state when the system operates abnormally;
the graphic interaction interface module is a visual operation function for simulating a sub-module of the system; the graphic interaction interface module comprises an operation interface for controlling the functions of each module in the system sub-module. For example, the operation interface of the peripheral module displays the operation controls of each control button and also displays the indication controls of each indicator lamp and the buzzer, and the effect of controlling the corresponding functions can be achieved by operating the corresponding controls of the control buttons; for example, when the substrate is transferred, the activation state of each sensor on the transfer track is displayed on the operation interface of the transfer module, and the real-time position of the substrate on the transfer track is displayed.
In another embodiment of the present invention, a creation and operation process of a virtual chip mounter simulation system is based on the virtual chip mounter simulation system, and specifically includes the following steps:
step 1.1, initializing a storage object instance of machine parameters of a virtual chip mounter; firstly, creating a storage object instance, and setting each parameter in the instance as an initial default value; analyzing a machine parameter file, finding out corresponding member variables in a storage object example according to the parameter type, assigning each machine parameter to the corresponding member variables in the machine parameter object example, wherein the member variables are called by a virtual chip mounter simulation system during working;
step 1.2, creating and initializing an object instance of the event bus, including: initializing an event receiving buffer unit; the event management unit is initialized. Firstly, according to the memory space capacity required by storage, a block of memory space with the capacity is applied to a system as an event receiving buffer unit. Setting each parameter in the event management unit as an initial default value, then acquiring a memory address of the event receiving buffer unit by the event management unit, and subsequently taking out an event in the event receiving buffer area according to the memory address by the event management unit;
Step 1.3, creating and initializing an object instance of the main control module, including: initializing a control event buffer area; initializing a control event issuing unit; initializing a monitoring unit; initializing a module management unit; this section is similar to the event bus initialization process;
step 1.4, creating and initializing each object instance of the system sub-module and taking the object instance as a subordinate member of the main control module, initializing the component state of each module in the system sub-module, and setting the component state of each module as an initial default value;
step 1.5, creating and initializing an object instance of the axial motion simulation module;
step 1.6, creating and initializing object examples of each axis model, and importing axis related parameters in machine parameters into the object examples of each axis;
step 1.7, associating the object instance of each axis to the module object instance of each axis according to the module object instance of each axis;
step 1.8, establishing communication between an upper computer and a simulation system;
and 1.9, the main control module receives a control event issued by the upper computer and operates according to the functions and operation logic of the event bus, the shaft motion simulation module and the system sub-module.
In another embodiment, based on the above-mentioned virtual chip mounter simulation system, an operation method of the virtual chip mounter simulation system, that is, an event cycle processing method of an event bus in the virtual chip mounter simulation system is as follows:
Step 2.1, creating and initializing an object instance of the event bus, including: initializing an event receiving buffer unit; initializing an event management unit; firstly, according to the memory space capacity required by storage, a block of memory space with the capacity is applied to a system as an event receiving buffer unit. Setting each parameter in the event management unit as an initial default value, then acquiring the memory address of the event receiving buffer unit by the event management unit, and subsequently taking out the event in the event receiving buffer area according to the memory address by the event management unit. The classification of control events is shown in fig. 4, and the classification of task events is shown in fig. 5.
As shown in fig. 4, the control events are divided into control axes, emergency control events and control modules, wherein the control axes comprise control events of executing axis movement, changing axis state, returning axis, etc., the emergency control events are divided into control events of system stop, submodule emergency stop, etc., and the control modules comprise control events of changing overall state of the modules and changing component states of the modules, etc.
As shown in fig. 5, the task event is a result event returned by the system sub-module and the axis motion simulation module, specifically includes a processing result of the control event, an error event fed back when the system is in error, and a module state change event fed back by the system sub-module at regular time, where the processing result of the control event corresponds to the type of the control event in fig. 4, specifically, a control axis in the control event corresponds to the axis processing result in fig. 5, an emergency control event in the control event corresponds to the emergency processing result in fig. 5, a control module in the control event corresponds to the module processing result in fig. 5, and in addition, if the above three control events are executed, the returned error event corresponds to the error event in fig. 5. The receiver of the task event is a main control module, a graphic interaction interface module and an upper computer.
2.2, each module in the main control module and the system sub-module is used as an event subscriber to subscribe different types of events according to the event types processed by the self module:
each module in the main control module and the system sub-module can subscribe various types of events, and each type of event can also be subscribed by a plurality of subscribers;
when a subscriber subscribes to an event, the event management unit binds the subscriber information with the event type subscribed by the subscriber and stores the event type;
when the subscriber cancels the event of the subscribed type, the event management unit deletes the corresponding event type from the stored event types subscribed by the corresponding subscriber;
the specific implementation process is as follows: the main control module and the system sub-module serve as event subscribers to subscribe event types related to the main control module and the system sub-module. When subscribing an event, a subscriber transfers own object instance address information and the name of the event type to be subscribed to the event bus as parameters of the subscription interface function by calling the related subscription interface function opened by the event bus, the event bus adds the subscriber information to a subscriber queue of the corresponding event type according to the mode that the event type is an index, and if the subscriber already exists in the queue, the addition is not repeated. When the subscriber is unsubscribed, the subscriber can call another unsubscribed interface function opened on the event bus, the address information of the object instance of the subscriber and the name of the event type to be unsubscribed are used as parameters to be transmitted to the event bus through the unsubscribed interface function, the event bus takes the name of the event type as an index, the subscriber information is searched in a subscriber queue of the event type, if the subscriber information is found, the subscriber is deleted, unsubscribed is successful, and if the subscriber is not found, the subscriber is not subscribed to the event and does not perform any processing.
Step 2.3, the event bus receives the control event issued by the main control module and the task event returned by each module:
the event bus uniformly puts the received control events and task events into an event receiving buffer memory unit in the event bus according to the first-in first-out sequence.
Step 2.4, the event management unit of the event bus takes out the control events one by one from the event buffer area according to the first-in first-out sequence and issues:
the event management unit firstly judges whether the event receiving buffer unit is empty, if the event receiving buffer unit is empty, the event receiving buffer unit waits for receiving the event, if the event receiving buffer unit is not empty, the event type of the extracted event is judged after the first event is extracted, the event type is used as an index, the stored subscriber queue of the event type is traversed and searched for subscribers subscribed to the event of the corresponding type, and each time a subscriber is searched for, the corresponding event is sent to the relevant subscribers.
In another embodiment of the present invention, an operation management method of a virtual chip mounter simulation system, an operation process of a main control module is performed according to the following steps:
and 3.1, stopping the operation of all modules when an error occurs in the simulation system or the simulation system receives an emergency stop instruction:
When the simulation system is in error or the main control module receives an emergency stop instruction, the module management unit directly controls the main control module to stop all the current actions, cuts off the power line of the simulation system, clears the control event buffer area and the monitoring phenomenon in the monitoring unit, and performs a module reset action on all the sub-modules; directly calling related interfaces of all modules in the system sub-module, and controlling all modules to immediately stop all current actions;
and after stopping all the current actions, all the modules are reset to the initial state immediately, and the next time the system starts to operate is waited.
And 3.2, after the main control module receives the control event from the upper computer, judging the type of the control event:
if the event type is the event type executed immediately, the event type is not stored in the control event buffer area;
if the event type is the event type which needs to be executed immediately by the main control module, the main control module performs related actions according to the instruction content of the control event;
if the event type is the event type which needs to be executed immediately by the system submodule, the main control module immediately transmits the corresponding control event to the corresponding subscriber through the event bus, so that the corresponding subscriber can execute the corresponding control event immediately; the logic diagram of each system sub-module executing control event is shown in fig. 3, if the control event is a control module state event, the system sub-module changes the state of a corresponding module component according to the control event information, if the change is successful, a module state result is returned, otherwise, an error event result is returned, if the control event is an emergency control event, the corresponding sub-module executing module stops exiting and returns a module exiting result, if the control event is a control axis event, the sunday is executed by an axis motion simulation module, and a corresponding result event is returned;
If the event type is not immediately executed (control shaft and control module events), the event type is put into a control event buffer area according to a first-in first-out rule, and the processing of a subsequent control event issuing unit is waited.
Step 3.3, the main control module processes the control event in the event receiving buffer unit:
before a control event issuing unit of the main control module processes the control event, judging whether a monitoring unit monitors the completion condition of an issued instruction;
if the monitoring is being performed, the instruction of the last stage which is issued is not completed yet, the instruction of the next stage cannot be issued, and the monitoring is waited to be completed and the subsequent instruction is issued;
if the event receiving buffer unit is empty, waiting for the main control module to receive a subsequent control instruction; if the control event is not empty, the control event issuing unit takes out a first control event from the control event buffer area according to a rule of first in first out, and judges the event type; if the control event is the monitoring event, the monitoring unit executes the corresponding monitoring event, and if the control event is other control event, the corresponding control event is issued to the corresponding subscriber through the event bus.
In another embodiment of the present invention, an axial motion simulation module performs axial motion simulation according to the following steps:
step 4.1, judging whether the shaft movement command is a shaft movement command or a shaft stop command; if the axial movement instruction is the axial stop instruction, executing the steps 4.2-4.7, and if the axial movement instruction is the axial stop instruction, executing the steps 4.8-4.9; the simulation process flow is shown in fig. 2;
step 4.2, acquiring initial state parameters of the corresponding shaft, including initial position, initial speed, initial acceleration, whether movement is performed or not, and the like;
step 4.3, analyzing the axial movement instruction and obtaining the axial movement speed, the acceleration and the target position;
step 4.4, calculating the complete theoretical time T of the shaft motion according to the command parameters and the initial state parameters of the shaft obtained by analysis and the recorded current position of the shaft;
step 4.5, setting a timer and a timer, enabling a timing event to be the axis movement time T, and starting the timer and the timer at the same time;
step 4.6, checking the current timing time of the timer at regular intervals before the shaft motion simulation is finished, namely, the motion time of the shaft motion from the beginning to the current moment; according to the current timing time and by combining the initial position, the movement speed and the acceleration of the shaft, after the current position of the shaft is calculated, the state of the current moment of the shaft is packaged into a task event, and the task event is fed back to an upper computer and other subscribers subscribed to related types of events through an event bus;
Step 4.7, finishing the shaft motion simulation, updating the current position of the shaft to be the target position in the shaft motion instruction, updating other shaft state parameters, packaging the state of the shaft at the current moment to be a task event, and feeding back to an upper computer and other subscribers subscribed to the corresponding types of events through an event bus;
step 4.8, when the axis motion simulation module receives an axis stop instruction, stopping the timer, ending the timer, and checking the current timing time;
and 4.9, according to the current timing time, calculating the current position of the shaft by combining the initial position of the shaft, the speed of the shaft movement and the acceleration, updating the current position of the shaft, updating other shaft state parameters, packaging the state of the shaft at the current moment into a task event, and feeding back to an upper computer and other subscribers subscribed to the event of the corresponding type through an event bus, thereby ending the simulation of the shaft movement.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, a number of simple variants of the technical solution of the invention are possible, including the combination of the individual specific technical features in any suitable way. The various possible combinations of the invention are not described in detail in order to avoid unnecessary repetition. Such simple variations and combinations are likewise to be regarded as being within the scope of the present disclosure.
Claims (13)
1. The virtual chip mounter simulation system is characterized by comprising a main control module, a system sub-module, a shaft motion simulation module and an event bus;
the main control module is used for issuing a control event from the upper computer to the event bus;
the system sub-module is used for simulating the state of the chip mounter sub-module;
the shaft motion simulation module is used for simulating the states of all shafts;
the event bus comprises an event receiving buffer memory unit and an event management unit, wherein the event receiving buffer memory unit is used for receiving a control event issued by the main control module, and a task event returned by the system sub-module and the shaft motion simulation module; the event management unit is used for distributing the control event and the task event stored in the event receiving buffer unit, and the control event sends the corresponding event to all subscribers subscribing the event of the corresponding type according to the event type; the subscriber comprises a main control module, a system sub-module and an axial motion simulation module.
2. The simulation system of claim 1, wherein the master control module comprises: the system comprises an event receiving unit, a control event buffer area, a control event issuing unit, a monitoring unit and a module management unit;
The event receiving unit is used for receiving the control event sent by the upper computer and judging the execution type of the received control event, and if the control event is the immediately executed event type, the control event issuing unit directly executes the corresponding control event; if the event type is not immediately executed, storing the event type into the control event buffer area according to a first-in first-out rule;
the control event issuing unit is used for taking out the control event from the control event buffer area or directly receiving the immediately executed control event from the event receiving unit and pushing the immediately executed control event to the event bus;
the monitoring unit is used for monitoring the execution condition of the issued control event, and when the monitored control event is not completed, the control event issuing unit stops issuing the control event until the monitored control event is completed to be executed, and then continues issuing the control event;
the module management unit is used for managing the running state of the system sub-module, and when the simulation system goes wrong or stops emergently, the management unit controls the system sub-module to execute a module exit action, wherein the exit action is to stop all the current actions first and reset the state of each module in the system sub-module to be the initial state.
3. The simulation system of claim 2, wherein the module management unit comprises a power line management mechanism and a shaft interlock detection mechanism,
the power line management mechanism is used for cutting off the power line of the simulation system when receiving the error information returned by the system submodule, emptying the control event buffer area and the monitoring event in the monitoring unit, and carrying out a module resetting action on all the system submodules; the power line is used for controlling the enabling state of the central shaft of the simulation system, if the power line is disconnected, the power line cannot be controlled to act, and the power line is in a power-on state in a normal working state;
the shaft interlocking detection mechanism is used for detecting whether a control event issued by the upper computer can cause collision between shafts or not by acquiring shaft state information returned by the system sub-module and a shaft motion control instruction issued by the upper computer, generating error information if the control event exists, notifying the power line management mechanism, cutting off the power line, and resetting the main control board and the system sub-module.
4. The simulation system according to claim 1, wherein when the axis motion simulation module performs axis motion simulation, calculating theoretical complete motion time according to an initial position, a motion speed, acceleration and a target position of the axis, and if the axis motion simulation process is not interrupted in the complete motion time, ending the axis motion and updating the current position and the current state of the axis, and feeding back a task event of the axis motion simulation; if the shaft motion simulation process receives the shaft stop event, the shaft motion simulation process is interrupted, the position of the shaft stop moment is calculated according to the motion duration, the initial position, the speed and the acceleration of the shaft motion at the moment of shaft stop, the current state parameter of the shaft is updated, and the task event of the shaft motion simulation is fed back.
5. The simulation system of claim 1, wherein the system submodule comprises: the device comprises a mounting head module, an XY module, a transmission module, a feeder module, a machine vision module and a peripheral module;
the mounting head module is used for realizing simulation functions of sucking components in the chip mounter, photographing by a camera, mounting the components and each shaft of the mounting head, sucking air by a suction nozzle of the mounting head, blowing air by the suction nozzle of the mounting head and stopping air by the suction nozzle of the mounting head;
the XY module is used for realizing the simulation function of the X, Y shaft, and comprises: shaft motion control simulation and shaft state control simulation;
the conveying module is used for realizing the relevant function simulation of the conveying substrate of the chip mounter, and comprises a conveying plate action, a substrate clamp action, a stop pin action, a substrate thimble action and a conveying track width adjusting action;
the feeder module is used for realizing the feeder function in the simulation chip mounter by controlling and changing the states of corresponding related module components, and comprises the following components: the mounting state of the feeder, the working state of the feeder, the feeding speed of the feeder and the feeding interval;
the machine vision module is used for executing simulation of result processing obtained by identifying and photographing after the material is sucked, selecting whether the result is identification success or identification failure according to configured parameters, packaging the processing result into a task event, and feeding back the task event to subscribers of related events through an event bus;
The peripheral module is used for simulating the functions of a control panel, an indicator lamp and a buzzer in the chip mounter.
6. The simulation system of claim 5, wherein the mounting head module is configured to implement functional simulation of component suction, component mounting, camera shooting, movement of individual axes of the mounting head, suction of the suction nozzle of the mounting head, blowing of the suction nozzle of the mounting head, air-off of the suction nozzle of the mounting head, and vacuum pressure control of the mounting head in the chip mounter;
when the component sucking instruction is executed, the shaft motion simulation module is called to execute continuous movement actions of descending and ascending of the Z shaft of the mounting head so as to simulate the sucking action of the mounting head; when a camera shooting instruction is executed, the axis motion simulation module is called to execute CA axis motion of the related reflecting mirror to simulate the axis motion of shooting when the identification element is shot, the completion of shooting by the camera is indicated after the CA axis motion is completed, and a task event of shooting completion is fed back; when the mounting element instruction is executed, the shaft motion simulation module is called to execute continuous movement actions of descending and ascending of the Z shaft of the mounting head so as to simulate the mounting action of the mounting head; when each axis movement instruction of the mounting head is executed, the axis movement simulation module is called to execute the related axis movement, and after each axis movement is completed, the axis movement control module feeds back task events executed by corresponding actions; when the suction, blowing and stopping actions of the suction nozzle of the mounting head are executed, three air pressure operation actions are simulated by changing the states of related components, and task events of the states of the related components are fed back; when the vacuum pressure control of the mounting head is executed, the operation actions of air suction, air blowing and air stopping are simulated by changing the states of related parts, and task events of the states of the related parts are fed back;
The XY module receives the subscribed control event and judges the subscribed control event, if the subscribed control event is a motion control event, the axial motion simulation module is called to execute an axial motion instruction in the corresponding control event, and the axial motion simulation module returns an executed task event after the axial motion is finished; if the control event is a state control event, updating an execution result by combining the target state and the current state, if the control event is in conflict with the current state, feeding back error information, otherwise, updating the shaft state, and feeding back the simulated task event after the control event is executed.
7. The simulation system of any of claims 1-6, further comprising a graphical interactive interface module for simulating visual operation functions of a sub-module of the system; the graphic interaction interface module comprises an operation interface for controlling the functions of each module in the system sub-module.
8. A method of operation of creation of a simulation system according to any of claims 1-7, comprising the following process:
creating and initializing an object instance of an event bus, comprising: an initialization event receiving buffer unit and an initialization event management unit;
initializing a storage object instance of machine parameters of the virtual chip mounter, analyzing a machine parameter file, storing the machine parameters into the machine parameter object instance, and calling the machine parameters when a simulation system of the virtual chip mounter works;
Creating and initializing an object instance of the main control module, including: the system comprises an initialization event receiving unit, an initialization control event buffer area, an initialization control event issuing unit, an initialization monitoring unit and an initialization module management unit;
creating and initializing each object instance of the system sub-module, and initializing the component state of each module in the system sub-module;
creating and initializing an object instance of the axial motion simulation module;
creating and initializing object examples of each axis model, and importing axis related parameters in machine parameters into the object examples of each axis;
according to the module number of each axis, associating the object instance of each axis to the module object instance of each axis;
establishing communication between an upper computer and a simulation system;
the main control module receives the control event issued by the upper computer and operates according to the event bus, the function and the operation logic of the shaft motion simulation module and the system sub-module.
9. A method of operating a virtual chip mounter simulation system, characterized in that the method is based on a simulation system according to any of claims 1-7, comprising the steps of:
s9.1, each module in the main control module and the system sub-module is used as an event subscriber, and different types of events are subscribed according to the event types processed by the self module:
Each module in the main control module and the system sub-module can subscribe various types of events, and each type of event can also be subscribed by a plurality of subscribers;
when a subscriber subscribes to an event, the event bus binds the subscriber information and the event type subscribed by the subscriber and stores the event type;
when the subscriber cancels the subscribed event, the event bus deletes the corresponding event type from the stored event types subscribed by the corresponding subscriber;
s9.2, the event bus receives a control event sent by the main control module, a task event returned by the system sub-module and the shaft motion simulation module:
the event bus uniformly stores the received control events and task events according to the first-in first-out sequence;
s9.3, the event bus takes out the control events and the task events one by one according to the first-in-first-out sequence and sends the control events and the task events to corresponding subscribers:
the event management unit firstly judges whether the event receiving buffer unit is empty, if the event receiving buffer unit is empty, the event receiving buffer unit waits for receiving the event, if the event receiving buffer unit is not empty, the event type of the extracted event is judged after the first event is extracted, the event type is used as an index, the stored subscribers are traversed and searched for subscribers subscribed to the event of the corresponding type, and each time one subscriber is searched for, the corresponding event is sent to the relevant subscribers.
10. The method of operation of claim 9, wherein the process of the axis motion simulation module is specifically as follows:
s10.1, judging whether the shaft motion command is a shaft motion command or a shaft stop command; if the axial movement command is an axial stop command, S10.2-S10.6 are executed, and if the axial movement command is an axial stop command, S10.7-S10.8 are executed;
s10.2, acquiring initial state parameters of corresponding shafts;
s10.3, analyzing the axial movement instruction to obtain axial movement speed, acceleration and target position;
s10.4, calculating the complete theoretical time T of the shaft motion according to the command parameters and the initial state parameters of the shaft obtained by analysis and the recorded current position of the shaft;
s10.5, performing shaft motion simulation and starting timing at the same time, wherein the timing duration is the complete theoretical time T, checking the current timing time at equal intervals before the shaft motion simulation is finished, calculating the current position of the shaft according to the current timing time by combining the initial position, the shaft motion speed and the acceleration of the shaft, packaging the state of the current moment of the shaft into a task event, and feeding back the task event to an upper computer and other subscribers subscribed to related types of events through an event bus;
s10.6, finishing the current shaft motion simulation, updating the current shaft position to be the target position in the shaft motion instruction, updating other shaft state parameters, packaging the state of the current shaft at the current moment to be a task event, and feeding back to an upper computer and other subscribers subscribed to the corresponding types of events through an event bus;
S10.7, stopping timing and checking the current timing time when the axis motion simulation module receives an axis stop instruction;
s10.8, according to the current timing time, by combining the initial position of the shaft, the movement speed of the shaft and the acceleration, after calculating the current position of the shaft, updating state parameters of other shafts, packaging the state of the current moment of the shaft into a task event, and feeding back the task event to an upper computer and other subscribers subscribed to the event of the corresponding type through an event bus, so that the simulation of the shaft movement of the current time is ended.
11. The operation method according to claim 9 or 10, wherein the operation process of the main control module is as follows:
after receiving the control event from the upper computer, the main control module judges the type of the control event:
if the event type is the event type executed immediately, the corresponding control event is executed directly by the control event issuing unit; if the event type is the event type which needs to be executed immediately by the main control module, the main control module performs related actions according to the instruction content of the control event; if the event type is the event type which needs to be executed immediately by the system submodule, the main control module immediately transmits the corresponding control event to the corresponding subscriber through the event bus, so that the corresponding subscriber can execute the corresponding control event immediately;
If the event type is not immediately executed, the event type is put into a control event buffer area according to a rule of first-in first-out, and the processing of a subsequent control event issuing unit is waited;
the main control module processes the control event in the event receiving buffer unit of the event bus:
before a control event issuing unit of the main control module processes the control event, judging whether a monitoring unit monitors the completion condition of an issued instruction;
if the monitoring is being performed, the instruction of the last stage which is issued is not completed yet, the instruction of the next stage cannot be issued, and the monitoring is waited to be completed and the subsequent instruction is issued;
if the event receiving buffer unit is empty, waiting for the main control module to receive a subsequent control instruction; if the control event is not empty, the control event issuing unit takes out a first control event from the control event cache area according to a rule of first in first out, and judges the event type; if the control event is the monitoring event, the monitoring unit executes the corresponding monitoring event, and if the control event is other control event, the corresponding control event is issued to the corresponding subscriber through the event bus.
12. The operation method according to claim 11, wherein when the master control module monitors that an error occurs in the simulation system or the master control module receives an emergency stop instruction, the operation of all modules is stopped, a monitoring event in the control event buffer and the monitoring unit is emptied, and a module resetting action is performed on all sub-modules.
13. A computer storage medium, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method according to any one of claims 9-12.
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