WO2023125108A1

WO2023125108A1 - Controller, control system, and communication method for controller

Info

Publication number: WO2023125108A1
Application number: PCT/CN2022/140008
Authority: WO
Inventors: 刘文喜
Original assignee: 广东美的白色家电技术创新中心有限公司; 美的集团股份有限公司
Priority date: 2021-12-31
Filing date: 2022-12-19
Publication date: 2023-07-06
Also published as: CN114355815A

Abstract

Disclosed in the present application are a controller, a control system, and a communication method for a controller. The controller comprises: a control board; a main controller, which is arranged on the control board; a connector, which is arranged on the control board and is used for the plugging of a modular single board; and a data processing unit, which is arranged on the control board and is electrically connected, by means of the connector, to the modular single board that is connected to the connector, wherein the data processing unit is used for configuring, according to the module type of the connected modular single board, a data interface and a communication protocol that correspond to the modular single board, so as to realize information interaction between the main controller and the modular single board.

Description

Controller, control system and communication method of controller

This application claims priority to a Chinese patent application with application number 202111683166.4 filed on December 31, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the technical field of electronic circuits, in particular to a controller, a control system and a communication method of the controller.

Background technique

For different industries, products and different application scenarios, the requirements for communication interfaces and IO are also different. In order to reduce development and maintenance costs, the controller usually standardizes the motherboard and reserves a bus expansion interface. According to different needs, choose corresponding expansion modules and install them on the bus expansion interface to realize the functions of communication interface and IO. The existing control field contains a wide variety of communication protocols, and devices developed based on various protocols emerge in endlessly. When each device is connected to the controller, it is necessary to set up a data processing unit for protocol conversion and interface adaptation, resulting in various Such devices have a single interface and waste resources, and it is difficult to realize the wide compatibility and applicability of the controller.

technical problem

The main purpose of this application is to propose a controller, a terminal control system and electrical equipment, aiming at improving the compatibility of the controller.

technical solution

In order to achieve the above purpose, the present application proposes a controller, which includes:

control panel;

the main controller is arranged on the control board;

a connector, arranged on the control board, for plugging in the module board;

The data processing unit is arranged on the control board, and is electrically connected to the module board connected to the connector through the connector; the data processing unit is used to, according to the module type of the connected module board, Configuring a data interface and a communication protocol corresponding to the module board to realize information exchange between the main controller and the module board.

In one embodiment, the connector is provided with an IO interface pin and a data interface pin, and the data interface of the data processing unit includes an IO interface and a data interface, and the IO interface and the data interface are respectively connected to the IO interface. The interface pins are electrically connected to the data interface pins, and the data processing unit is specifically configured to configure the IO interface configuration and/or data interface as an internal bus interface according to the module type of the connected module board.

In one embodiment, ID pins and address pins are arranged in the connector;

The data processing unit is further configured to obtain the data connected from the ID pin and/or address, so as to determine the module type of the connected module board.

In one embodiment, the data processing unit is FPGA.

In one embodiment, the controller further includes a power supply, which is electrically connected to the main controller, the connector, and the data processing unit, so as to supply power to the main controller and the data processing unit , and supply power to the connected module board through the connector;

A memory is electrically connected to the main controller and the data processing unit.

In one embodiment, there are multiple connectors, and the multiple connectors are plugged into at least one type of modular board.

The present application also proposes a control system, including at least one modular single board and the above-mentioned controller, and the modular single board is plugged into a connector of the controller.

In an embodiment, an ID configuration circuit is integrated in the module board, and the ID configuration circuit can output a preset ID data.

In one embodiment, the ID configuration circuit includes multiple resistor series circuits, and each resistor series circuit can output one bit of the ID data.

In an embodiment, an address configuration circuit is integrated in the module single board, and the address configuration circuit can output a preset address data.

In an embodiment, the address configuration circuit includes a dial switch, and the dial switch has multiple sets of switches, and each set of switches can output one bit of address data when it is turned on/off.

The present application also proposes a controller communication method, which is applied to the above-mentioned controller. The controller includes a control board, a connector and a main controller arranged on the control board, and the module single board Pluggable and electrically connected to the control board, the communication method of the controller includes:

When a module board is inserted into the connector, obtain the module type of the module board that is connected;

Configure the data interface and communication protocol corresponding to the module board according to the module type of the module board, so as to realize the information exchange between the main controller and the module board.

Beneficial effect

The controller of this application configures the data interface and communication protocol corresponding to the module board through the data processing unit according to the module type of the module board connected, so as to realize the information interaction between the main controller and the module board . The slot of this application has higher compatibility. After any module board is plugged into the slot, the data processing unit on the control board will automatically identify the identity and address of the module board, call the corresponding software driver, and realize the corresponding function. With a motherboard of this architecture, the product will become very flexible in structural design. This application has good compatibility and wide applicability, and can simultaneously access a variety of module boards with different protocols, which improves the compatibility of the controller. Higher compatibility will have higher versatility for the product. be more widely used.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to the structures shown in these drawings without creative effort.

Fig. 1 is a schematic structural diagram of an embodiment of the application of the controller to the control system;

FIG. 2 is a schematic diagram of a circuit structure of an embodiment of the controller of the present application;

Fig. 3 is a schematic structural diagram of an embodiment of connector pin definition in the controller of the present application;

FIG. 4 is a schematic flowchart of an embodiment of a communication method of a controller of the present application.

Explanation of reference numbers:

标号 label	名称 name	标号 label	名称 name
110 110	主控制器 main controller	140 140	供电电源 Power supply
120 120	连接器 Connector	150 150	存储器 memory
130 130	数据处理单元 data processing unit	200 200	模块单板 Module board

The realization, functional features and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Embodiments of the present invention

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiment of the present application, the directional indications are only used to explain the position in a certain posture (as shown in the attached figure). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be interpreted as indications or hints Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present application.

The term "and/or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and/or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations. In addition, the character "/" in this article generally indicates that the contextual objects are an "or" relationship.

This application proposes a controller.

The controller generally refers to the main control unit responsible for the monitoring or control of the entire system or a certain key module in various automation equipment and systems, such as the application in various industrial control sites, road and bridge toll collection, medical treatment, environmental protection, intelligent transportation, communication , monitoring, CNC machine tools, robots and other automation equipment industrial computer or customized special controller. Generally, it has attributes and characteristics such as motherboard, CPU, hard disk (flash memory), memory, IO, communication interface, operating system, computing power, and human-machine interface. The external communication interface of the controller can generally be Gigabit/100M Ethernet, USB, RS232, RS485, CAN, etc. The above-mentioned various types of interfaces can also be further classified according to different communication speeds, protection levels, and isolation requirements; IO interface classification can be divided into dry contact, wet node, source type, and sink type; it can also be further refined according to power level, voltage level, and isolation requirements. For different industries, products and different application scenarios, the requirements for communication interfaces and IO are also different. In order to reduce development and maintenance costs, the controller usually standardizes the motherboard and reserves a bus expansion interface. According to different needs, choose corresponding expansion modules and install them on the bus expansion interface to realize the functions of communication interface and IO. Since each module communicates with the CPU in the form of a board bus, each module must have a data processing and forwarding unit in addition to the physical layer driver Transceiver, which can be a dedicated chip, MCU, CPU, FPGA or DSP. There is a data processing and forwarding unit inside each module, which brings high hardware costs. Moreover, the compatibility between slots is poor, mainly due to the limited number of one type of internal bus, so each slot generally cannot use the same bus, so the functions of the slots will be relatively fixed, that is, they cannot be changed casually after the functions are defined.

In order to solve the above problems, the present application proposes a controller, referring to Fig. 1 to Fig. 3, in an embodiment of the present application, the controller includes:

control panel;

The main controller 110 is arranged on the control board;

The connector 120 is arranged on the control board and is used for inserting the module single board 200;

The data processing unit 130 is arranged on the control board and is electrically connected to the module single board 200 connected to the connector 120 through the connector 120; the data processing unit 130 is used to The module type of the board 200 is configured with a data interface and a communication protocol corresponding to the module board 200 to realize information exchange between the main controller 110 and the module board 200 .

In this embodiment, the control board is used as a carrier of electronic components in the controller, and may be formed with circuit wiring for installation of the connector 120 , the main controller 110 and the data processing unit 130 . The main controller 110 can be a microprocessor such as a single-chip microcomputer, DSP, and the main controller 110, as the control center of the controller, utilizes various interfaces and lines to connect the various parts of the whole controller, and runs or executes the software stored in the memory 150. The programs and/or modules, as well as calling data stored in the memory 150, execute various functions of the controller and process data, so as to monitor the controller as a whole.

The connector 120 may be realized by using a slot, and the module single board 200 may be inserted into the control board through the slot. Of course, the connector 120 may also be implemented in other forms, such as pads or other devices for implementing the electrical connector 120 . This embodiment takes the slot as an example. The slot is provided with power pins, data (DATA) pins, IO interface pins, ID pins and address pins (Address), and the slot pins are defined on the control board. All are the same, this setting can improve the compatibility between the slots, and can solve the problem that due to the limited number of internal buses of one type, each slot generally cannot use the same bus, so the functions of the slots will be relatively fixed, that is, well-defined functions A problem that cannot be changed casually.

The type of external connection interface used by the data processing unit 130 to connect to the module single board 200 can be configured. Specifically, the data interface of the external access module single board 200 can be configured as an isolated RS422/485 interface, a configurable IO interface, an AD signal acquisition interface, One or more combinations of isolated RS232 interface, isolated CAN interface, DA signal interface and other interfaces. The internal connection interface used by the data processing unit 130 to connect to the main controller 110 may be PCIe, of course, in other embodiments, SPI, IIC or input/output interface may also be used, which is not limited here.

The data processing unit 130 may use FPGA as a hardware platform, and various interface configuration data and various communication protocol data are stored in the FPGA. According to the different application scenarios of the controller, the functions of the connected module board 200 are also different, and the interfaces and communication protocol types of the module board 200 are also different. For example, the interface used by the module board 200 may be an RTU bus (RS485 /RS232), I2C interface, SPI interface and so on. Since the connected module boards 200 are different, the interface can be automatically selected according to the actual application scenario. The identity and address of the module board 200 can be automatically identified by the data processing unit 130, and the interface type and communication of the connected module board 200 can be judged. Protocol type, configure the interface of the data processing unit 130 as the interface type that matches the module single board 200, and call the preset protocol, and build an interface bus based on FPGA to realize communication. The data transmitted by the module single board 200 on the board is decoded, analyzed, processed, encoded, and protocol converted, and the processed data is output to the main controller 110 through the interface communicating with the main controller 110, so as to realize the communication between the main controller 110 and the module Protocol conversion and output transmission between boards 200 . Alternatively, the control commands and communication data issued by the main controller 110 are decoded, analyzed, encoded, protocol converted, etc., and the processed data are transmitted to the module single board 200 through the connector 120, so that the main controller 110 Protocol conversion and output transmission with the module single board 200. With such an arrangement, the module single board 200 does not need a data processing unit 130 such as a CPU or an FPGA, but only needs a physical layer transceiver or an IO driver. In the slot-type communication and IO expansion scheme, since the shared data processing unit 130 is used, it is avoided to set up a data processing unit 130 on each module board 200 , thereby reducing the cost.

The controller of this application configures the data interface and communication protocol corresponding to the module board 200 through the data processing unit 130 according to the module type of the module board 200 connected, so as to realize the connection between the main controller 110 and the module board 200. information exchange between them. The slot of the present application has higher compatibility. After any module board 200 is plugged into the slot, the data processing unit 130 on the control board automatically recognizes the identity and address of the module board 200, calls the corresponding software driver, and realizes the corresponding function. , using this architecture of the motherboard, the product structure design will become very flexible. This application has good compatibility and wide applicability, and can simultaneously access a variety of module single boards 200 of different protocols, which improves the compatibility of the controller, and higher compatibility will have higher versatility for the product , to be more widely used.

Referring to Fig. 1 to Fig. 3, in one embodiment, described connector 120 is provided with IO interface pin and data interface pin, and the data interface of described data processing unit 130 comprises IO interface and DATA interface, namely data interface, the IO interface and the data interface are electrically connected to the IO interface pin and the data interface pin respectively, and the data processing unit 130 is specifically used to convert the IO The interface configuration and/or the data interface is configured as an internal bus interface.

In this embodiment, according to the different module boards 200 connected, the internal bus of each slot can be configured as a board-level communication bus such as PCIe, LPC, USB, SPI, IIC, and UART. Moreover, according to the actual application requirements, the data interface in the FPGA can be configured as UART, IIC, SPI, CAN, GPIO, PWM, and the IO interface can be configured as an IO interface; or, the data interface in the FPGA can be configured as UART, IIC, SPI, CAN, GPIO, PWM, and the IO interface is idle, or only the IO interface is used, and the data interface is idle. When the IO interface and the data interface are used at the same time, different data are transmitted on the two interfaces, so as to meet the data transmission requirements between the module board 200 and the main controller 110 .

The core and interface of the FPGA support physical layer interfaces of various buses, including communication and IO physical layers, and different internal bus interfaces are realized through driver chips of different communication protocol physical layers for communication level conversion, such as RS485 interface, RS232 interface, etc. , for the same bus interface, different types of internal bus interface communication protocols can also be implemented by changing the internal bus interface communication application layer. Through the method of interface configuration, the compatibility and wide applicability of the controller can be fully realized, and the compatibility with multiple bus protocols can be realized at the same time, and the data interaction and control functions between the module single board 200 and the main controller 110 can be realized. For control needs, select the bus interface in different controllers to connect the control system, and then call the driver interface of different protocols to operate the corresponding bus through the application program, so as to realize different internal bus interfaces built according to the needs.

1 to 3, in one embodiment, the connector 120 is provided with an ID pin and an address pin;

The data processing unit 130 is further configured to acquire the data connected from the ID pin and/or address, so as to determine the module type of the connected module single board 200 .

In this embodiment, each modular single board 200 has its own ID and address. The different modular single boards 200 connected have different IDs and addresses. In this embodiment, the data processing unit 130 can ID and address of the module board 200 to determine the interface type and communication protocol type of the connected module board 200, configure the interface of the data processing unit 130 as an interface type that matches the module board 200, and call the preset protocol to use FPGA-based Construct the interface bus to realize the communication.

1 to 3, in one embodiment, the controller further includes a power supply 140, which is electrically connected to the main controller 110, the connector 120 and the data processing unit 130 respectively, so as to provide power to all The main controller 110 and the data processing unit 130 are powered, and the connected module board 200 is powered through the connector 120;

The memory 150 is electrically connected to the main controller 110 and the data processing unit 130 .

In this embodiment, the memory 150 can be used to store the configuration data used by the data processing unit 130 for configuration, and to store various communication protocols. The data processing unit 130 determines the interface type and communication protocol of the connected module board 200 type, the configuration data for configuration can be called from the memory 150, the interface of the data processing unit 130 is configured to match the interface type of the module board 200, and the preset protocol is called from the memory 150, so that based on the data processing unit 130 builds an interface bus to implement communication. The power supply 140 can supply power to the circuit modules in the controller, and the power supply 140 can supply power to the connected module board 200 through the power pin of the electrical connector 120 .

Referring to FIG. 1 to FIG. 3 , in an embodiment, the number of the connectors 120 is multiple, and the multiple connectors 120 are plugged into at least one type of modular single board 200 .

In this embodiment, a controller may need to be connected to multiple modular single boards 200 at the same time, and the number of corresponding connectors 120 may be set to be multiple, and multiple connectors 120 may be connected to the same type of modular single board 200, or Different types of modular single boards 200 are connected, which can be specifically set according to actual applications. The IO configuration of the FPGA has high flexibility. The number of connectors 120 can be multiple, for example, 3. The 3 data interfaces in the connector 120 are respectively Data1, Data2, and Data3. The 3 data interfaces can be configured as arbitrary Internal bus interface, such as UART, IIC, SPI, CAN, GPIO, PWM output, etc.

The present application also proposes a control system, which includes at least one module board 200 and the above-mentioned controller, and the module board 200 is plugged into the connector 120 of the controller.

The detailed structure of the controller can refer to the above-mentioned embodiment, and will not be repeated here; it can be understood that, since the above-mentioned controller is used in the electrical equipment of the present application, the embodiment of the electrical equipment of the present application includes all of the above-mentioned controllers. All the technical solutions of the embodiments, and the achieved technical effects are also completely the same, and will not be repeated here.

The modular single board 200 is pluggably and electrically connected to the electrical connector 120 on the controller.

Referring to FIG. 1 to FIG. 3 , in an embodiment, the module board 200 is integrated with an ID configuration circuit 210 , and the ID configuration circuit 210 can output a preset ID data.

Wherein, the ID configuration circuit 210 includes multiple resistor series circuits, and each resistor series circuit can output one bit of the ID data.

And/or, the modular single board 200 is integrated with an address configuration circuit 220, and the address configuration circuit 220 can output a preset address data.

Wherein, the address configuration circuit 220 includes a dial switch, and the dial switch has multiple sets of switches, and each set of switches can output one bit of address data when it is turned on/off.

In the above standardized slot definition, ID is not separated from Address, that is, there is only ID or address. Functions can be distinguished by address segment or ID number segment. Its essence is the same as the separation of ID and address.

In this embodiment, each module single board 200 has its corresponding ID information and address information. In this embodiment, the data processing unit 130 is set on the control board of the controller, so that no CPU and FPGA are needed on the module single board 200. The data processing unit 130 only needs a physical layer transceiver or an IO driver. An ID configuration circuit 210 and an address configuration circuit 220 are added to the module single board 200, which are used to define the identity and address of the module respectively. A set of signals can be configured with pull-up and pull-down resistors or dial switches, for example, 4 sets of pull-up and pull-down signals can be defined 16 different module IDs such as 0000~1111. Similarly, the 4-bit DIP switch can also define 16 different module addresses such as 0000~1111. Specifically, each ID configuration circuit 210 includes 4 sets of resistor series circuits, each set of resistor series circuits has two upper and lower resistor installation positions set in series, each set of resistor installation positions can choose to install resistors or not to install resistors, according to the resistance installation Whether the position is installed with a resistor can output signals of different levels. For example, if a resistor is installed at the upper resistance installation position and no resistance is installed at the lower resistance installation position, the series circuit of this group of resistances will output high-level ID data. When a resistor is installed at the lower resistor installation position and no resistor is installed at the upper resistor installation position, the series circuit of the group of resistors outputs low-level ID data. One end of each switch of the 4-bit DIP switch is connected with a pull-up resistor, and the other end is grounded. When the DIP switch is disconnected, a high-level address data is output, and when the DIP switch is closed, a low-level address signal is output.

The present application also proposes a controller communication method, which is applied to the above-mentioned controller. The controller includes a control board, a connector and a main controller arranged on the control board, and the module single board Pluggable and electrically connected to the control board, referring to Figure 4, the communication method of the controller includes:

Step S100, when a module board is inserted into the connector, obtain the module type of the module board connected;

Step S200, configure the data interface and communication protocol corresponding to the module board according to the module type of the module board, so as to realize the information exchange between the main controller and the module board.

In this embodiment, according to the different application scenarios of the controller, the function of the connected module board is also different, and the interface and communication protocol type of the module board are also different. For example, the interface used by the module board may be an RTU bus (RS485/RS232), I2C interface, SPI interface, etc. Since the connected module boards are different, the interface can be automatically selected according to the actual application scenario. The identity and address of the module board can be automatically identified through the actual application scene, and the interface type and communication protocol type of the connected module board can be judged. Configure the interface of the actual application scene as the interface type that matches the module board, and call the preset protocol, build an interface bus based on the FPGA to realize communication, and when the controller powers on the module board 200 and works normally, the actual application The data transmitted by the module board on the connector is decoded, analyzed, processed, encoded, and the protocol is converted, and the processed data is output to the main controller through the communication interface with the main controller, so as to realize the communication between the main controller and the main controller. Protocol conversion and output transmission between module boards. Or, decode, analyze, encode, protocol convert and process the control commands and communication data sent by the main controller, and transmit the processed data to the module board through the connector, so as to realize the connection between the main controller and the module board. Between protocol conversion and output transmission. With such a setting, the actual application scenarios such as CPU and FPGA are no longer needed on the module board, and only the transceiver or IO driver of the physical layer is required. In the slot-type communication and IO expansion solution, since a shared practical application scenario is used, it is avoided to set up a practical application scenario on each module board, thereby reducing costs. The compatibility of each slot is higher. After any module board is plugged into any slot, the actual application scene FPGA on the control board will automatically recognize the identity and address of the module board, call the corresponding software driver, and realize the corresponding function. With this kind of architecture motherboard, the structure design of the product will also become very flexible. This application has good compatibility and wide applicability, and can be connected to a variety of module boards with different protocols at the same time, which improves the compatibility of the control system. Higher compatibility will have higher versatility for the product. be more widely used.

The above are only optional embodiments of the present application, and are not intended to limit the patent scope of the present application. Under the inventive concept of the present application, the equivalent structural transformations made by using the description of the application and the contents of the accompanying drawings, or direct/indirect Applications in other relevant technical fields are included in the patent protection scope of the present application.

Claims

A controller, wherein the controller includes:

control panel;

the main controller is arranged on the control board;

a connector, arranged on the control board, for plugging in the module board;

The data processing unit is arranged on the control board, and is electrically connected to the module board connected to the connector through the connector; the data processing unit is used to, according to the module type of the connected module board, Configuring a data interface and a communication protocol corresponding to the module board to realize information exchange between the main controller and the module board.
The controller according to claim 1, wherein the connector is provided with IO interface pins and data interface pins, the data interface of the data processing unit includes an IO interface and a data interface, and the IO interface and data interface The interfaces are respectively electrically connected to the IO interface pins and the data interface pins, and the data processing unit is specifically configured to configure the IO interface and/or the data interface as an internal bus according to the module type of the connected module board interface.
The controller according to claim 1, wherein an ID pin and an address pin are arranged in the connector;

The data processing unit is further configured to obtain the data connected from the ID pin and/or address, so as to determine the module type of the connected module board.
The controller according to claim 1, wherein the data processing unit is an FPGA.
The controller according to any one of claims 1 to 4, wherein the controller further includes a power supply, which is electrically connected to the main controller, the connector and the data processing unit respectively, so as to provide power to the The main controller and the data processing unit are powered, and the connected module board is powered through the connector;

A memory is electrically connected to the main controller and the data processing unit.
The controller according to any one of claims 1 to 4, wherein the number of said connectors is multiple, and said multiple connectors are plugged into at least one type of module board.
A control system, comprising at least one modular single board and the controller according to any one of claims 1 to 6, the modular single board is plugged into a connector of the controller.
The control system according to claim 7, wherein an ID configuration circuit is integrated in the module single board, and the ID configuration circuit can output a preset ID data.
The control system according to claim 6, wherein the ID configuration circuit comprises multiple resistance series circuits, and each resistance series circuit can output one bit of the ID data.
The control system according to claim 7, wherein an address configuration circuit is integrated in the module single board, and the address configuration circuit can output a preset address data.
The control system according to claim 10, wherein the address configuration circuit comprises a dial switch, and the dial switch has multiple groups of switches, and each group of switches can output one bit of address data when it is closed/disconnected.
A controller communication method, applied to the controller according to any one of claims 1 to 6, the controller includes a control board, a connector and a main controller arranged on the control board, the The module single board is pluggably electrically connected to the control board, wherein the communication method of the controller includes:

When a module board is inserted into the connector, obtain the module type of the module board; and,

Configure the data interface and communication protocol corresponding to the module board according to the module type of the module board, so as to realize the information exchange between the main controller and the module board.