CN110147076A - A kind of visual control device and method - Google Patents
A kind of visual control device and method Download PDFInfo
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- CN110147076A CN110147076A CN201910297916.0A CN201910297916A CN110147076A CN 110147076 A CN110147076 A CN 110147076A CN 201910297916 A CN201910297916 A CN 201910297916A CN 110147076 A CN110147076 A CN 110147076A
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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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
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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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35356—Data handling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35381—Convert in real time input peripheral data to processor data, ouput data format
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Abstract
The invention discloses a kind of visual control device and methods, at least setting ePLC system and vision system, wherein uses visual spatial attention agreement to carry out data communication between the ePLC system and vision system to realize data among systems standardization interaction；The visual spatial attention agreement is at least arranged flexible layer, control layer and algorithm layer, the flexible layer for realizing ePLC system and vision system connection；Many algorithms are arranged for handling logic task, the algorithm layer in the control layer, for selecting respective algorithms to realize high performance requirements according to user's application demand.Compared with prior art, the present invention realizes the integrated of vision system, PLC system and kinetic control system by the Vision control algorithm fusion protocol of multi-tier systematic structure, it is advantageously implemented vision algorithm, logic control program, the extension and multiplexing of motion control arithmetic, it is integrated using complexity to reduce.
Description
Technical field
The present invention relates to technical field of industrial control more particularly to a kind of visual control device and methods.
Background technique
The continuous fusion of the equipment such as sensor, controller, robot, which is brought, has pushed intelligent plant and information physical system
The development of system etc..PLC system, kinetic control system and vision system in industrial automation every field become more and more important
And it is indivisible.In current application, individually developed by vision system, kinetic control system and PLC system then using logical
Believe that combination of protocols is realized.
Currently, the program of three systems requires customized development, while each development platform due to the difference of application scenarios
With otherness.And numerous communication protocols (for example, EtherCat, Modbus, CAN) further cause exploitation between system
Difficulty.
Meanwhile vision, logic and the integrated applications of motion control are always in many vision systems, PLC and movement control
Combination forms system in device processed, increases complexity.
In conjunction with above-mentioned two o'clock, customer demand difficulty is being continuously improved, and exploitation accordingly can independently merge the application of three digest journals
Program has become the most important thing of developer's task.
Therefore in view of the drawbacks of the prior art, it is really necessary to propose a kind of technical solution to solve skill of the existing technology
Art problem.
Summary of the invention
In view of this, passing through the vision control of multi-tier systematic structure it is necessory to provide a kind of visual control device and method
Integrating for algorithm fusion agreement processed, realization vision system, PLC system and kinetic control system, is advantageously implemented vision algorithm, patrols
Control program is collected, the extension and multiplexing of motion control arithmetic are integrated using complexity to reduce.
In order to solve technical problem of the existing technology, technical scheme is as follows:
A kind of visual control device, at least setting ePLC system and vision system, wherein the ePLC system and vision system
Visual spatial attention agreement is used to carry out data communication between system to realize data among systems standardization interaction；The visual spatial attention association
View is at least arranged flexible layer, control layer and algorithm layer, the flexible layer for realizing ePLC system and vision system connection；Institute
It states control layer and many algorithms is set for handling logic task, the algorithm layer, it is corresponding for being selected according to user's application demand
Algorithm is to realize high performance requirements.
Model agreement, the agreement is respectively set in scheme as a further improvement, the ePLC system and vision system
Template is realized for managing visual spatial attention agreement customizes application.
Scheme as a further improvement, the model agreement include at least template stem, visual spatial attention frame template, algorithm
Frame template and parameter frame template, wherein
Protocol frame stem includes communication protocol identification code and template data storage address；
Visual spatial attention frame template include module unique identifier, algorithm quantity, number of parameters, module data initial address,
Module starting label, module data save standard, contained algorithm identification code and institute's containing parameter identification code；Each visual spatial attention frame mould
Plate includes polyalgorithm identification code and parameter identification code；
Algorithm frames template: standard is saved including algorithm identification code, number of parameters, algorithm data initial address, algorithm data
And institute's containing parameter identification code；Each algorithm frames template includes multiple parameters identification code；
Parameter frame template: comprising parameter identification code, vision algorithm parameter identification code and vision and motion algorithm parameter
Conversion ratio.
Visual spatial attention protocol frame, algorithm frames and parameter is at least arranged in scheme as a further improvement, visual spatial attention agreement
Frame, wherein visual spatial attention protocol frame has included at least module code, agreement frame length, parameter frame data and algorithm frame data；
Parameter frame data and algorithm frame data separately include multiple parameters frame and control frame；In model agreement and visual spatial attention protocol frame
Module code corresponds；
Algorithm frames include at least algorithm identification code, control frame length and parameter frame data composition；Algorithm frames and model agreement
In algorithm identification code need to correspond；
Parameter frame includes at least parameter identification code and supplemental characteristic；Parameter identification code is the address of supplemental characteristic；Parameter frame
It needs to correspond with the parameter identification code in model agreement.
Scheme as a further improvement is loaded into vision system according to described in application demand configuration and by its model agreement
In the fixing address of system and ePLC system.
Scheme as a further improvement, each model agreement correspond to a kind of application type, the ePLC system and vision
System uses identical model agreement.
Parsing module, the parsing module is arranged in scheme as a further improvement, the ePLC system and vision system
For reading model agreement and being parsed, wherein in ePLC system and vision system using identical Framing algorithm and and
Frame decoding algorithm is to realize transmitted in both directions protocol frame.
Scheme as a further improvement, Framing algorithm include at least the following three steps: visual spatial attention framing, algorithm groups
Frame and parameter framing；
Visual spatial attention framing: it is searched in model agreement by module code obtain mptx (visual frame template set first
X-th in conjunction), to obtain the algorithm number of frames and parameter number of frames for including；It include algorithm identification code and data according to mptx
Identification code and passes through following algorithm framings and parameter framing method and obtain parameter frame data and algorithm frame data；Finally calculate
Agreement frame length completes visual spatial attention framing；
Algorithm framing: it is searched in model agreement by algorithm identification code obtain apty (in algorithm frames template set first
Y), apty include parameter number of frames；According to parameter number of frames, call parameters Framing algorithm obtains parameter frame data,
It is completed after last computational algorithm frame length；
Parameter framing: it is searched in model agreement according to parameter identification code and obtains the pptz (z in parameter frame template set
), parameter identification code and supplemental characteristic are then combined into parameter frame.
Scheme as a further improvement, frame decoding algorithm comprising the following three steps: visual spatial attention frame decoding, algorithm frame decoding and
Parameter frame decoding；Visual spatial attention frame decoding: module is obtained in the data of four bytes from the starting four of solution frame point and then respectively
Identification code and vision frame length；Correlation mptx is obtained according to module code search protocol template, it will be from solution+8 words of frame point
- 8 byte of vision frame length that section starts is sent to the initial address of storage module data；
Algorithm frame decoding: related mptx, the parameter frame that circular treatment includes are found according to module code search protocol template；
In each cycle, data and parameter identification code are sent collectively to receive data area；Circular treatment algorithm frames；In each circulation
In, apty is found using algorithm identification code and sends the data of algorithm frames to the relative address for receiving data area；
Parameter frame decoding: apty is obtained using algorithm identification code, circular treatment algorithm frames send out parameter according to parameter identification code
It is sent to and receives data area.
The invention also provides a kind of visual spatial attention methods, using visual spatial attention protocol realization ePLC system and vision system
Between data normalization interaction；Flexible layer, control layer and algorithm layer is at least arranged in the visual spatial attention agreement, and the flexible layer is used
In the connection for realizing ePLC system and vision system；For the control layer for handling logic task, the algorithm layer setting is a variety of
Algorithm, for selecting respective algorithms to realize high performance requirements according to user's application demand；
Model agreement is respectively set in ePLC system and vision system and by configuration protocol Template Manager visual spatial attention
Agreement customizes application to realize, wherein realizes transmitted in both directions association using identical model agreement, Framing algorithm and frame decoding algorithm
Discuss frame.
Compared with prior art, the present invention realizes vision by the Vision control algorithm fusion protocol of multi-tier systematic structure
System, PLC system and kinetic control system it is integrated, be advantageously implemented vision algorithm, logic control program, motion control arithmetic
Extension and multiplexing, integrated apply complexity to reduce.
Detailed description of the invention
Fig. 1 is the system construction drawing of visual control device of the present invention.
Fig. 2 is the structural block diagram of visual spatial attention agreement in the present invention.
Fig. 3 is the schematic diagram of model agreement in the present invention.
Fig. 4 is the schematic diagram of protocol frame in the present invention.
Fig. 5 is the schematic diagram of framing and frame decoding in the present invention.
Fig. 6 is the structure drawing of device of an embodiment of the present invention.
Fig. 7 is the model agreement schematic diagram of an embodiment of the present invention.
Fig. 8 is the visual spatial attention protocol frame schematic diagram of an embodiment of the present invention.
Following specific embodiment will further illustrate the present invention in conjunction with above-mentioned attached drawing.
Specific embodiment
Technical solution provided by the invention is described further below with reference to attached drawing.
It referring to Fig. 1, show the present invention and a kind of system construction drawing of visual control device is provided, at least setting ePLC system
And vision system, wherein using (the Vision control algorithm fusion of visual spatial attention agreement between the ePLC system and vision system
Vision control algorithm) data communication is carried out to realize data among systems standardization interaction；Wherein, ePLC packet
Containing traditional PLC function and motion control function.EPLC is a kind of customization structure, numeral input/output, simulation input/output
Quantity and the quantity of controlled servo-system can change according to demand and change.It especially can be High Performance Motion Control program
Customize the quantity of ePLC processor.Application comprising motion control function generallys use two or more processors, one master
It is used for logic control, another to be used for motion control.The typical ePLC that device figure is shown, it is using double processing
Device structure: primary processor and from processor.Vision system generally comprises one or more video camera and for carrying out visual task
Processor.Communication protocol between ePLC and vision system includes TCP, Modbus and CAN etc..
Referring to fig. 2, it is shown the structure chart of visual spatial attention agreement of the present invention, what structure chart indicated is multi-tier systematic structure.
The structure includes three layers: flexible layer, control layer and algorithm layer.Flexible layer is responsible for connecting vision system and by PLC interface and ePLC.
Data corresponding interaction between vision system and ePLC may be implemented by the model agreement being stored in RAM.In two systems
In save specific model agreement with realize visual spatial attention (Vision control algorithm merge vision control
Algorithm) agreement.
Control layer to handle logic and motion control arithmetic separation, to realize that processing logic and motion control arithmetic exist
Independent operating in different processor.
Algorithm layer includes many algorithms.Independent algorithm layer permission algorithm can reach high-performance in single processor to be wanted
It asks.
It should be pointed out that above-mentioned three-decker is on software；Algorithm is stored in ePLC；User passes through setting agreement mould
Plate carrys out circulation of the corresponding data between three layers, and specific algorithm is individually developed；Template in two systems is the same；
It needs to select the same template；Model agreement is stored in RAM and the three-tier architecture of software is not related；Model agreement is protected
The corresponding relationship of three inter-layer datas interaction is deposited, independently of three layers of software architecture, and algorithm layer is one layer in three layers.
Referring to Fig. 3, the structure of model agreement is illustrated.Model agreement is stored in the RAM of vision system and ePLC.This hair
It is bright that various types of functions is supported to realize using model agreement, and model agreement corresponds a type of application.?
The present invention proposes in framework that user only needs to redesign and reload model agreement, and then they can be multiplexed vision
Control system.Model agreement can be loaded into the fixing address of vision system and ePLC system.Restart two systems
Afterwards, it will be stored in fixed memory region.The parsing module of two systems will read it in analysis protocol frame.Model agreement
Include four parts: template stem, visual spatial attention frame template, algorithm frames template and parameter frame template.
Wherein each partial interpretation is as follows:
Protocol frame stem: including communication protocol identification code and template data storage address.
Visual spatial attention frame template: including module unique identifier, algorithm quantity, number of parameters, module data initial address,
Module starting label, module data save standard, contained algorithm identification code and institute's containing parameter identification code.Wherein visual spatial attention frame mould
Plate cannot be sky, and each visual spatial attention frame template may include polyalgorithm identification code and parameter identification code.
Algorithm frames template: including algorithm identification code, number of parameters, algorithm data initial address, algorithm data saves standard,
And institute's containing parameter identification code.Algorithm frames template cannot be sky, and each algorithm frames template may include multiple parameters identification code.
Parameter frame template: it includes that parameter identification code, relevant vision algorithm parameter identification code and vision and movement are calculated
The conversion ratio of method parameter.
Referring to fig. 4, it is shown the schematic diagram of visual spatial attention protocol frame, visual spatial attention protocol frame includes in its data field
Parameter frame and algorithm frames.Algorithm protocol frame includes parameter frame, wherein
Visual spatial attention protocol frame: including module code, agreement frame length, parameter frame data and algorithm frame data.Ginseng
Number frame data and algorithm frame data separately include multiple parameters frame and control frame.Mould in model agreement and visual spatial attention protocol frame
Block identification code needs to correspond.
Algorithm frames: by algorithm identification code, frame length and parameter frame data composition are controlled.Calculation in algorithm frames and model agreement
Method identification code needs to correspond.
Parameter frame: including parameter identification code and supplemental characteristic.Parameter identification code is also the address of supplemental characteristic.Parameter frame and
Parameter identification code in model agreement needs to correspond.
Referring to Fig. 5, it is shown the schematic diagram of framing of the present invention and frame decoding, various types of function are supported using model agreement
It is able to achieve, and model agreement corresponds a type of application.It is proposed in framework that user only needs to set again in the present invention
Count and reload model agreement, i.e. reusable vision control system.Model agreement can be loaded into vision system and ePLC system
In the fixing address of system.After restarting two systems, model agreement will be stored in fixed memory region.The solution of two systems
Analysis module will read it in analysis protocol frame.Using identical model agreement and Framing algorithm, frame decoding algorithm can be realized two-way
Transport protocol frame.
Framing comprising the following three steps: visual spatial attention framing, algorithm framing and parameter framing.Transmission data field, which saves, wants
The data of transmission, and indexed by parameter unique identifier.In vision system, it indicates the parameter obtained from vision algorithm.?
In ePLC, data come from region of memory.
Visual spatial attention framing: it is searched in model agreement by module code obtain mpt firstx(visual frame template set
X-th in conjunction), to obtain the algorithm number of frames and parameter number of frames for including.According to mptxInclude algorithm identification code and data
Identification code and passes through following algorithm framings and parameter framing method and obtain parameter frame data and algorithm frame data.Finally calculate
Agreement frame length completes visual spatial attention framing.
Algorithm framing: it is searched in model agreement by algorithm identification code obtain apt firsty(in algorithm frames template set
Y), aptyInclude parameter number of frames.According to parameter number of frames, call parameters Framing algorithm obtains parameter frame data,
It is completed after last computational algorithm frame length.
Parameter framing: it is searched in model agreement according to parameter identification code and obtains pptz(the z in parameter frame template set
), parameter identification code and supplemental characteristic are then combined into parameter frame.
Frame decoding comprising the following three steps: visual spatial attention frame decoding, algorithm frame decoding and parameter frame decoding.Following reception data areas
Frame parameter is solved for saving.Data area 1 is received, receiving data area 2 and receiving data area 3 is interim storage data area
Domain.In vision system, receive the preservation of data area 3 is the data that feedback arrives vision algorithm.In ePLC, data field is received
Domain 1, receiving data area 2 and receiving data area 3 is respectively logical program data field, principal and subordinate's data switched data area and algorithm
Data field.
Visual spatial attention frame decoding: module knowledge is obtained in the data of four bytes from the starting four of solution frame point and then respectively
Other code and vision frame length.Correlation mpt is obtained according to module code search protocol templatex.It will be from solution+8 bytes of frame point
- 8 byte of vision frame length of beginning is sent to the initial address of storage module data.
Algorithm frame decoding: related mpt is found according to module code search protocol templatex.The parameter frame that circular treatment includes.
In each cycle, data and parameter identification code are sent collectively to receive data area 3.Circular treatment algorithm frames.It is followed each
In ring, apt is found using algorithm identification codeyAnd send the data of algorithm frames to the relative address for receiving data area 2.
Parameter frame decoding: apt is obtained using algorithm identification codey.Circular treatment algorithm frames.Parameter is sent out according to parameter identification code
It is sent to and receives data area 3.
The execution sequence of above-mentioned six kinds of algorithms is parameter framing, algorithm framing, visual spatial attention framing, visual spatial attention frame decoding,
Algorithm frame decoding and parameter frame decoding, as shown in Figure 5.Wherein, visual spatial attention framing incites somebody to action call parameters framing simultaneously.Transmit visual spatial attention
The direction of protocol frame can be from vision system to ePLC or from ePLC to vision system.On from vision system to the direction ePLC
When, parameter framing, algorithm framing and visual spatial attention framing are run in vision system, remaining algorithm is run in ePLC.From
When on ePLC to vision system direction, parameter framing, algorithm framing and visual spatial attention framing are run in ePLC, remaining algorithm exists
It is run in vision system.
The invention also provides a kind of visual spatial attention methods, using visual spatial attention protocol realization ePLC system and vision system
Between data normalization interaction；Flexible layer, control layer and algorithm layer is at least arranged in the visual spatial attention agreement, and the flexible layer is used
In the connection for realizing ePLC system and vision system；For the control layer for handling logic task, the algorithm layer setting is a variety of
Algorithm, for selecting respective algorithms to realize high performance requirements according to user's application demand；
Model agreement is respectively set in ePLC system and vision system and by configuration protocol Template Manager visual spatial attention
Agreement customizes application to realize, wherein realizes transmitted in both directions association using identical model agreement, Framing algorithm and frame decoding algorithm
Discuss frame.Model agreement, Framing algorithm and frame decoding algorithm are referring to described above, and details are not described herein.
Referring to Fig. 6-8, it show a kind of schematic diagram of preferred embodiment of the present invention.Fig. 6 shows binocular capture robot and adopts
The ball position in space is judged with two video cameras.By constantly sending parameter to ePLC, robot, which is run to, to catch the ball
Position simultaneously finally captures it.
1) three axis of your robot of rectangular co-ordinate the design of model agreement: are named as X-axis, Y-axis and Z axis.With pid1,
Pid3, pid5 and pid2, pid4, pid6 respectively indicate X-axis, the position and speed parameter identification code of Y-axis and X-axis.Vision system
Distance and speed are measured respectively using rice and meter per second (m/s).Fig. 7 is designed model agreement.
2) interactive process of the visual spatial attention protocol frame between vision system and Eplc: vision system is by visual spatial attention protocol frame
EPLC is sent to adjust destination and speed, is received until final position is sent to ePLC completion.Content frame such as Fig. 8 institute
Show.
The above description of the embodiment is only used to help understand the method for the present invention and its core ideas.It should be pointed out that pair
For those skilled in the art, without departing from the principle of the present invention, the present invention can also be carried out
Some improvements and modifications, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of visual control device, which is characterized in that at least setting ePLC system and vision system, wherein the ePLC system
Visual spatial attention agreement is used to carry out data communication between system and vision system to realize data among systems standardization interaction；It is described
Flexible layer, control layer and algorithm layer is at least arranged in visual spatial attention agreement, and the flexible layer is for realizing ePLC system and vision system
The connection of system；Many algorithms are arranged for handling logic task, the algorithm layer in the control layer, for applying need according to user
Ask selection respective algorithms to realize high performance requirements.
2. visual control device according to claim 1, which is characterized in that the ePLC system and vision system are set respectively
Model agreement is set, the model agreement is realized for managing visual spatial attention agreement customizes application.
3. visual control device according to claim 2, which is characterized in that it is first that the model agreement includes at least template
Portion, visual spatial attention frame template, algorithm frames template and parameter frame template, wherein
Protocol frame stem includes communication protocol identification code and template data storage address；
Visual spatial attention frame template includes module unique identifier, algorithm quantity, number of parameters, module data initial address, module
Starting label, module data save standard, contained algorithm identification code and institute's containing parameter identification code；Each visual spatial attention frame template packet
Identification code containing polyalgorithm and parameter identification code；
Algorithm frames template: including algorithm identification code, number of parameters, algorithm data initial address, algorithm data save standard and
Institute's containing parameter identification code；Each algorithm frames template includes multiple parameters identification code；
Parameter frame template: the conversion comprising parameter identification code, vision algorithm parameter identification code and vision and motion algorithm parameter
Ratio.
4. visual control device according to claim 3, which is characterized in that visual spatial attention agreement includes at least visual spatial attention
Protocol frame, algorithm frames and parameter frame, wherein visual spatial attention protocol frame has included at least module code, agreement frame length, parameter
Frame data and algorithm frame data；Parameter frame data and algorithm frame data separately include multiple parameters frame and control frame；Model agreement
It is corresponded with the module code in visual spatial attention protocol frame；
Algorithm frames include at least algorithm identification code, control frame length and parameter frame data；Algorithm in algorithm frames and model agreement
Identification code needs to correspond；
Parameter frame includes at least parameter identification code and supplemental characteristic；Parameter identification code is the address of supplemental characteristic；Parameter frame and association
Parameter identification code in view template needs to correspond.
5. visual control device according to claim 4, which is characterized in that configure the model agreement according to application demand
And its model agreement is loaded into the fixing address of vision system and ePLC system.
6. visual control device according to claim 5, which is characterized in that each model agreement corresponds to a kind of using class
Type, the ePLC system and vision system use identical model agreement.
7. visual control device according to claim 6, which is characterized in that the ePLC system and vision system setting solution
Module is analysed, the parsing module is for reading model agreement and being parsed, wherein uses in ePLC system and vision system
Identical Framing algorithm and with frame decoding algorithm to realize transmitted in both directions protocol frame.
8. visual control device according to claim 7, which is characterized in that Framing algorithm includes at least following three steps
It is rapid: visual spatial attention framing, algorithm framing and parameter framing；
Visual spatial attention framing: it is searched in model agreement by module code obtain mptx (in visual frame template set first
X-th), to obtain the algorithm number of frames and parameter number of frames for including；It include that algorithm identification code and data identify according to mptx
Code and passes through following algorithm framings and parameter framing method and obtain parameter frame data and algorithm frame data；Finally calculate agreement
Frame length completes visual spatial attention framing；
Algorithm framing: it is searched in model agreement by algorithm identification code obtain the apty (y in algorithm frames template set first
), apty includes parameter number of frames；According to parameter number of frames, call parameters Framing algorithm obtains parameter frame data, finally counts
It is completed after calculating algorithm frame length；
Parameter framing: searching in model agreement according to parameter identification code and obtain pptz (z in parameter frame template set),
Then parameter identification code and supplemental characteristic are combined into parameter frame.
9. visual control device according to claim 7, which is characterized in that frame decoding algorithm comprising the following three steps: view
Feel control frame decoding, algorithm frame decoding and parameter frame decoding；Visual spatial attention frame decoding: respectively from the starting four for solving frame point and then four
Module code and vision frame length are obtained in the data of byte；It is obtained according to module code search protocol template related
Since mptx send -8 byte of vision frame length solving+8 bytes of frame point to the initial address of storage module data；
Algorithm frame decoding: related mptx, the parameter frame that circular treatment includes are found according to module code search protocol template；Every
In a circulation, data and parameter identification code are sent collectively to receive data area；Circular treatment algorithm frames；In each cycle,
Apty is found using algorithm identification code and sends the data of algorithm frames to the relative address for receiving data area；
Parameter frame decoding: apty is obtained using algorithm identification code, circular treatment algorithm frames send parameter to according to parameter identification code
Receive data area.
10. a kind of visual spatial attention method, which is characterized in that using between visual spatial attention protocol realization ePLC system and vision system
Data normalization interaction；Flexible layer, control layer and algorithm layer is at least arranged in the visual spatial attention agreement, and the flexible layer is for real
The connection of existing ePLC system and vision system；Many algorithms are arranged for handling logic task, the algorithm layer in the control layer,
For selecting respective algorithms to realize high performance requirements according to user's application demand；
Model agreement is respectively set in ePLC system and vision system and by configuration protocol Template Manager visual spatial attention agreement
Application is customized to realize, wherein transmitted in both directions agreement is realized using identical model agreement, Framing algorithm and frame decoding algorithm
Frame.
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Application publication date: 20190820 Assignee: ZEHJIANG OVI TECHNOLOGY Co.,Ltd. Assignor: HANGZHOU DIANZI University Contract record no.: X2020330000123 Denomination of invention: A visual control device Granted publication date: 20200901 License type: Common License Record date: 20201226 |