CN107678393A - A kind of intelligent spraying control system and method based on Soft- PLC - Google Patents

A kind of intelligent spraying control system and method based on Soft- PLC Download PDF

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Publication number
CN107678393A
CN107678393A CN201710765219.4A CN201710765219A CN107678393A CN 107678393 A CN107678393 A CN 107678393A CN 201710765219 A CN201710765219 A CN 201710765219A CN 107678393 A CN107678393 A CN 107678393A
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plc
module
soft
pel
scanning
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CN107678393B (en
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褚众杰
苏平
刘建群
高伟强
于兆勤
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Guangdong University of Technology
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Guangdong University of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/901—Indexing; Data structures therefor; Storage structures
    • G06F16/9024—Graphs; Linked lists
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/901—Indexing; Data structures therefor; Storage structures
    • G06F16/9027—Trees
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/903—Querying
    • G06F16/90335—Query processing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/903—Querying
    • G06F16/9038—Presentation of query results

Abstract

The present invention relates to a kind of intelligent spraying control system and method based on Soft- PLC, system includes Soft- PLC development module, Soft- PLC operation module, FPGA data processing module, I/O interface module and sensor assembly；Wherein, the Soft- PLC operation module is connected with Soft- PLC development module, sensor assembly and FPGA data processing module respectively, read after the instruction catalogue sended over for receiving and explaining Soft- PLC development module or writing sensor module in register data, and send data to FPGA data processing module；The FPGA data processing module is connected by I/O interface module with external equipment, and output control after data processing is instructed to external equipment, controls its switching value amount.The present invention has the advantages that relatively cheap price, open strong, compatibility height, can meet that different process demand, favorable expandability, the speed of service are fast, operating efficiency is high.

Description

A kind of intelligent spraying control system and method based on Soft- PLC
Technical field
The present invention relates to the technical field of Industry Control, more particularly to a kind of intelligent spray painting control system based on Soft- PLC System and method.
Background technology
With the continuous development of industry, PLC due to its own have general programmable and programming language, modularization, can The features such as multiplexing, is widely used in automation field.
At present, spray robot is set using robot controller and traditional PLC control machines people and surrounding automation mostly It is standby to cooperate.However, traditional PLC is expensive, the PLC of different manufacturers is incompatible, and customizability is poor, and the speed of service Slowly, operating efficiency is relatively low, is unfavorable for the sound development of intelligent spraying industry.
How to reduce the cost of spraying equipment, improve PLC compatibility, improve the speed of service and operating efficiency, into For spraying industry urgent problem to be solved.
The content of the invention
It is relatively cheap, open strong, compatible it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of price Property it is high, can meet that different process demand, favorable expandability, the speed of service are fast, the high intelligence spraying control based on Soft- PLC of operating efficiency System processed.
To achieve the above object, technical scheme provided by the present invention is：A kind of intelligent spray painting control system based on Soft- PLC System, including Soft- PLC development module, Soft- PLC operation module, FPGA data processing module, I/O interface module and sensor assembly； Wherein, the Soft- PLC operation module is connected with Soft- PLC development module, sensor assembly and FPGA data processing module respectively, After the instruction catalogue sended over for receiving and explaining Soft- PLC development module read or writing sensor module in register number According to, and send data to FPGA data processing module；The FPGA data processing module is set by I/O interface module with outside Standby connection, output control after data processing is instructed to external equipment, controls its switching value amount.
Further, system also includes I/O expansion module, and the I/O expansion module is connected with FPGA data processing module.
Further, sensor assembly includes resin pressure sensor, curing agent pressure sensor and baroceptor, The three is connected with Soft- PLC operation module respectively.
Further, Soft- PLC development module includes the trapezoidal graph search edit cells of PLC, ladder diagram inspection unit, conversion list Member, communication unit and monitoring standard module database；The trapezoidal graph search edit cells of PLC, ladder diagram inspection unit, conversion unit, Communication unit is linked in sequence；Monitoring standard module database is connected with the trapezoidal graph search edit cells of PLC；Soft- PLC development module passes through Communication unit is connected with Soft- PLC operation module；
Wherein, the monitoring standard module database, the monitoring standard module conventional for storing spraying industry；
The trapezoidal graph search edit cells of PLC, search for related PLC ladder diagrams template and compile from monitoring standard module database Write PLC ladder diagrams；
The ladder diagram inspection unit, semantic, logical check is carried out to obtained ladder diagram；
The conversion unit, the ladder diagram write is converted into by instruction catalogue by graph search and binary tree algorithm；
The communication unit, instruction catalogue is sent to Soft- PLC operation module.
To achieve the above object, the present invention additionally provides a kind of intelligent spray painting control method based on Soft- PLC, including it is following Step：
S1, user input the device name for needing to control in the trapezoidal graph search edit cells of PLC and produce input signal Sensor, related PLC ladder diagrams template is searched for from monitoring standard module database；
The trapezoidal graph search edit cell of S2, PLC by similarity to using temperature to the related PLC ladder diagrams template that searches Sorted from high to low；
S3, user select PLC ladder diagrams template therein, are carried out on this basis according to the application demand of reality if necessary Edit-modify, it is not necessary to when directly invoke the PLC ladder diagram templates；
S4, ladder diagram inspection unit carry out semantic, logical check to obtained ladder diagram；
The ladder diagram write is converted into instruction catalogue by S5, conversion unit by graph search and binary tree algorithm；
After S6, Soft- PLC operation module receive and explained the instruction catalogue that Soft- PLC development module is sended over by communication unit The data of register in reading or writing sensor module, and send data to FPGA data processing module；
S7, FPGA data processing module instruct output control after data processing to external equipment, control its switching value, real Now intelligence spraying.
Further, above-mentioned steps S5 conversion units are converted the ladder diagram write by graph search and binary tree algorithm For concretely comprising the following steps for instruction catalogue：
S51, scan from left to right, if first pel is arrived in scanning and the pel is normally opened, that is, create LD nodes, then create left section Point, record the attribute of the pel；If the first pel is normally closed, that is, LDI nodes are created, left sibling is equally created, records the pel Attribute；If scan be not first pel and the pel is normally opened, that is, create AND node, then create left sibling, record the pel Attribute；If scan be not first pel and the pel is normally closed, that is, create ANI nodes, equally create left sibling, record the pel Attribute；
S52, continue scanning of turning right, create right node if scanning is to pel, record the attribute of the pel；If scanning is arrived down Line, then judge left and right underscore；Rule if lower-left, go to lastrow, scan from left to right；Rule, then remember if bottom right Record the coordinate A (i, j) of underscore and go to next line scanning；If scanning continues scanning of turning right less than underscore；
S53, after going to next line, determine whether node and pnode [i+1] [j] .type are more than 0；If there is section Point and pnode [i+1] [j] .type are more than 0, that is, go to lastrow, are turned left scanning from the right side；If scanning is arrived down in scanning process Line, that is, go to next line and scan from left to right；If scanning goes to lastrow and continues to turn left from the right side to sweep less than underscore Retouch.
Further, Soft- PLC operation module uses stacking method interpretative order table in step S6, comprises the following steps：Sweep I/O state is retouched, PLC interpretive programs, output refreshing is performed, judges whether to stop scanning and be stopped；
Wherein, when PLC interpretive programs have explained branch's block, two results are retained；Branch during branch's BOB(beginning of block) The value of point is retained in storehouse Stack, and the value of branch's block in itself is retained in variable result；
After PLC interpretive programs have explained branch's block, if PLC interpretive programs are found that ANB is instructed immediately, illustrate this Branch's block and others are normally opened, normally-closed contact or branch's block series connection, now eject the uppermost values of Stack, and this Individual value and result do logic and operation, and result is stored in result；
It was found that when OUT is instructed, the uppermost value of resulth and storehouse Stack is carried out logic add computing, is as a result stored in In result, while remove storehouse stack；
It was found that when END is instructed, the ON/OFF state outputs of Y image register will be exported, turn into actual output, then Start the new round scan period.
Compared with prior art, this programme principle and advantage is as follows：
1. hardware PLC is replaced using software, it is open strong, different process requirements can be directed to, customize out special spraying Control system.
2. system is simplified, remove unwanted function, greatly reduce cost.
3. having I/O expansion module, scalability is preferable, can increase function according to demand.
4. ladder diagram is converted into instruction catalogue, scan from left to right, scanning creates LD nodes when arriving first pel, then creates a left side Node, record the attribute of the pel；Continue scanning of turning right, create right node if scanning is to pel, record the attribute of the pel； If underscore is arrived in scanning, left and right underscore is judged；Rule if lower-left, go to lastrow, scan from left to right；If the right side Underscore, then go to next line scanning.The method can avoid running into the situation that underscore will scan, and reduce the number of scanning, Improve the efficiency of scanning algorithm.
5. being explained using the complicated instruction catalogue of the method reply of storehouse, energy quick release internal memory, operational efficiency is improved.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the intelligent spraying control system based on Soft- PLC of the present invention；
Fig. 2 is the structural representation of Soft- PLC development module in a kind of intelligent spraying control system based on Soft- PLC of the present invention Figure；
Fig. 3 is a kind of flow chart of the intelligent spray painting control method based on Soft- PLC of the present invention；
Fig. 4 is the flow that ladder diagram is converted into instruction catalogue in a kind of intelligent spray painting control method based on Soft- PLC of the present invention Figure.
Embodiment
With reference to specific embodiment, the invention will be further described：
Referring to shown in accompanying drawing 1-2, a kind of intelligent spraying control system based on Soft- PLC described in the present embodiment, including it is soft PLC development modules 1, Soft- PLC operation module 2, FPGA data processing module 3, I/O interface module 4, sensor assembly 5 and IO expand Open up module 6；Wherein, Soft- PLC operation module 2 respectively with Soft- PLC development module 1, sensor assembly 5 and FPGA data Reason module 3 connects, reading or writing sensor module 5 after the instruction catalogue sended over for receiving and explaining Soft- PLC development module 1 The data of middle register, and send data to FPGA data processing module 3；The FPGA data processing module 3 is connect by IO Mouth mold block 4 is connected with external equipment 7；The external equipment 7 include spraying fine valve, resin circulating valve, curing agent circulating valve and jerk, The switches such as operation, pause.
I/O expansion module 6 is connected with above-mentioned FPGA data processing module 3, for accessing the switch being more actually needed.
Soft- PLC development module 1 includes the trapezoidal graph search edit cell 1-1 of PLC, ladder diagram inspection unit 1-2, conversion unit 1-3, communication unit 1-4 and monitoring standard module database 1-5；The trapezoidal graph search edit cell 1-1 of PLC, ladder diagram inspection unit 1-2, conversion unit 1-3, communication unit 1-4 are linked in sequence；Monitoring standard module database 1-5 and the trapezoidal graph search edit cells of PLC 1-1 connections；Soft- PLC development module 1 is run module 2 with Soft- PLC by communication unit 1-4 and is connected.
Corresponding to spraying external equipment, sensor assembly 5 includes resin pressure sensor 5-1, curing agent pressure sensor 5-2 and baroceptor 5-3, the three are connected with Soft- PLC operation module 2 respectively.
Intelligent spray painting control principle is as follows：
S1, basis are actually needed, and user inputs the implementor name for needing to control in the trapezoidal graph search edit cell 1-1 of PLC When claiming and producing sensor (such as resin pressure sensor 5-1) of input signal, searched for from monitoring standard module database 1-5 related PLC ladder diagram templates；
The trapezoidal graph search edit cell 1-1 of S2, PLC by similarity to using temperature to the related PLC ladder diagrams that search Template is sorted from high to low；
S3, user select PLC ladder diagrams template therein, are carried out on this basis according to the application demand of reality if necessary Edit-modify, it is not necessary to when directly invoke the PLC ladder diagram templates；
S4, ladder diagram inspection unit 1-2 carry out semantic, logical check to obtained ladder diagram；
The ladder diagram write is converted into instruction catalogue by S5, conversion unit 1-3 by graph search and binary tree algorithm, specifically Step is as follows：
S51, scan from left to right, if first pel is arrived in scanning and the pel is normally opened, that is, create LD nodes, then create left section Point, record the attribute of the pel；If the first pel is normally closed, that is, LDI nodes are created, left sibling is equally created, records the pel Attribute；If scan be not first pel and the pel is normally opened, that is, create AND node, then create left sibling, record the pel Attribute；If scan be not first pel and the pel is normally closed, that is, create ANI nodes, equally create left sibling, record the pel Attribute；
S52, continue scanning of turning right, create right node if scanning is to pel, record the attribute of the pel；If scanning is arrived down Line, then judge left and right underscore；Rule if lower-left, go to lastrow, scan from left to right；Rule, then remember if bottom right Record the coordinate A (i, j) of underscore and go to next line scanning；If scanning continues scanning of turning right less than underscore；
S53, after going to next line, determine whether node and pnode [i+1] [j] .type are more than 0；If there is section Point and pnode [i+1] [j] .type are more than 0, that is, go to lastrow, are turned left scanning from the right side；If scanning is arrived down in scanning process Line, that is, go to next line and scan from left to right；If scanning goes to lastrow and continues to turn left from the right side to sweep less than underscore Retouch.
S6, Soft- PLC operation module 2 receive and explained the finger that Soft- PLC development module 1 is sended over by communication unit 1-4 Make read after table or writing sensor module 5 in register data, and send data to FPGA data processing module 3；Wherein, Soft- PLC operation module 2 uses stacking method interpretative order table, comprises the following steps：Scan I/O state, perform PLC interpretive programs, Output refreshes, judges whether to stop scanning and be stopped；
Wherein, when PLC interpretive programs have explained branch's block, two results are retained；Branch during branch's BOB(beginning of block) The value of point is retained in storehouse Stack, and the value of branch's block in itself is retained in variable result；PLC interpretive programs have explained one After individual branch's block, if PLC interpretive programs are found that ANB is instructed immediately, illustrate that this branch's block and others are normally opened, normally-closed contact Or branch's block series connection, the uppermost values of Stack are now ejected, and this value and result are done logic and operation, As a result it is stored in result；It was found that when OUT is instructed, the uppermost value of resulth and storehouse Stack is carried out logic add fortune Calculate, be as a result stored in result, while remove storehouse stack；It was found that when END is instructed, Y image register will be exported ON/OFF state outputs, turn into actual output, then start the new round scan period.
S7, FPGA data processing module 3, which instruct output control after data processing, gives external equipment (resin circulating valve), control Its switching value is made, realizes intelligence spraying.
Examples of implementation described above are only the preferred embodiments of the invention, and the implementation model of the present invention is not limited with this Enclose, therefore the change that all shape, principles according to the present invention are made, it all should cover within the scope of the present invention.

Claims (7)

  1. A kind of 1. intelligent spraying control system based on Soft- PLC, it is characterised in that：Transported including Soft- PLC development module (1), Soft- PLC Row module (2), FPGA data processing module (3), I/O interface module (4) and sensor assembly (5)；Wherein, the Soft- PLC fortune Row module (2) is connected with Soft- PLC development module (1), sensor assembly (5) and FPGA data processing module (3) respectively, is used for Receive and explain read after the instruction catalogue that Soft- PLC development module (1) sends over or writing sensor module (5) in register number According to, and send data to FPGA data processing module (3)；The FPGA data processing module (3) passes through I/O interface module (4) It is connected with external equipment, output control after data processing is instructed to external equipment, controls its switching value.
  2. A kind of 2. intelligent spraying control system based on Soft- PLC according to claim 1, it is characterised in that：Also include IO Expansion module (6), the I/O expansion module (6) are connected with FPGA data processing module (3).
  3. A kind of 3. intelligent spraying control system based on Soft- PLC according to claim 1, it is characterised in that：The sensing Device module (5) includes resin pressure sensor (5-1), curing agent pressure sensor (5-2) and baroceptor (5-3), should Three is connected with Soft- PLC operation module (2) respectively.
  4. A kind of 4. intelligent spraying control system based on Soft- PLC according to claim 1, it is characterised in that：The Soft- PLC Development module (1) include the trapezoidal graph search edit cells (1-1) of PLC, ladder diagram inspection unit (1-2), conversion unit (1-3), Communication unit (1-4) and monitoring standard module database (1-5)；The trapezoidal graph search edit cells (1-1) of PLC, ladder diagram checklist First (1-2), conversion unit (1-3), communication unit (1-4) are linked in sequence；Monitoring standard module database (1-5) is searched with PLC ladder diagrams Rope edit cell (1-1) connects；Soft- PLC development module (1) is run module (2) with Soft- PLC by communication unit (1-4) and is connected；
    Wherein, the monitoring standard module database (1-5), the monitoring standard module conventional for storing spraying industry；
    The trapezoidal graph search edit cells (1-1) of PLC, the related trapezoidal artworks of PLC of search from monitoring standard module database (1-5) Plate simultaneously writes PLC ladder diagrams；
    The ladder diagram inspection unit (1-2), semantic, logical check is carried out to obtained ladder diagram；
    The conversion unit (1-3), instruction catalogue is converted into by graph search and binary tree algorithm by the ladder diagram write；
    The communication unit (1-4), instruction catalogue is sent to Soft- PLC operation module (2).
  5. A kind of 5. intelligent spray painting control method based on Soft- PLC for system described in claim 1, it is characterised in that：Including Following steps：
    S1, user input the device name for needing to control and the biography for producing input signal in the trapezoidal graph search edit cells of PLC During sensor, related PLC ladder diagrams template is searched for from monitoring standard module database；
    The trapezoidal graph search edit cell of S2, PLC is carried out by similarity to using temperature to the related PLC ladder diagrams template searched Sort from high to low；
    S3, user select PLC ladder diagrams template therein, enter edlin according to the application demand of reality on this basis if necessary Modification, it is not necessary to when directly invoke the PLC ladder diagram templates；
    S4, ladder diagram inspection unit carry out semantic, logical check to obtained ladder diagram；
    The ladder diagram write is converted into instruction catalogue by S5, conversion unit by graph search and binary tree algorithm；
    S6, Soft- PLC operation module receives and explains after the instruction catalogue that Soft- PLC development module is sended over by communication unit reading or The data of register in person's writing sensor module, and send data to FPGA data processing module；
    S7, FPGA data processing module instruct output control after data processing to external equipment, control its switching value, realize intelligence Can spraying.
  6. A kind of 6. intelligent spray painting control method based on Soft- PLC according to claim 5, it is characterised in that：The step The ladder diagram write is converted into concretely comprising the following steps for instruction catalogue by S5 conversion units by graph search and binary tree algorithm：
    S51, scan from left to right, if first pel is arrived in scanning and the pel is normally opened, that is, create LD nodes, then create left sibling, remember Record the attribute of the pel；If the first pel is normally closed, that is, LDI nodes are created, left sibling is equally created, records the attribute of the pel； If scan be not first pel and the pel is normally opened, that is, create AND node, then create left sibling, record the attribute of the pel； If scan be not first pel and the pel is normally closed, that is, create ANI nodes, equally create left sibling, record the category of the pel Property；
    S52, continue scanning of turning right, create right node if scanning is to pel, record the attribute of the pel；If scanning arrives lower stroke Line, then judge left and right underscore；Rule if lower-left, go to lastrow, scan from left to right；Rule, then record if bottom right The coordinate A (i, j) of underscore simultaneously goes to next line scanning；If scanning continues scanning of turning right less than underscore；
    S53, after going to next line, determine whether node and pnode [i+1] [j] .type are more than 0；If have node with And pnode [i+1] [j] .type is more than 0, that is, goes to lastrow, turned left scanning from the right side；If underscore is arrived in scanning in scanning process, Go to next line and scan from left to right；If scanning less than underscore, that is, goes to lastrow and continues to turn left scanning from the right side.
  7. A kind of 7. intelligent spray painting control method based on Soft- PLC according to claim 5, it is characterised in that：The step Soft- PLC operation module uses stacking method interpretative order table in S6, comprises the following steps：Scan I/O state, perform PLC explanation journeys Sequence, output refresh, judge whether to stop scanning and be stopped；
    Wherein, when PLC interpretive programs have explained branch's block, two results are retained；Branch point during branch's BOB(beginning of block) Value is retained in storehouse Stack, and the value of branch's block in itself is retained in variable result；
    After PLC interpretive programs have explained branch's block, if PLC interpretive programs are found that ANB is instructed immediately, illustrate this branch Block and others are normally opened, normally-closed contact or branch's block series connection, now eject the uppermost values of Stack, and this value Logic and operation is done with result, result is stored in result；
    It was found that when OUT is instructed, the uppermost value of resulth and storehouse Stack is carried out logic add computing, is as a result stored in In result, while remove storehouse stack；
    It was found that when END is instructed, the ON/OFF state outputs of Y image register will be exported, turns into actual output, then starts The new round scan period.
CN201710765219.4A 2017-08-30 2017-08-30 Intelligent spraying control system and method based on soft PLC Expired - Fee Related CN107678393B (en)

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