CN104090523B - Automatic equipment and control system and control device of automatic equipment - Google Patents

Automatic equipment and control system and control device of automatic equipment Download PDF

Info

Publication number
CN104090523B
CN104090523B CN201410267153.2A CN201410267153A CN104090523B CN 104090523 B CN104090523 B CN 104090523B CN 201410267153 A CN201410267153 A CN 201410267153A CN 104090523 B CN104090523 B CN 104090523B
Authority
CN
China
Prior art keywords
control
control circuit
substrate
automation equipment
board
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201410267153.2A
Other languages
Chinese (zh)
Other versions
CN104090523A (en
Inventor
林杰
陈继桢
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujian Raynen Technology Co Ltd
Original Assignee
Fujian Raynen Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujian Raynen Technology Co Ltd filed Critical Fujian Raynen Technology Co Ltd
Priority to CN201410267153.2A priority Critical patent/CN104090523B/en
Publication of CN104090523A publication Critical patent/CN104090523A/en
Application granted granted Critical
Publication of CN104090523B publication Critical patent/CN104090523B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Landscapes

  • Programmable Controllers (AREA)

Abstract

The invention discloses automatic equipment and a control system and a control device of the automatic equipment. The automatic equipment comprises a main control circuit board and a core board, the main control circuit board comprises a bottom board and an auxiliary mainframe chip arranged on the bottom board, the core board is detachably connected with the bottom board through a universal serial bus (USB) and is connected with the auxiliary mainframe chip through the bottom board, and the core board is not arranged on the bottom board. By means of the preceding mode, the occurrence probability of the problem that when a part of control elements in the automatic equipment are damaged and updated, other elements also need to be replaced can be reduced, and a part of the control elements can be conveniently replaced after being damaged and updated.

Description

Automation equipment and its control system, control device
Technical field
The present invention relates to field of mechanical technique, particularly a kind of automation equipment and its control system, control device.
Background technology
Weaving device such as knitting machine etc., as one kind of automation equipment, is the equipment for knitted or woven fabrics, refering to Fig. 1, It mainly includes power circuit 101, operating case 102, main control board 103, head 104, motor 105 and installs division operation box The lathe 106 of the said elements outside 102.
Power circuit 101 is operating case 102, main control board 103, head 104, motor 105 provide suitable power supply.Main Control circuit board 103 includes base plate 1031, the core board 1032 being arranged on base plate 1031 and secondary host chip 1033.Head 104 Including the machine head plate 1041 for weaving and executive component 1042.Operating case 102 includes display screen 1021 and man-machine interaction circuit 1022.Display modular converter is equipped with operating case 102 and main control board 103, main control board 103 is additionally provided with display number Slot 1035 according to line.The slot 1035 on display modular converter 1023 and main control board 103 on operating case 102 passes through to pass The video data line of measurement shoutage sub-signal connects.Display modular converter 1023 on operating case 102 is also connected with display screen 1021, master control Display modular converter 1034 on circuit board 103 connects slot 1035 and core board 1032 on main control board 103 respectively.Behaviour Make the slot 1035 that the man-machine interaction circuit 1022 on box 102 is connected to main control board 103 by data wire, then by inserting Groove 1035 connects to core board 1032.Core board 1032 passes through to patch or welding manner is fixed on base plate 1031, typically passes through Parallel port mode is attached with base plate 1031, and secondary host chip 1033 is then welded on base plate 1031.
The base plate 1031 of main control board 103 also includes data-interface 1036, for information such as independent input weave datas To core board 1032, then parse weave data, by the data obtaining after parsing weave data through secondary host chip 1033 To the machine head plate 1041 in head 104, machine head plate 1041 drives executive component 1042 to carry out braiding operation.Meanwhile, governor circuit The various operations of plate 103 also controlled motor 105 grade element, export after gathering various operating state datas and various sensing data to Display screen 1021 on external equipment such as operating case 102.
Specifically, the core board 1032 on main control board 103 is then by various operating state datas and various sensing data Show etc. on the display screen 1021 that relevant information is transferred to operating case 102 by video data line, and man-machine interaction circuit 1022 Then input the instruction of user, and instruction is passed to core board 1032 by data wire and carry out respective handling.
In said structure, because core board 1032 is welded on the base plate 1031 of main control board 103, once due to core Plate 1032 is upgraded or is damaged, then necessarily lead to the replacing of whole main control board 103, increases cost further, and the bottom of due to The general ratio of plate 1031 is larger, and it is higher therefore to safeguard or change the cost of transportation that leads to, also inconvenient.For core board 1032 grafting Situation on base plate 1031, different core boards 1032 is also differed with the interface of base plate 1031 grafting, thus while permissible Change core board 1032, but when needing to change another kind of core board 1032, the interface due to new core board has occurred and that Change, equally necessarily lead to the whole redesign of main control board 103 when redesigning core board 1032；Core can be changed In the scheme of core 1032, after not ensuring that core board 1032 damage, base plate 1031 can be iImmune, in some cases Still can involve and damage base plate 1031；And main control board 103 is typically placed in the beneath of Weaving device back, changing The inadequate or relatively difficult situation in during core board 1032 it is possible that artificial working place.
Content of the invention
Object of the present invention is to provide a kind of automation equipment and its control system, control device, can reduce certainly Sub-control component wear in the middle part of dynamicization equipment, update the problem leading to other elements together to be changed, and facilitate part control element Replacing after damage, renewal.
In order to solve above-mentioned technical problem, a kind of technical scheme that the present invention adopts is to provide a kind of automation equipment, bag Include: main control board and core board；Wherein, described main control board includes base plate and the secondary host chip being arranged on base plate, Described core board is detachably connected by USB (universal serial bus) usb with described base plate, and connects described pair by described base plate Host chip, described core board is not arranged on described base plate.
Wherein, the mistake of a packet is at least sent between described core board and described pair host chip by usb agreement Cheng Zhong, carries at least two instructions in described packet.
Wherein, before a packet at least being sent by usb agreement between described core board and described pair host chip, Described at least two instructions are encapsulated as on described usb agreement by a packet using self-defined tunneling, and When receiving described packet, using self-defined analysis protocol corresponding with described self-defined tunneling in described packet Intercept out described at least two instructions.
Wherein, including the i/o expansion board being detachably connected on described main control board.
Wherein, including the stepper motor driver being arranged on described main control board, described stepper motor driver bag Include driving chip and power driving circuit, described driving chip connects described pair host chip and power driving circuit, institute respectively State driving chip input described pair host chip control signal, output multi-channel drive signal to described power driving circuit, and By feedback signal back to described pair host chip, described pair host chip exports described control letter according to described feedback signal Number, and match parameter is exported to described driving chip.
Wherein, described core board be used for run auto-control equipment control process and run described control process it At least one of outer collection process, interprocess communication process；Wherein, described control process is used for the behaviour of auto-control equipment Make, including the executive component driving for operation, described collection process is used for gathering current operating state in described control process Data and current sensor data, and by the described current operating state data collecting, current sensor data respectively with previous work Make status data, previous sensing data compares, and at least described comparative result for different when by described interprocess communication by institute State comparative result to send, or described current operating state data and current sensor data is activation are gone out；Wherein, described control Process processed is separate with least one of described interprocess communication, described collection process process.
Wherein, described automation equipment further includes memorizer, at least includes memory mapping area, institute in described memorizer State control process and specifically adopt memory mapping technique by current operating state data and current sensor data in described control process Store to described memory mapping area, described collection process specifically adopts memory mapping technique to gather the current of described memory mapping area Operating state data and current sensor data；Or described collection process is specifically for gathering institute by pipeline or queue message technology State current operating state data and current sensor data in control module.
Wherein, described automation equipment is Weaving device.
In order to solve above-mentioned technical problem, another kind of technical scheme that the present invention adopts is to provide a kind of automation equipment Control system, comprising: first control circuit, second control circuit, first substrate and second substrate；Described first controls electricity Road is arranged on described first substrate, has the first real-time and the first operational capability on controlling described automation equipment；Institute State second control circuit to be arranged on described second substrate, on controlling described automation equipment, there is the second real-time and second Operational capability；Wherein, described first real-time is higher than described second real-time, and described first operational capability is less than described second fortune Calculation ability；Described second substrate and described first substrate are detachably connected by usb data wire so that described second control circuit It is detachably connected described first control circuit, and control the operation of described automation equipment by described first control circuit.
In order to solve above-mentioned technical problem, another technical scheme that the present invention adopts is to provide a kind of automation equipment Control device, comprising: first control circuit and first substrate；Described first control circuit is arranged on described first substrate, On controlling described automation equipment, there is the first real-time and the first operational capability, described first real-time is real-time higher than second Property, less than the second operational capability, described second real-time, the second operational capability are second substrates to described first operational capability respectively On the real-time of second control circuit and operational capability；Wherein, described first substrate is used for passing through usb with described second substrate Interface is detachably connected so that described second control circuit is detachably connected described first control circuit, and passes through described first Control circuit controls the operation of described automation equipment.
Wherein, including the i/o expansion board being detachably connected described first substrate.
Wherein, including the stepper motor driver being arranged on described first substrate, described stepper motor driver includes Driving chip and power driving circuit, described driving chip connects described first control circuit and described power drive electricity respectively Road, described driving chip inputs the control signal of described first control circuit, output multi-channel drive signal to described power drive Circuit, and by feedback signal back to described first control circuit, described first control circuit according to described feedback signal Export described control signal, and match parameter is exported to described driving chip.
In order to solve above-mentioned technical problem, another technical scheme that the present invention adopts is to provide a kind of automation equipment Control device, comprising: second control circuit and second substrate；Described second control circuit is arranged on described second substrate, On controlling described automation equipment, there is the second real-time and the second operational capability, it is real-time that described second real-time is less than first Property, described second operational capability is higher than the first operational capability, and described first real-time, the first operational capability are first substrate respectively On the real-time of first control circuit and operational capability；Wherein, described second substrate is used for passing through usb with described first substrate Interface is detachably connected so that described second control circuit is detachably connected described first control circuit, and passes through described first Control circuit controls the operation of described automation equipment.
Wherein, described second circuit is used for running the control process of auto-control equipment and runs described control process Outside collection process, at least one of interprocess communication process；Wherein, described control process is used for auto-control equipment Operation, including the executive component driving for operation, described collection process is used for gathering work at present shape in described control process State data and current sensor data, and by the described current operating state data collecting, current sensor data respectively with previous Operating state data, previous sensing data compare, and will by described interprocess communication at least when described comparative result is different Described comparative result sends, or described current operating state data and current sensor data is activation are gone out；Wherein, described Control process is separate with least one of described interprocess communication, described collection process process.
In order to solve above-mentioned technical problem, another technical scheme that the present invention adopts is to provide a kind of automation equipment Control device, comprising: first control circuit and first substrate；Described first control circuit is arranged on described first substrate, At least it is used for controlling the operation of described automation equipment；Wherein, described first substrate is used for passing through usb data wire with second substrate It is detachably connected so that the second control circuit on described second substrate is detachably connected described first control circuit, and pass through Described first control circuit controls the operation of described automation equipment.
The invention has the beneficial effects as follows: it is different from the situation of prior art, core board is directly fixed by the present invention with base plate Structure be changed to core board and be detachably connected with base plate by USB (universal serial bus) usb interface so that described core board is not straight Connect and be arranged on described base plate, so that core board and the mutual independence of other circuit of base plate is significantly strengthened, even if thus core Core damages or redesigns, and also will not involve base plate and circuit thereon；And the side being detachably connected by general-purpose interface Formula can make the replacing of core board easy, significantly saves manpower.
Additionally, being connected with parallel port between prior art core board and secondary host chip, the attribute of parallel port determines core board Must be closely near pair host chip.Therefore parallel port connected mode is changed to usb interface so that core board can be relatively by the present invention Remote ground auxiliary connection host chip, provides hardware supported for simple and convenient operation automation equipment with changing core board；For maximum limit Degree ground reduces cost on ensureing existing performance basis, present invention also offers the usb for automation equipment practical situation leads to News mode, for ensureing low cost, adapts to that secondary host chip requirement of real-time is very high, its internal memory can not otherwise cost mistake too much simultaneously High situation, substantially not changing available data transmission speed, in the case of hardware structure, by core board and secondary host chip it Between at least two instructions of transmission be encapsulated in a packet of usb agreement, transmission speed is significantly increased, makes transmission speed Up to standard.
Brief description
Fig. 1 is a kind of structural representation of automation equipment of prior art；
Fig. 2 is the structural representation of automation equipment one embodiment of the present invention；
Fig. 3 is in automation equipment of the present invention, is sent once by usb communication protocol between core board and secondary host chip The flow chart of packet；
Fig. 4 is in automation equipment of the present invention, the number being sent by usb communication protocol between core board and secondary host chip Encapsulating structure schematic diagram according to bag；
Fig. 5 is the structural representation of another embodiment of automation equipment of the present invention；
Fig. 6 is the structural representation of the another embodiment of automation equipment of the present invention；
Fig. 7 is the structural representation of the another embodiment of automation equipment of the present invention；
Fig. 8 is the structural representation of the another embodiment of automation equipment of the present invention；
Fig. 9 is the perspective view of operating case in the another embodiment of automation equipment of the present invention；
Figure 10 is the perspective view of operating case in the another embodiment of automation equipment of the present invention；
Figure 11 is the structural representation of the another embodiment of automation equipment of the present invention；
Figure 12 is the structural representation of control system one embodiment of automation equipment of the present invention；
Figure 13 is the structural representation of control device one embodiment of automation equipment of the present invention；
Figure 14 is the structural representation of another embodiment of control device of automation equipment of the present invention；
Figure 15 is the structural representation of the another embodiment of control device of automation equipment of the present invention；
Figure 16 is the structural representation of operating case in the another embodiment of automation equipment of the present invention.
Specific embodiment
Below in conjunction with drawings and embodiments, the present invention is described in detail.It should be noted that for the ease of clear Chu describes the automation equipment of the present invention, below will illustrate taking Weaving device as a example, certainly, the automation equipment of the present invention It is not limited to Weaving device, be also applied for other automation equipments, such as dyeing apparatus etc..
Refering to Fig. 2, in automation equipment one embodiment of the present invention, so that automation equipment is as Weaving device as a example said Bright, mainly include main control board 1 and core board 2, wherein, core board 2 is mainly used in the core to equipment operation and controls, quite Then the cpu of control device operating, such as can realize its control function using arm chip.
Main control board 1 includes base plate 11 and the secondary host chip 12 being arranged on base plate 11.Base plate 11 is as master control electricity The substrate of road plate 1, is mainly used in carrying the various devices of main control board 1, base plate 11 is also the electricity with circuit structure simultaneously Road plate.Secondary host chip 12 can be by patching or the mode such as weld is fixed on base plate 11.
Core board 2 and base plate 11 are detachably connected by USB (universal serial bus) usb, and pass through base plate 11 auxiliary connection main frame core Piece 12, that is, core board 2 communicated by usb agreement with secondary host chip 12.It is understood that in present embodiment, core On core 2, the general-purpose interface of setting is the usb general-purpose interface mating with one end of usb data wire, and on base plate 11, setting is general Interface is the usb general-purpose interface mating with the other end of usb data wire, passes through usb data wire even between core board 2 and base plate 11 Connect.When needing to change core board 2, the interface that only need to extract usb data wire on core board 2 can achieve core board 2 and bottom The separation of plate 11, thus realize being detachably connected of core board 2 and base plate 11.Main control board 1 can also pass through general serial Bus usb is powered to core board 2.Additionally, core board 2 is not arranged on base plate 11.It is understood that core board 2 is fixed on On other devices in addition to base plate 11, for example, may be provided at the non-back other positions on operating case or in Weaving device On, that is, core board 2 and base plate 11 are separate design, and it is only through general-purpose interface and base plate 11 between and is attached.
Wherein, core board 2 is additionally provided with the data-interface for receiving flower pattern file, for example, can be usb interface, when Can also be so WAP, you can flower pattern file is received using wireless mode.During carrying out weaving operation, core Plate 2 specifically for run collection process outside controlling the control process of Weaving device and running this control process, communicate into At least one of journey process.
Wherein, described control process is used for controlling the textile operation of Weaving device, executes unit including driving for weave Part.Specifically, operator will store the memorizer such as insertion such as the u disk core of the flower pattern file being woven in need first The usb interface for receiving flower pattern file on plate 2, core board 2 is parsed by reading flower pattern file and to flower pattern file. Additionally, in here control process, secondary host chip 12 receives the current operating state data of each executive component feedback, this current work The related data of operational factor being current to executive component as status data, and by current operating state data is activation to core Plate 2.Separately, core board 2 also receives the current sensor data of various sensors.Core board 2 is according to the current operating state receiving Data genaration braid movement instruction obtained by data, current sensor data and parsing flower pattern file, and the braiding of generation is moved Make instruction and secondary host chip 12 is sent to by base plate 11.Secondary host chip 12 is held according to the braid movement instruction generation receiving Row instruction, and this execute instruction is sent to the machine head plate of head.Machine head plate receives the execute instruction from secondary host chip 12, To be driven the executive component for weaving to carry out operation of weaving according to this execute instruction.
Described collection process is used for current operating state data and current sensor data in acquisition controlling process, and will adopt The current operating state data collecting and current sensor data are carried out with previous operating state data, previous sensing data respectively Relatively, to be sent this comparative result by interprocess communication when comparative result is for difference, or by current operating state number Go out according to current sensor data is activation.
Specifically, in control process, core board 2 receive the collection of secondary host chip 12 current operating state data and Current sensor data, these current operating state data and current sensor data are all written into control state of a process structure In.Wherein, the data that state of a process structure is preserved is controlled to be up-to-date operating state data and sensing data, core board 2 after receiving current operating state data and current sensor data, that is, updating the data in status architecture body is work at present Status data and current sensor data.Collection process is used for reading the current work recorded in control state of a process structure Make status data and current sensor data.Additionally, previous operating state data and previous sensing number also will be recorded in collection process According to.Therefore, in collection process, after the current operating state data reading control process and current sensor data, will read Current operating state data, current sensor data is compared with previous operating state data, previous sensing data respectively.When When one of comparative result differs or the comparative result of two is different from, comparative result is sent out by interprocess communication See off, or current operating state data and current sensor data can also be sent by interprocess communication, or also Comparative result, current operating state data and current sensor data all can be sent, for example, it is possible to send to operating case Display screen, with the current operating state of real-time display Weaving device so that operator can understand the operation of grasp equipment Situation.In addition it is also possible to current operating state data, current sensor data and comparative result be sent to other equipment, example As storage device or printing device etc., with the current operating state data of outut device and current sensor data or simultaneously defeated Go out current operating state data, current sensor data and comparative result.Certainly, in the alternative, in order to real-time Grasp the ruuning situation of current device, in collection process, when comparative result phase it is also possible to by current operating state data Go out with current sensor data is activation, such as send to display screen, with the current operating situation of real-time display device.
Wherein, described control process and collection process are separate two process, that is, control process and gather into Journey is detached two processes.In existing Weaving device, it controls process and collection process to be usually same process, that is, Collection process is the part as the process of control, and Weaving device had both driven in a control process and executed unit for weave Part, also by obtained current operating state data, current sensor data during driving executive component respectively with previous Operating state data, previous sensing data are compared, and in comparative result or current operating state data, current sensor data Send, consequently, it is possible to then when comparison procedure involves a delay as gathered data not in time, or the mistake that data is activation is gone out When journey makes a mistake, then the process driving executive component to carry out weaving operation can be made to be involved, be easily caused driving execution The process that element is weaved is unstable, has influence on being normally carried out of textile operation.In the present embodiment, will gather process and Control process, as two separate processes, makes collection process separate from control process, thus in the process of control In be only by and drive executive component to carry out the related work of textile operation, by current operating state data, current sensor number Carry out as another process according to the comparison procedure with previous operating state data, previous sensing data, and, in comparative result Interprocess communication when different sending the information such as comparative result is also two separate processes with control process, thus Enable to also be not result in that when collection process or interprocess communication break down control process is involved, can be as much as possible Control process is avoided to be affected by collection process, interprocess communication, to ensure being normally carried out of textile operation.
By present embodiment, because core board 2 and base plate 11 are to be detachably connected using USB (universal serial bus) usb, with Existing connected mode is compared, and not only contributes to the replacing of core board 1, and when the core board 2 more renewing, new core board 2 On interface still be USB (universal serial bus) usb interface, it still can be passed through with the USB (universal serial bus) usb interface on base plate 11 Usb data wire is attached, even if the core board therefore more renewing 2 is also without redesigning base plate 11, new core board 2 is still So can be attached with base plate 11 by general-purpose interface, base plate 11 thus can be avoided to be involved and be damaged.And, this reality Apply in mode, for serial communication so that core board 2 can auxiliary connection main frame farther out between core board 2 and secondary host chip 12 Chip 12, provides hardware supported for simple and convenient operation Weaving device with changing core board 2.Additionally, core board 2 is not arranged in bottom On plate 11, the mutual independence of other circuit on core board 2 and base plate 11 is also made significantly to strengthen, even if thus core board 2 Damage or redesign, also will not involve base plate 11 and circuit thereon, and changing or can be more convenient during maintenance core board 2 Artificial operation.
In a preferred embodiment of the invention, refering to Fig. 3, communicated by usb between core board 2 and secondary host chip 12 The concrete steps that agreement sends a packet include:
Step s301: core board 2 determines instruction to be sent.
For example, core board 2 is in control process, according to obtained current operating state data, current sensor data with And the data genaration braid movement obtained by parsing flower pattern file instructs, the instruction of these braid movements is core board 2 and will send out Give the instruction of secondary host chip.Certainly, also other control instructions etc..
Step s302: at least two instructions to be sent are encapsulated as one using self-defined tunneling by core board 2 Packet, and send packet.
During a packet being sent by usb agreement between core board 2 and secondary host chip 12, sent At least two instructions are carried in packet.Secondary host chip 12 is mainly used in the various instructions from core board 2 are carried out simply Process, to export the instruction that machine head plate is capable of identify that, the speed of its process instruction, and internal memory is typically small, and this enforcement In mode, due to being communicated by USB (universal serial bus) usb between core board 2 and secondary host chip 12, if now according to Existing usb standard agreement carries out instruction transmission, then, in transmitting procedure, instruction is to be entered in the form of each one instruction of transmission Row transmission, such as the core board 2 as sender, multiple fingers obtained by by parsing flower pattern file for the core board 2 When order is sent to secondary host chip 12, it is then to send one every time to comprise one when sending instruction according to existing usb standard agreement The packet of individual instruction, secondary host chip 12 receives an instruction every time, thus leads to core board 2 and secondary host chip 12 Between data transmission bauds slower, and secondary host chip 12 is just processed with to machine head plate after needing to receive multiple instruction Output is corresponding to be instructed, so that secondary host chip 12 cannot be derived from the multiple instruction of core board 2 by quick obtaining, consequently, it is possible to Lead to machine head plate that related executive component cannot be driven in time to carry out spinstry, reduce production efficiency.Therefore, for solving serial The slower problem of the transmission speed of transmission means, in present embodiment, core board 2 is being sent to a number of secondary host chip 12 Send every time packet is made to carry at least two instructions according in bag naturally it is also possible to be in each packet sending, Thus secondary host chip 12 can disposably receive multiple instruction, thus improve the efficiency of data transfer so that secondary main frame core Piece 12 can obtain the instruction from core board 2 in time, and then ensure that the real-time of data acquisition, improve production efficiency.
Wherein, in order to realize making in the packet sending by usb agreement between core board 2 and secondary host chip 12 Carry multiple instruction, in present embodiment, before sending packet, multiple instruction is packaged.Specifically, core board 2 And secondary host chip 12 between by usb agreement send a packet before, using self-defined tunneling usb agreement it On multiple instruction is encapsulated as a packet.In the data transmission procedure of usb agreement, need before transmitting the data to transmission Data be packaged into packet after can be transmitted, recipient needs packet is solved after receiving data Analysis.The upper strata of usb agreement is referred to, that is, before using usb protocol transmission data on usb agreement described in present embodiment Data processing stage.In existing usb agreement, before transmitting the data, typically according to standard tunneling by one Instruction is packaged into a packet and is once sent, and recipient be also according to standard analysis protocol to the data receiving Bag is parsed and is obtained an instruction.In present embodiment, then it is using self-defining tunneling, multiple instruction to be encapsulated Become a packet, even if carrying multiple instruction in a packet, with transmit a packet when can by multiple instruction with When be transmitted.
It should be noted that the quantity of entrained instruction in each packet can according to circumstances be set, meeting Under the requirement of memory capacity of transmission speed and secondary host chip 12, in packet, the quantity of entrained instruction is more, passes Defeated efficiency is also higher.
Step s303: secondary host chip 12 receiving data bag, and adopt self-defined solution corresponding with self-defined tunneling Analysis agreement intercepts out at least two instructions in the packet.
When being packaged according to self-defining tunneling to multiple instruction, carry multiple fingers due in each packet Order, therefore makes the packet that encapsulation obtains carry self-defining packet header mark and the knowledge of bag tail tag, in order to as a packet Mark.Thus, can be identified according to the packet header that each packet carries when secondary host chip 12 is sequentially received multiple packet Know with bag tail tag and intercept out a packet, and then this packet is parsed to obtain the multiple instruction in packet.And And, when carrying out packet encapsulation, so that each instruction in a packet is carried and self-defining separate mark, in order to conduct The mark of one instruction.The mark that separates of each instruction differs, thus when secondary host chip 12 solves to a packet When analysis is to obtain the multiple instruction in packet, the mark that separates according to entrained by each instruction can intercept out each instruction, by This can be processed to each instruction.
For example, as shown in figure 4, Fig. 4 shows using self-defined tunneling, multiple instruction is packaged gained The encapsulating structure of the packet arriving, is carried by a packet and illustrates as a example two instructions, two in each packet Instruction represents, in figure shows 5 packets, and the data in a bracket " () " represents a packet respectively with 0 and 1, It is that the self-defining packet header that each packet carries identifies and bag tail is designated bracket " () ", secondary host chip 12 passes through identification one One packet is intercepted out to bracket " () ".And bracket includes 0 and 1 two instruction, each instruction single quotation marks " ' ' " conduct Separate mark, secondary host chip 12 can intercept out each instruction according to single quotation marks " ' ' ".
Carry out simultaneous transmission although being encapsulated in multiple instruction in one packet in the present embodiment, but due to usb The error correcting capability of agreement is stronger, contains the functions such as error of transmission management, Fault recovery in usb agreement, simultaneously can be according to not With transport-type processing error of transmission, even if therefore making a mistake also without spending the too many time to enter in transmitting procedure Row retransmits.
In the present invention one preferred implementation, core board 2 is master control and plc with the matching relationship of base plate 11 The matching relationship of (programmable logic controller, programmable logic controller (PLC)) pattern, i.e. the weaving of the present invention The electric-control system of equipment is plc control system, and core board 2 carries out the control of whole fabrication processes according to plc program.Plc controls System has the advantages that strong antijamming capability, reliability and stability are high, and plc programming is simple, logicality relatively strong so that Control function is easier to realize, and therefore, the present invention adopts plc electric-control system, so that Weaving device performance is more preferably.Certainly, In other embodiments, core board 2 can also adopt Single-chip Controlling, pcc (programmble computer Controller, programmable computer controller) mode such as control to be coordinated with base plate 11, to carry out the control of fabrication processes Work.
Refering to Fig. 5, in another embodiment of automation equipment of the present invention, still taking Weaving device as a example, and different figure The element effect of the identical label in showing is identical, also includes the i/o expansion board 3 being arranged on main control board 1.I/o expansion board 3 The mcu enriching for io mouth, it is connected with the secondary host chip 12 on main control board 1, with by secondary host chip 12 and core Plate 2 is attached, and i/o expansion board 3 passes through i2C bus is communicated with core board 2, with realize Yarn feeder motor speed governing, The function such as the rotating of secondary Lora motor and speed governing, the rotating of folding motor and speed governing.Core is made by i/o expansion board 3 Plate 2 can connect more ancillary equipment.Different customer demands is different, in prior art, for meeting the demand of different clients Typically require the different connecting line of setting and connect core board 2, cause circuit complicated in a jumble, in the present embodiment, by setting I/o expansion board 3, the correlation function on core board 2 is guided to i/o expansion board 3, therefore for different clients, only needs root According to the corresponding io mouth in its demand grafting i/o expansion board 3, the demand of different clients can either be met, easy to use, and can keep away Exempt from the wiring of complexity so that connection and distribution are simpler.
Wherein, in a preferred embodiment, i/o expansion board 3 can be removable with the base plate 11 of main control board 1 by connecting line Unload connection, with by base plate 11 auxiliary connection host chip 12.Certainly, in other embodiments, i/o expansion board 3 can also be straight Patch and be connected on base plate 11, respectively the interface matching is set in i/o expansion board 3 and base plate 11, with by pluggable Mode is attached, and then realizes being detachably connected of i/o expansion board 3 and base plate 11.
Because different core boards 2 needs, using different i/o expansion board 3, therefore when needing to change core board 2, to lead to Often it is also required to change corresponding i/o expansion board 3.Present embodiment is by making between i/o expansion board 3 and base plate 11 using detachable Mode is attached, and can be more convenient the dismounting of i/o expansion board 3.
Refering to Fig. 6, in the another embodiment of automation equipment of the present invention, the element of the identical label in different diagrams Effect is identical, and equipment also includes the stepper motor driver 4 being arranged on main control board 1, and stepper motor driver 4 specifically sets Put on base plate 11.In existing Weaving device, stepper motor driver is arranged on typically as a single part In the lathe of Weaving device, including communication control module, driving chip and power tube (h bridge), communication control module is to being derived from The signal of the secondary host chip on main control board carries out changing, Data Frontend process, level match etc., and also receive self-powered The warning of dynamic chip.And in present embodiment, stepper motor driver 4 is arranged on main control board 1, it can be by weldering The fixing stepper motor driver 4 of the mode such as connect, or can also be by removably general on the base plate 11 of main control board 1 Stepper motor driver 4 is arranged on the base plate 11 of main control board 1.Therefore when controlling motor operating, from master control electricity On road plate 1, control signal out is the drive signal of motor, can directly drive motor operating.
Wherein, stepper motor driver 4 includes driving chip 41 and power driving circuit 42.Driving chip 41 connects respectively Secondary host chip 12 and power driving circuit 42.Driving chip 41 is used for inputting the control signal of secondary host chip 12, and according to The control signal output multi-channel drive signal being derived from secondary host chip 12 is to power driving circuit 42, thus power driving circuit 42 Drive multiple motors to be operated respectively according to multi-channel drive signal, be achieved in the control of motor.Additionally, driving Chip 41 is additionally operable to feedback signal back to secondary host chip 12, and this feedback signal is used for feeding back every operation of motor Parameter.Secondary host chip 12 outputs control signals in driving chip 41 according to feedback signal, and also match parameter is defeated Go out to driving chip 41.By the collective effect of driving chip 41 and secondary host chip 12, realize the closed loop control to motor System, can be controlled to motor according to the situation of motor real-time motion, improve the accurate of motor rotation Property.
By, in present embodiment, stepper motor driver 4 being integrated on the base plate 11 of main control board 1, thus secondary Host chip 12 can be directly connected to driving chip 41, and makes secondary host chip 12 increase the ability processing feedback signal and increase The ability of coupling driving chip 41, therefore compared with the existing, can dispense communication control module.
Refering to Fig. 7, in the another embodiment of automation equipment of the present invention, the element of the identical label in different diagrams Effect is identical, and equipment further comprises memorizer 5, and memorizer 5 includes memory mapping area.Core board 2 operation control into Cheng Shi, controls process specifically to adopt memory mapping technique by the current operating state data in control process and current sensor data Store to memory mapping area.When running collection process, collection process specifically adopts memory mapping technique to gather internal memory to core board 2 The current operating state data of map section and current sensor data.
Certainly, in other embodiments, collection process can not also obtain work at present shape by memory mapping technique State data and current sensor data, it can be by the current operating state in pipeline or queue message technology acquisition controlling process Data and current sensor data.
Identical label refering to Fig. 8 and Fig. 9, in the another embodiment of automation equipment of the present invention, in different diagrams Element effect identical, equipment also includes operating case 6, operating case 6 be mainly used in for operator input various operational orders carry For input media.Operating case 6 includes one piece of operation box plate 61.In the present embodiment, core board 2 is as the one of operating case 6 Part is plugged on operation box plate 61, is provided with the slot for grafting core board 2, core board 2 on operation box plate 61 On be there is the socket being matched with this slot, by the socket on core board 2 with operation box plate 61 on slot cooperation, can Realize core board 2 and operate being detachably connected of box plate 61.When needing to change core board 2, only core board 2 need to be pulled away behaviour Make box plate 61, then by new core board 2 update box plate 61, facilitate the replacing of core board 2.Additionally, operating case Base plate 61 is detachably connected by the data wire with general-purpose interface with the base plate 11 of main control board 1, is achieved in core board 2 He Being detachably connected of secondary host chip 12, is provided with, in operation box plate 61, the general-purpose interface 66 being connected with core board 2, this leads to Matched with the Single port of interface 66 and the data wire with general-purpose interface, the base plate 11 on main control board 1 is provided with and secondary master The general-purpose interface that movement piece 12 connects, this general-purpose interface is matched with the another port of the data wire with general-purpose interface, thus may be used Being detachably connected of core board 2 and secondary host chip 12 is realized by the data wire with universal port.
Wherein, operating case 6 also includes display screen 62 and man-machine interaction circuit 63, wherein, during Fig. 9 is shown, man-machine interaction electricity Road 63 is operation button, is equivalent to keyboard.Display screen 62 and man-machine interaction circuit 63 pass through to operate box plate 61 to connect core board 2, it is provided with, on operation box plate 61, the slot connecting core board 2, display screen 62, human-computer exchange circuit 63 can be by communications Bus is connected with the associated socket on operation box plate 61, thus connecting core board 2 by associated socket.
Therefore, in present embodiment, display screen 62 and core board 2 are all provided on operating case 6.And in prior art In Weaving device, core board is provided on main control board, and it needs longer connecting line to enter with the display screen in operating case Row connects, if the display signal on core board is directly sent to the display screen of operating case by longer connecting line, Due to connecting line longer and make display signal be easily interfered, impact data normal display, and in prior art in order to Reduce display interference in transmitting procedure for the signal, using display modular converter and differential signal line transmitting display signal therefor, to drop Low interference.Unlike the prior art, in present embodiment, display screen 62 and core board 2 are arranged in operating case 6, It is to pass through to operate box plate 61 to be directly connected to core board 2 in operating case 6 by this display screen 62, connecting line between the two is relatively Short, thus without the display modular converter and longer differential signal line of prior art, display signal need not from operating case it Ttl signal is switched to differential signal through display modular converter on outer main control board farther out, on operating case again through aobvious Show that differential signal is switched to the complicated processes to display screen for the ttl signal by modular converter, that is, save at least two display moduluss of conversion Block and the differential signal line between them, also save the slot of special this differential signal line of grafting on main control board, cost It is greatly reduced；It is additionally, since display screen 62 to pass through to operate box plate 61 to connect core board 2 in operating case, distance is very short and keeps away Opened signal interference environment, synchronous signal connects relatively reliable, therefore shows that signal stabilization is ensured, be greatly reduced due to Show the operational risk leading to that breaks down.
Further, in the preferred embodiment for the present invention, man-machine interaction circuit 63 is disposed on touching on display screen 62 Touch screen or the touch display screen two-in-one with display screen 62.Realize man-machine interaction by the way of touch screen, more convenient operator The operation of member, and so that the structure of operating case 6 is simpler, reduce loaded down with trivial details wiring.
In other embodiment of the present invention, refering to Figure 10, operating case 6 is panel computer, display screen 62 and man-machine interaction The touch display screen that circuit 63 unites two into one as panel computer, panel computer is provided with and general connects for be connected with base plate 11 Mouth 66.Wherein, in present embodiment, core board 2 is to be fixed on operation box plate 61 by modes such as welding.Certainly, core Plate 2 can also be detachably connected with operation box plate 61, for example, can be provided for plugging core board 2 in the side of panel computer Socket, operation box plate 61 is provided with circuit for connecting core board 2, so that inserting from this socket in core board 2 Core board 2 is made to be connected with the circuit on operation box plate 61, so that core board 2 being capable of normal work during panel computer.
In a preferred embodiment of this invention, refering to Figure 11, operating case 6 also includes connecting the usb hub 64 of core board 2 With radio communication circuit 65.Usb hub 64 and radio communication circuit 65 operate on box plate 61 and core with being arranged on respectively The associated socket that core 2 connects connects, thus realizing the connection of itself and core board 2, core board 2 can select one of which to communicate Mode and external device communication.It is of course also possible to be only to arrange one of usb hub 64 and radio communication circuit 65 and core Core 2 connects, to realize the communication of core board 2 and external equipment.
In one of embodiment of the present invention, Weaving device includes the first circuit board and second of distributed setting Ac/dc change-over circuit is provided with circuit board, wherein first circuit board, the alternating voltage receiving is changed by ac/dc change-over circuit The first DC voltage, first circuit board and second circuit board is become to be respectively arranged with dc/dc change-over circuit, the first DC voltage is respectively Supply the dc/dc change-over circuit to first circuit board and second circuit board, and be converted into by dc/dc change-over circuit each required The second DC voltage.By with upper type, the present invention, it can be avoided that additionally arranging power supply assembly, greatly reduces supply line Complexity.
In the other in which embodiment of the present invention, also in offer Weaving device between at least two action elements Poewr control method, the method includes: controls the control system of at least two action elements to obtain control instruction；Parsing control refers to Whether order is for controlling the execution action simultaneously within least part of time of at least two action elements；If control instruction is used for controlling The action simultaneously of at least two action elements, then offset one from another the execution time of the action of at least two action elements, make simultaneously The implementation effect obtaining at least two action elements meets requirement.By with upper type, embodiment of the present invention is it can be avoided that at least Actual power during two action element actions simultaneously is excessive, and power consumption is greatly reduced, especially for controlling the size simultaneously Under the scene of more action element, power savings are particularly evident.
Refering to Figure 12, in control system one embodiment of automation equipment of the present invention, control system includes the first control Circuit 701, second control circuit 702, first substrate 703 and second substrate 704.Wherein, first control circuit 701 is arranged on On first substrate 703, the first real-time and the first operational capability are had on auto-control equipment.Second control circuit plate 702 are arranged on second substrate 704, have the second real-time and the second operational capability on controlling Weaving device.
Wherein, the first real-time is higher than the second real-time, and the first operational capability is less than the second operational capability.Second substrate 704 are detachably connected by usb data wire so that second control circuit 702 can pass through first control circuit with first substrate 703 The operation of 701 auto-control equipment.
Specifically, in present embodiment, first control circuit 701 sets automation equipment for weaving taking Weaving device as a example The secondary host chip on main control board in standby.Second control circuit 702 corresponds to the core board in Weaving device, to weaving The weaving operation of equipment plays core control action.First substrate 703 is the base plate of the main control board in Weaving device.Second base Plate 704 is the base plate for fixing second control circuit 702, and this base plate can be the operating case bottom of the operating case in Weaving device Plate is naturally it is also possible to be other substrates in Weaving device different from first substrate 703.Wherein, described main control board, core Core, the base plate of secondary host chip, operation box plate and main control board can be respectively shown in above-mentioned Fig. 2, Fig. 5-Figure 11 Any embodiment in main control board, core board, the bottom of secondary host chip, operation box plate and main control board Plate.Therefore, the detailed process of the textile operation by first control circuit 701 control Weaving device for the second control circuit 702 can Carry out with reference to the respective embodiments described above, here is not repeated one by one.
Present embodiment, because the second substrate 704 for arranging second control circuit 702 controls with for setting first The first substrate 703 of circuit 701 is detachably connected by usb data wire, therefore second control circuit 702 and first control circuit 701 is also to be detachably connected, and compared with the mode of existing welding or grafting, not only contributes to second control circuit 702 more Change, and more renew second control circuit 702 when, new second control circuit 702 and first substrate 703 remain by usb Data wire connects, even if the second control circuit therefore more renewing 702 is also without the usb redesigning on first substrate 703 Interface, thus can avoid first substrate 703 to be involved and be damaged.And, in present embodiment, second control circuit It is serial communication between 702 with first control circuit 701 so that second control circuit 702 can be connected the first control farther out Circuit 701, provides hardware supported for simple and convenient operation Weaving device with changing second control circuit 702.Additionally, the second control Circuit 702 is not arranged on first substrate 703, also makes other circuit on second control circuit 702 and first substrate 703 Mutual independence significantly strengthens, even if thus second control circuit 702 damage or redesign, also will not involve first substrate 703 and circuit thereon, and changing or can be more convenient manually to operate during maintenance second control circuit 702.
Refering to Figure 13, in control device one embodiment of automation equipment of the present invention, including first control circuit 801 He First substrate 802.First control circuit 801 is arranged on first substrate 802, has the first real-time on controlling Weaving device With the first operational capability.Wherein, the first real-time is higher than the second real-time, and the first operational capability is less than the second operational capability, institute The second real-time stated and the second operational capability are the real-time of second control circuit 804 and fortune on second substrate 803 respectively Calculation ability.
Wherein, first substrate 802 is used for being detachably connected by usb data wire with second substrate 803, so that second Control circuit 804 can pass through the operation of first control circuit 801 auto-control equipment.
Specifically, in present embodiment, still, first control circuit 801 is to spin to automation equipment taking Weaving device as a example Knit the secondary host chip on the main control board in equipment.Second control circuit 804 corresponds to the core board in Weaving device, right The weaving operation of Weaving device plays core control action.First substrate 802 is the base plate of the main control board in Weaving device.The Two substrates 803 are the base plate for fixing second control circuit 804, and this base plate can be the operation of the operating case in Weaving device Box plate is naturally it is also possible to be other substrates in Weaving device different from first substrate 802.Wherein, described governor circuit Plate, core board, the base plate of secondary host chip, operation box plate and main control board can be respectively above-mentioned Fig. 2, Fig. 5-Figure 11 Main control board in shown any embodiment, core board, secondary host chip, operation box plate and main control board Base plate.Therefore, second control circuit 804 controls the detailed process of the textile operation of Weaving device by first control circuit 801 Refer to the respective embodiments described above to carry out, here is not repeated one by one.
Present embodiment, because the second substrate 803 for arranging second control circuit 804 controls with for setting first The first substrate 802 of circuit 801 is detachably connected by usb data wire, therefore second control circuit 804 and first control circuit 801 is also to be detachably connected, and compared with the mode of existing welding or grafting, not only contributes to second control circuit 804 more Change, and when the second control circuit 804 more renewing, new second control circuit 804 is remained with first substrate 802 and passes through Usb data wire connects, even if the second control circuit therefore more renewing 804 is also without on redesign first substrate 802 Usb interface, thus can avoid first substrate 802 to be involved and be damaged.And, in present embodiment, second controls electricity It is serial communication between road 804 and first control circuit 801 so that second control circuit 804 can be connected the first control farther out Circuit 801 processed, provides hardware supported for simple and convenient operation Weaving device with changing second control circuit 804.Additionally, the second control Circuit 804 processed is not arranged on first substrate 802, also makes other circuit on second control circuit 804 and first substrate 802 Mutual independence significantly strengthen, even if thus second control circuit 804 damage or redesign, also will not involve the first base Plate 802 and thereon circuit, and can be more convenient manually to operate when changing or keep in repair second control circuit 804.
In a preferred embodiment, control device also includes the i/o expansion board 805 being detachably connected first substrate 802.i/ O expansion board 805 is connected with first substrate 802, and then connects first control circuit 801 by first substrate 802, thus the second control The output of circuit 804 processed can be transmitted to i/o expansion board 805 by first control circuit 801, thus can greatly simplify second The output of control circuit 804, and for different demands, the different io mouths in i/o expansion board 805 only need to be connected, convenient Use, and wiring can be simplified.Wherein, i/o expansion board 805 can be attached with first substrate 802 by inserting mode, with Realize both be detachably connected.
In a preferred embodiment, control device also includes stepper motor driver 806.In existing Weaving device, Stepper motor driver is arranged in the lathe of Weaving device typically as a single part, including Control on Communication mould Block, driving chip and power tube (h bridge), communication control module enters to the signal of the secondary host chip on main control board Row conversion, Data Frontend process, level match etc., and also receive the warning from driving chip.In the present embodiment, stepping Motor driver 806 is fixed on first substrate 802, for example, can be fixed on stepper motor driver 806 by welding manner It is also possible to make stepper motor driver 806 be arranged on first substrate 802 by removably on first substrate 802.Stepping Motor driver 806 includes driving chip 8061 and power driving circuit 8062.Driving chip 8061 connects the first control respectively Circuit 801 and power driving circuit 8062.Driving chip 8061 is used for inputting the control signal of first control circuit 801, and root According to the control signal output multi-channel drive signal from first control circuit 801 to power driving circuit 8062, thus power drives Galvanic electricity road 8062 drives multiple motors to be operated according to multi-channel drive signal respectively, is achieved in the control of motor System.Additionally, driving chip 8061 is additionally operable to feedback signal back to first control circuit 801, this feedback signal is used for feeding back Every operational factor of motor.First control circuit 801 outputs control signals to driving chip according to feedback signal In 8061, and also match parameter is exported to driving chip 8061.By driving chip 8061 and first control circuit 801 Collective effect, realizes the closed loop control to motor, according to the situation of motor real-time motion, motor can be entered Row controls, and improves the accuracy of motor rotation.Meanwhile, in present embodiment, by stepper motor driver 4 and the first control Circuit 801 processed is together integrated on first substrate 802, thus first control circuit 801 can be directly connected to driving chip 8061, and Make first control circuit 801 increase process feedback signal ability and increase coupling driving chip 8061 ability, therefore with Existing compare, communication control module can be dispensed.
Refering to Figure 14, in another embodiment of control device of automation equipment of the present invention, including second control circuit 901 With second substrate 902.Second control circuit 901 is arranged on second substrate 902, has second real-time on controlling Weaving device Property and the second operational capability, and the second real-time be less than the first real-time, the second operational capability be higher than the first operational capability.Described The first real-time, the first operational capability be the real-time of first control circuit 904 and computing energy on first substrate 903 respectively Power.
Wherein, second substrate 902 is used for being detachably connected by usb data wire with first substrate 903 so that second controls Circuit 901 is detachably connected first control circuit 904, and by the operation of first control circuit 904 auto-control equipment.
Specifically, in present embodiment, still, first control circuit 904 is to spin to automation equipment taking Weaving device as a example Knit the secondary host chip on the main control board in equipment.Second control circuit 901 corresponds to the core board in Weaving device, right The weaving operation of Weaving device plays core control action.First substrate 903 is the base plate of the main control board in Weaving device.The Two substrates 902 are the base plate for fixing second control circuit 901, and this base plate can be the operation of the operating case in Weaving device Box plate is naturally it is also possible to be other substrates in Weaving device different from first substrate 903.Wherein, described governor circuit Plate, core board, the base plate of secondary host chip, operation box plate and main control board can be respectively above-mentioned Fig. 2, Fig. 5-Figure 11 Main control board in shown any embodiment, core board, secondary host chip, operation box plate and main control board Base plate.Therefore, second control circuit 901 controls the detailed process of the textile operation of Weaving device by first control circuit 904 Refer to the respective embodiments described above to carry out, here is not repeated one by one.
Present embodiment, because the second substrate 902 for arranging second control circuit 901 controls with for setting first The first substrate 903 of circuit 904 is detachably connected by usb data wire, therefore second control circuit 901 and first control circuit 904 is also to be detachably connected, and compared with the mode of existing welding or grafting, not only contributes to second control circuit 901 more Change, and when the second control circuit 901 more renewing, new second control circuit 901 is remained with first substrate 903 and passes through Usb data wire connects, even if the second control circuit therefore more renewing 901 is also without on redesign first substrate 903 Usb interface, thus can avoid first substrate 903 to be involved and be damaged.And, in present embodiment, second controls electricity It is serial communication between road 901 and first control circuit 904 so that second control circuit 901 can be connected the first control farther out Circuit 904 processed, provides hardware supported for simple and convenient operation Weaving device with changing second control circuit 901.Additionally, the second control Circuit 901 processed is not arranged on first substrate 903, also makes other circuit on second control circuit 901 and first substrate 903 Mutual independence significantly strengthen, even if thus second control circuit 901 damage or redesign, also will not involve the first base Plate 903 and thereon circuit, and can be more convenient manually to operate when changing or keep in repair second control circuit 901.
Additionally, in present embodiment, second control circuit 901 is used for running the control process controlling Weaving device and fortune At least one of collection process outside row control process, interprocess communication process.
Specifically, described control process is used for controlling the textile operation of Weaving device, including the execution driving for weaving Element.Specifically, memorizer such as the u disk etc. storing the flower pattern file being woven in need is inserted the by operator first The usb interface for receiving flower pattern file in two control circuits 901, second control circuit 901 passes through to read flower pattern file simultaneously Flower pattern file is parsed.Additionally, in here control process, first control circuit 904 receives working as of each executive component feedback Front operating state data, the related data of the operational factor that this current operating state data is current to executive component, and ought Front operating state data is sent to second control circuit 901.Separately, second control circuit 901 also accepts the current of various sensors Sensing data.Second control circuit 901 is according to the current operating state data receiving, current sensor data and parsing flower pattern literary composition Data genaration braid movement instruction obtained by part, and the instruction of the braid movement of generation is sent to the by second substrate 903 One control circuit 904.First control circuit 904 generates execute instruction according to the braid movement instruction receiving, and this is executed Instruction is sent to the machine head plate of head.Machine head plate receives the execute instruction from first control circuit 904, to be referred to according to this execution Order drives the executive component for weaving to carry out operation of weaving.
Described collection process is used for current operating state data and current sensor data in acquisition controlling process, and will adopt The current operating state data collecting and current sensor data are carried out with previous operating state data, previous sensing data respectively Relatively, to be sent this comparative result by interprocess communication when comparative result is for difference, or by current operating state number Go out according to current sensor data is activation.
Specifically, in control process, second control circuit 901 receives the current work of first control circuit 904 collection Make status data and current sensor data, these current operating state data and current sensor data are all written into control process Status architecture body in.Wherein, the data that state of a process structure is preserved is controlled to be up-to-date operating state data and biography Sense data, second control circuit 901 after receiving current operating state data and current sensor data, that is, updates status architecture Data in body is current operating state data and current sensor data.Collection process is used for reading in control state of a process knot Current operating state data recorded in structure body and current sensor data.Additionally, task before also recording in collection process Status data and previous sensing data.Therefore, in collection process, in the current operating state data reading control process with currently After sensing data, by the current operating state reading data, current sensor data respectively with previous operating state data, previous Sensing data is compared.When one of comparative result differs or the comparative result of two is different from, will compare Relatively result is sent by interprocess communication, or current operating state data and current sensor data can also be passed through communication Process sends, or can also all send comparative result, current operating state data and current sensor data, example As sent to the display screen of operating case, with the current operating state of real-time display Weaving device so that operator are permissible Clearly grasp the ruuning situation of equipment.In addition it is also possible to current operating state data, current sensor data and comparative result are sent out Deliver in other equipment, such as storage device or printing device etc., with the current operating state data of outut device with work as forward pass Sense data, or output current operating state data, current sensor data and comparative result simultaneously.Certainly, in alternative embodiment party In formula, in order to the real-time ruuning situation grasping current device, in collection process, when comparative result phase it is also possible to Current operating state data and current sensor data is activation are gone out, such as sends to display screen, working as with real-time display device Front ruuning situation.
Wherein, described control process and collection process are separate two process, that is, control process and gather into Journey is detached two processes.In existing Weaving device, it controls process and collection process to be usually same process, that is, Collection process is the part as the process of control, and Weaving device had both driven in a control process and executed unit for weave Part, also by obtained current operating state data, current sensor data during driving executive component respectively with previous Operating state data, previous sensing data are compared, and in comparative result or current operating state data, current sensor data Send, consequently, it is possible to then when comparison procedure involves a delay as gathered data not in time, or the mistake that data is activation is gone out When journey makes a mistake, then the process driving executive component to carry out weaving operation can be made to be involved, be easily caused driving execution The process that element is weaved is unstable, has influence on being normally carried out of textile operation.In the present embodiment, will gather process and Control process, as two separate processes, makes collection process separate from control process, thus in the process of control In be only by and drive executive component to carry out the related work of textile operation, by current operating state data, current sensor number Carry out as another process according to the comparison procedure with previous operating state data, previous sensing data, and, in comparative result Interprocess communication when different sending the information such as comparative result is also two separate processes with control process, thus Enable to also be not result in that when collection process or interprocess communication break down control process is involved, can be as much as possible Control process is avoided to be affected by collection process, interprocess communication, to ensure being normally carried out of textile operation.
Refering to Figure 15, in the another embodiment of the control device of automation equipment of the present invention, including first control circuit 1001 and first substrate 1002.First control circuit 1001 is arranged on first substrate 1002, for auto-control equipment Operation.Wherein, first substrate 1001 is used for being detachably connected by usb data wire with second substrate 1003 so that second substrate Second control circuit 1004 on 1003 can pass through the operation of first control circuit 1001 auto-control equipment.
Wherein, still, first control circuit 1001 corresponds in Weaving device automation equipment taking Weaving device as a example Secondary host chip on main control board.Second control circuit 1004 corresponds to the core board in Weaving device, to Weaving device Weaving operation play core control action.First substrate 1002 corresponds to the base plate of the main control board in Weaving device.Second Substrate 1003 is the base plate for fixing second control circuit 1004, and this base plate can be the operation of the operating case in Weaving device Box plate is naturally it is also possible to be other substrates in Weaving device different from first substrate 1002.Wherein, described governor circuit Plate, core board, the base plate of secondary host chip, operation box plate and main control board can be respectively above-mentioned Fig. 2, Fig. 5-Figure 11 Main control board in shown any embodiment, core board, secondary host chip, operation box plate and main control board Base plate.Therefore, second control circuit 1004 controls the detailed mistake of the textile operation of Weaving device by first control circuit 1001 Journey refers to the respective embodiments described above and carries out, and here is not repeated one by one.
Refering to Figure 16, the present invention also provides an embodiment of the operating case of automation equipment, in this embodiment, with Automation equipment illustrates for as a example Weaving device, and certainly, in other embodiments, automation equipment can also make printing and dyeing Other plant equipment such as equipment.Operating case is panel computer, and it includes first control circuit 1101 and first substrate 1102.First Control circuit 1101 is arranged on first substrate 1102.
Wherein, first control circuit 1101 can be detachably connected by inserting mode with first substrate 1102.
Wherein, first substrate 1102 is used for being detachably connected by general-purpose interface with second substrate 1103, so that the One control circuit 1101 can control the weaving of Weaving device by the second control circuit 1104 being arranged on second substrate 1103 Operation.Wherein, first control circuit 1101 corresponds to the core board in Weaving device, and the weaving operation to Weaving device plays core Control action, first substrate 1102 corresponds to operate box plate naturally it is also possible to be other bottoms in addition to second substrate 1103 Plate, second control circuit 1104 corresponds to the secondary host chip on the main control board in Weaving device, and second substrate 1103 is right Should be the base plate of the main control board in Weaving device.Described main control board, core board, secondary host chip, operating case bottom The base plate of plate and main control board can be respectively the master control electricity in any embodiment shown in above-mentioned Fig. 2, Fig. 5-Figure 11 Road plate, core board, the base plate of secondary host chip, operation box plate and main control board.Therefore, first control circuit 1101 leads to Crossing second control circuit 1104 controls the detailed process of the textile operation of Weaving device to refer to the respective embodiments described above and carry out, This is not repeated one by one.
In a preferred implementation of operating case of the present invention, operating case also includes connecting first control circuit 1101 Usb hub 1105 and radio communication circuit 1106.Usb hub 1105 and radio communication circuit 1106 respectively be arranged on The associated socket being connected with core board 2 on one substrate 1101 is connected, to realize the connection of itself and first control circuit 1101, the One control circuit 1101 can select one of which and external device communication.It is of course also possible to be only to arrange usb hub 1105 Be connected with first control circuit 1101 with one of radio communication circuit 1106, with realize first control circuit 1101 with outside The communication of equipment.
Certainly, in the other embodiment of the operating case of automation equipment of the present invention, first control circuit 1101 also may be used To be fixed on first substrate 1102 by modes such as welding, and there is on controlling Weaving device the first real-time and the first fortune Calculation ability, this first real-time is less than the second real-time, and the first operational capability is higher than the second operational capability.Second real-time and Second operational capability is the real-time of second control circuit 1104 and operational capability on second substrate 1103 respectively.
The foregoing is only embodiments of the present invention, not thereby limit the scope of the claims of the present invention, every utilization is originally Equivalent structure or equivalent flow conversion that description of the invention and accompanying drawing content are made, or directly or indirectly it is used in other correlations Technical field, is included within the scope of the present invention.

Claims (15)

1. a kind of automation equipment is it is characterised in that include:
Main control board and core board；
Wherein, described main control board includes base plate and the secondary host chip being arranged on base plate, described core board and described bottom Plate is detachably connected by USB (universal serial bus) usb, and connects described pair host chip, described core board by described base plate It is not arranged on described base plate.
2. automation equipment according to claim 1 it is characterised in that described core board and described pair host chip between During packet is at least sent by usb agreement, described packet carries at least two instructions.
3. automation equipment according to claim 2 it is characterised in that described core board and described pair host chip between Before packet is at least sent by usb agreement, using self-defined tunneling on described usb agreement by described extremely Few two instructions are encapsulated as a packet, and when receiving described packet, adopt and described self-defined tunneling Corresponding self-defined analysis protocol intercepts out described at least two instructions in described packet.
4. automation equipment according to claim 1 is it is characterised in that include being detachably connected on described main control board I/o expansion board.
5. automation equipment according to claim 1 is it is characterised in that include the step being arranged on described main control board Stepper motor driver, described stepper motor driver includes driving chip and power driving circuit, and described driving chip connects respectively Connect described pair host chip and power driving circuit, described driving chip input described pair host chip control signal, output is many Road drive signal to described power driving circuit, and by feedback signal back to described pair host chip, described pair main frame core Piece exports described control signal according to described feedback signal, and match parameter is exported to described driving chip.
6. the automation equipment according to any one of claim 1 to 5 is it is characterised in that described core board is used for running control At least one of collection process outside the control process of automation equipment processed and the described control process of operation, interprocess communication Process；
Wherein, described control process is used for the operation of auto-control equipment, including the executive component driving for operation, described Collection process is used for gathering current operating state data and current sensor data in described control process, and described in collecting Current operating state data, current sensor data are compared with previous operating state data, previous sensing data respectively, and at least exist Described comparative result is sent when being different by described comparative result by described interprocess communication, or by described work at present shape State data and current sensor data is activation are gone out；
Wherein, described control process is separate with least one of described interprocess communication, described collection process process.
7. automation equipment according to claim 6 it is characterised in that
Described automation equipment further includes memorizer, at least includes memory mapping area in described memorizer, described control into Journey specifically adopts memory mapping technique by current operating state data and current sensor data storage in described control process to institute State memory mapping area, described collection process specifically adopts memory mapping technique to gather the current operating state of described memory mapping area Data and current sensor data；Or
Described collection process is specifically for gathering current operating state in described control module by pipeline or queue message technology Data and current sensor data.
8. the automation equipment according to any one of claim 1-5 it is characterised in that
Described automation equipment is Weaving device.
9. a kind of control system of automation equipment is it is characterised in that include:
First control circuit, second control circuit, first substrate and second substrate；
Described first control circuit is arranged on described first substrate, has the first real-time on controlling described automation equipment With the first operational capability；
Described second control circuit is arranged on described second substrate, has the second real-time on controlling described automation equipment With the second operational capability；
Wherein, described first real-time is higher than described second real-time, and described first operational capability is less than described second computing energy Power；
Described second substrate and described first substrate are detachably connected by usb data wire so that described second control circuit can Dismounting connects described first control circuit, and controls the operation of described automation equipment by described first control circuit.
10. a kind of control device of automation equipment is it is characterised in that include:
First control circuit and first substrate；
Described first control circuit is arranged on described first substrate, has the first real-time on controlling described automation equipment With the first operational capability, described first real-time is higher than the second real-time, and described first operational capability is less than the second operational capability, Described second real-time, the second operational capability are the real-time of second control circuit and operational capability on second substrate respectively；
Wherein, described first substrate is used for being detachably connected by usb interface with described second substrate so that described second controls Circuit is detachably connected described first control circuit, and controls the behaviour of described automation equipment by described first control circuit Make.
11. control devices according to claim 10 are it is characterised in that include being detachably connected the i/ of described first substrate O expansion board.
12. control devices according to claim 10 are it is characterised in that include the stepping being arranged on described first substrate Motor driver, described stepper motor driver includes driving chip and power driving circuit, and described driving chip connects respectively Described first control circuit and described power driving circuit, described driving chip inputs the control letter of described first control circuit Number, output multi-channel drive signal to described power driving circuit, and by feedback signal back to described first control circuit, institute State first control circuit and described control signal is exported according to described feedback signal, and match parameter is exported to described driving Chip.
A kind of 13. control devices of automation equipment are it is characterised in that include:
Second control circuit and second substrate；
Described second control circuit is arranged on described second substrate, has the second real-time on controlling described automation equipment With the second operational capability, less than the first real-time, described second operational capability is higher than the first operational capability to described second real-time, Described first real-time, the first operational capability are the real-time of first control circuit and operational capability on first substrate respectively；
Wherein, described second substrate is used for being detachably connected by usb interface with described first substrate so that described second controls Circuit is detachably connected described first control circuit, and controls the behaviour of described automation equipment by described first control circuit Make.
14. control devices according to claim 13 are it is characterised in that described second circuit is used for running auto-control At least one of collection process outside the control process of equipment and the described control process of operation, interprocess communication process；
Wherein, described control process is used for the operation of auto-control equipment, including the executive component driving for operation, described Collection process is used for gathering current operating state data and current sensor data in described control process, and described in collecting Current operating state data, current sensor data are compared with previous operating state data, previous sensing data respectively, and at least exist Described comparative result is sent when being different by described comparative result by described interprocess communication, or by described work at present shape State data and current sensor data is activation are gone out；
Wherein, described control process is separate with least one of described interprocess communication, described collection process process.
A kind of 15. control devices of automation equipment are it is characterised in that include:
First control circuit and first substrate；
Described first control circuit is arranged on described first substrate, is at least used for controlling the operation of described automation equipment；
Wherein, described first substrate is used for being detachably connected by usb data wire with second substrate so that described second substrate Second control circuit be detachably connected described first control circuit, and described automatization is controlled by described first control circuit The operation of equipment.
CN201410267153.2A 2014-06-16 2014-06-16 Automatic equipment and control system and control device of automatic equipment Active CN104090523B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410267153.2A CN104090523B (en) 2014-06-16 2014-06-16 Automatic equipment and control system and control device of automatic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410267153.2A CN104090523B (en) 2014-06-16 2014-06-16 Automatic equipment and control system and control device of automatic equipment

Publications (2)

Publication Number Publication Date
CN104090523A CN104090523A (en) 2014-10-08
CN104090523B true CN104090523B (en) 2017-02-01

Family

ID=51638245

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410267153.2A Active CN104090523B (en) 2014-06-16 2014-06-16 Automatic equipment and control system and control device of automatic equipment

Country Status (1)

Country Link
CN (1) CN104090523B (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58197508A (en) * 1982-05-14 1983-11-17 Toshiba Mach Co Ltd Programmable control system of work unit in mass-producing machine
CN200962230Y (en) * 2006-08-29 2007-10-17 深圳达实智能股份有限公司 Intelligent multi-function work attendance checking device
CN101075945A (en) * 2006-05-19 2007-11-21 中国科学院沈阳自动化研究所 Real-time Ethernet deterministic communication method
CN201004252Y (en) * 2007-01-26 2008-01-09 惠州市德赛金融电子有限公司 A bank tax integrator
CN201392333Y (en) * 2009-01-14 2010-01-27 石兆奇 Multifunctional gas analyzer
CN102035679A (en) * 2010-12-17 2011-04-27 天津理工大学 Ethernet/IP protocol based remote I/O (Input/ Output) module with short-circuit protection and self diagnosis function
CN202143108U (en) * 2011-06-17 2012-02-08 天津理工大学 Universal Ethernet/IP communication interface apparatus
CN102929157A (en) * 2012-11-15 2013-02-13 哈尔滨工程大学 Triple-redundancy dynamic positioning control computer system for vessel
CN203084709U (en) * 2013-02-26 2013-07-24 杨林楠 Multifunctional development board of Internet of Things system
CN203300121U (en) * 2013-06-14 2013-11-20 四川信息职业技术学院 An embedded smart home practical training platform

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58197508A (en) * 1982-05-14 1983-11-17 Toshiba Mach Co Ltd Programmable control system of work unit in mass-producing machine
CN101075945A (en) * 2006-05-19 2007-11-21 中国科学院沈阳自动化研究所 Real-time Ethernet deterministic communication method
CN200962230Y (en) * 2006-08-29 2007-10-17 深圳达实智能股份有限公司 Intelligent multi-function work attendance checking device
CN201004252Y (en) * 2007-01-26 2008-01-09 惠州市德赛金融电子有限公司 A bank tax integrator
CN201392333Y (en) * 2009-01-14 2010-01-27 石兆奇 Multifunctional gas analyzer
CN102035679A (en) * 2010-12-17 2011-04-27 天津理工大学 Ethernet/IP protocol based remote I/O (Input/ Output) module with short-circuit protection and self diagnosis function
CN202143108U (en) * 2011-06-17 2012-02-08 天津理工大学 Universal Ethernet/IP communication interface apparatus
CN102929157A (en) * 2012-11-15 2013-02-13 哈尔滨工程大学 Triple-redundancy dynamic positioning control computer system for vessel
CN203084709U (en) * 2013-02-26 2013-07-24 杨林楠 Multifunctional development board of Internet of Things system
CN203300121U (en) * 2013-06-14 2013-11-20 四川信息职业技术学院 An embedded smart home practical training platform

Also Published As

Publication number Publication date
CN104090523A (en) 2014-10-08

Similar Documents

Publication Publication Date Title
CN106533874B (en) A kind of permanent magnet synchronous motor data communication system and method based on Modbus rtu protocol
CN104102169A (en) Textile and machine control device, control system, control and driving device and communication method
CN106012275B (en) A kind of embedded piezoelectric jacquard control system and control method
CN104111621B (en) Automation equipment and control system thereof, and control device
CN110286652A (en) Control system method based on H-BOT structure
CN104090523B (en) Automatic equipment and control system and control device of automatic equipment
CN104111622B (en) Weaving device and its operating case
CN104109938B (en) Textile device and control circuit board of automatic equipment
CN103151978A (en) Driving controller for Ethernet stepping motor
CN104168172A (en) Inter-board data interaction device and method based on SWITCH chip
CN104109934B (en) Weaving device and control circuit board, expansion board
CN106224763B (en) The monobus control device and method of LNG filling machine multimachines interconnection
CN109600420A (en) It is a kind of to realize the method and system remotely controlled online based on raspberry pie technology
CN203930438U (en) Weaving device, machine control equipment and control system, control and drive unit
CN211062042U (en) Serial port receiving and transmitting controller
CN202870519U (en) Special-purpose controller for electronic dobby
CN203930441U (en) Machine control equipment and operating case thereof
CN203930437U (en) Automation equipment and control system thereof, control device
CN102622937A (en) Robot demonstrator
CN203376631U (en) Spinning control system for spinning machine
CN207557362U (en) A kind of full production cycle automatic test device of distribution terminal
CN201945861U (en) Multiple process units control system in paper industry
CN206521562U (en) With the long-range computer jacquard control device for passing flower function
CN101308368A (en) Electric vehicle controller and its soft configuration method
CN108628536A (en) A kind of STM32 and serial ports touch screen communication module of man-machine interface interaction

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant