CN110177036A - Apparatus control system, method and automation equipment - Google Patents
Apparatus control system, method and automation equipment Download PDFInfo
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- CN110177036A CN110177036A CN201910464096.XA CN201910464096A CN110177036A CN 110177036 A CN110177036 A CN 110177036A CN 201910464096 A CN201910464096 A CN 201910464096A CN 110177036 A CN110177036 A CN 110177036A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40013—Details regarding a bus controller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
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Abstract
The present invention provides a kind of apparatus control system, method and automation equipments, are related to the technical field of automation control, comprising: host computer and repeater；Host computer connects the first module in controlled device by level-one CAN bus；Host computer is also connect at least one repeater by level-one CAN bus；Repeater is connect by second level CAN bus with the second module in controlled device；By the way that repeater is arranged, the communication data that can be sent to host computer is cached, and communication data associated with the second module that repeater connects is sent to the second module by second level CAN bus；The joint movements data that the second module connecting with repeater returns can also be received by second level CAN bus, and joint movements data are sent to host computer by level-one CAN bus, CAN bus data problem easy to be lost is alleviated, while improving Realtime Capability of Communication.
Description
Technical field
The present invention relates to technical field of automatic control, more particularly, to a kind of apparatus control system, method and automation
Equipment.
Background technique
In the CAN bus based control system of existing automation equipment, usually the node of modules is directly hung
It is loaded on CAN bus, when multiple modules simultaneously operation, CAN bus is responded not in time, is occurred seizing bus, is lost data
The problems such as.If CAN bus response is not in time or loss of data, baulk or equipment damage will lead to.
Another CAN bus based control system is the node carry by a module in bus, remaining module it
Between seriously affect the real-time response of module though the method solves bus and seizes, increase module using other communication modes
Between communication time, do not play CAN bus and really act on.
It is easy to be lost for CAN bus data, and the problem that Realtime Capability of Communication is poor, not yet put forward effective solutions.
Summary of the invention
The purpose of the present invention is to provide a kind of apparatus control system, method and automation equipments, to alleviate CAN bus number
According to problem easy to be lost, while improving Realtime Capability of Communication.
A kind of apparatus control system provided by the invention, comprising: host computer and repeater；The host computer passes through level-one
CAN bus connects the first module in controlled device；The host computer is also relayed at least one by the level-one CAN bus
Device connection；The repeater is connect by second level CAN bus with the second module in the controlled device；The host computer is used for
Communication data is sent to the repeater or first module；The repeater, will be with institute for caching the communication data
The associated communication data of the second module for stating repeater connection is sent to second module by the second level CAN bus；
The repeater is also used to receive the node fortune that the second module connecting with the repeater returns by the second level CAN bus
The joint movements data are sent to the host computer by the level-one CAN bus by dynamic data.
Further, the repeater connects the main control unit of second module by the second level CAN bus, described
The main control unit of second module is connect by three-level CAN bus with the drive control unit of second module；The repeater
For the communication data to be sent to the main control unit of second module, by the main control unit by the communication data
It is sent to the drive control unit connecting with the main control unit；The repeater is also used to receive institute by the main control unit
The joint movements data are sent to the host computer by the joint movements data for stating drive control unit return.
A kind of automation equipment provided by the invention, comprising: the first module, the second module and above equipment control system.
Further, first module includes one of following modules: Weighing module, reading module, pump valve module,
Wash module, Reagent management module, sample arm module grab gripper unit.
Further, second module includes: Weighing module, reading module, pump valve module, wash module, Reagent Tube
It manages module, sample arm module and grabs gripper unit.
Further, the drive control unit of second module includes: the drive control unit of X-direction movement, Y-direction
The drive control unit of drive control unit and the Z-direction movement of movement.
Further, the equipment further includes a plurality of mechanical arm；Every mechanical arm respectively with corresponding first module
Or second module drive control unit connection.
Further, the mechanical arm includes: washing machine arm, Reagent management mechanical arm or sample-adding mechanical arm.
A kind of apparatus control method provided by the invention, the method are applied to above equipment control system；The method
It include: that host computer sends communication data to repeater or the first module；Repeater caches the communication data, will be with the relaying
The associated communication data of the second module of device connection is sent to the second module by the second level CAN bus；Repeater passes through
The second level CAN bus receives the joint movements data that the second module connecting with the repeater returns, and the node is transported
Dynamic data are sent to the host computer by the level-one CAN bus.
Further, the method also includes: the communication data is sent to second module by the repeater
The communication data is sent to the drive control list connecting with the main control unit by the main control unit by main control unit
Member；The repeater receives the joint movements data that the drive control unit returns by the main control unit, by the section
Point exercise data is sent to the host computer.
Apparatus control system, method and automation equipment provided by the invention, comprising: host computer and repeater；Host computer
The first module in controlled device is connected by level-one CAN bus；Host computer is also relayed at least one by level-one CAN bus
Device connection；Repeater is connect by second level CAN bus with the second module in the controlled device；It, can by the way that repeater is arranged
To be cached to the communication data that host computer is sent, and communication data associated with the second module that repeater connects is led to
It crosses second level CAN bus and is sent to the second module；The second module connecting with repeater can also be received by second level CAN bus to return
The joint movements data returned, and joint movements data are sent to the host computer by level-one CAN bus, it is total to alleviate CAN
Line number improves Realtime Capability of Communication according to problem easy to be lost.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of apparatus control system schematic diagram provided in an embodiment of the present invention；
Fig. 2 is another apparatus control system schematic diagram provided in an embodiment of the present invention；
Fig. 3 is a kind of automation equipment schematic diagram provided in an embodiment of the present invention；
Fig. 4 is a kind of flow chart of apparatus control method provided in an embodiment of the present invention；
Fig. 5 is the flow chart of another apparatus control method provided in an embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with embodiment, it is clear that described reality
Applying example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, the common skill in this field
Art personnel every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
Currently, in CAN bus based control system, there are mainly two types of connection type, one is by modules
The direct carry of node is on CAN bus；Another kind is the node carry by a module in CAN bus, remaining module it
Between use other communication modes；When using first way, if multiple modules move at the same time, CAN bus is responded not in time, easily
Appearance seizes bus, loses the problems such as data, and then leads to baulk or equipment damage；When using the second way, although
It solves the problems, such as that bus is seized, but seriously affects the real-time response of module, increase the communication time of intermodule.
Based on this, the embodiment of the invention provides a kind of apparatus control system, method and automation equipment, which can be with
Applied in automation equipment.To be set to one kind disclosed in the embodiment of the present invention first convenient for understanding the present embodiment
Standby control system describes in detail.
A kind of apparatus control system schematic diagram shown in referring to Fig.1, the system include: host computer 10 and repeater 20.
Host computer 10 connects the first module 30 in controlled device by level-one CAN bus；Host computer 10 passes through level-one CAN
Bus is also connect at least one repeater 20；Repeater 20 passes through the second module 40 in second level CAN bus and controlled device
Connection.
In the present embodiment, the quantity of the first module 30 can be one, and the quantity of the second module 40 can be multiple, relaying
Device 20 can choose same model, and the first module 30 and at least one repeater 20 are loaded directly into level-one CAN bus, form
Level-one CAN network, the second module 40 are connected one to one with repeater 20 by second level CAN bus, when controlled device is run, number
According to transmitting-receiving can first be buffered in repeater 20, avoid lose data the problem of.
Host computer 10 is for sending communication data to repeater 20 or the first module 30；Repeater 20 is for caching communication number
According to communication data associated with the second module 40 that repeater 20 connects is sent to the second module by second level CAN bus
40。
Specifically, all communication datas can first be cached into repeater 20 when host computer 10 sends communication data, with
The second module 40 that repeater 20 connects can be shielded device by internal CAN and shield unwanted data, only from repeater 20
Communication data required for receiving.
Repeater 20 is also used to receive the node that the second module 40 connecting with repeater 20 returns by second level CAN bus
Joint movements data are sent to host computer 10 by level-one CAN bus by exercise data.
Further, the joint movements data of the second module 40 can be cached by second level CAN bus into repeater 20, in
Host computer 10 is sent to by level-one CAN bus again after device 20, specifically, when the node in some module in the second module 40
When simultaneously operation, joint movements data can be successively sent in connected repeater 20 by Circular buffer.
A kind of apparatus control system provided in an embodiment of the present invention, comprising: host computer and repeater；Host computer passes through level-one
CAN bus connects the first module in controlled device；Host computer is also connect at least one repeater by level-one CAN bus；
Repeater is connect by second level CAN bus with the second module in controlled device；By the way that repeater is arranged, host computer can be sent out
The communication data sent is cached, and communication data associated with the second module that repeater connects is total by second level CAN
Line is sent to the second module；The node that the second module connecting with repeater returns can also be received by second level CAN bus to transport
Dynamic data, and joint movements data are sent to host computer by level-one CAN bus, it is easy to be lost to alleviate CAN bus data
Problem, while improving Realtime Capability of Communication.
Referring to another apparatus control system schematic diagram shown in Fig. 2, which includes: host computer 10 and repeater 20.
Host computer 10 connects the first module 30 in controlled device by level-one CAN bus；Host computer 10 passes through level-one CAN
Bus is also connect at least one repeater 20；Repeater 20 connects the main control unit 47 of the second module by second level CAN bus,
The main control unit 47 of second module is connect by three-level CAN bus with the drive control unit 48 of the second module.
In the present embodiment, the quantity of the first module 30 can be one, and the quantity of the second module can be multiple, the first mould
Block 30 and at least one repeater 20 are loaded directly into level-one CAN bus, form level-one CAN network；Repeater 20 passes through two
Grade CAN bus connects the main control unit 47 of the second module, forms second level CAN network, the master control list of repeater 20 and the second module
Member 47 connects one to one；Respective mode is connected to by three-level CAN bus in all drive control units of the second inside modules
The main control unit of block forms three-level CAN network.
Repeater 20 is used to for communication data being sent to the main control unit 47 of the second module, will communicate number by main control unit
According to being sent to drive control unit connected to the main control unit.
In the present embodiment, when host computer 10 sends communication data, all communication datas can be cached first to repeater 20
In, the main control unit 47 for the second module connecting with repeater 20 can shield device by internal CAN, shield unwanted number
According to, communication data required for only receiving, in second level CAN network, the communication between different repeaters 20 and corresponding module
Process is independent.Communication data after shielding screening is passed through three-level CAN bus again by the main control unit 47 of the second module
It is sent in corresponding drive control unit.
Repeater 20 is also used to receive the joint movements data that drive control unit returns by main control unit, and node is transported
Dynamic data are sent to host computer 10.
Specifically, joint movements data include the parameters such as distance, the time of movement, the joint movements data of the second module 40
Main control unit is fed back to by corresponding drive control unit, joint movements data are passed through second level CAN bus again by main control unit
It is sent in repeater 20 and is cached, joint movements data can be sent directly to host computer 10 after caching by repeater 20, such as
Other modules of fruit need the joint movements data, then are sent by host computer 10.
Another kind apparatus control system provided in an embodiment of the present invention realizes that complete machine is laterally controlled by setting up three-level network
System, when needing while controlling multiple joint movements of a module or multiple modules, host computer only needs to complete with repeater
CAN communication, then, the modules main control unit for needing control node to move receive institute from corresponding repeater
The communication needed, last main control unit control corresponding drive control unit again and realize module drive, alleviate CAN bus data
Problem easy to be lost, while improving Realtime Capability of Communication.
Referring to a kind of automation equipment schematic diagram shown in Fig. 3, which includes: the first module, the second module
With the apparatus control system of above-described embodiment.
Further, the first module includes one of following modules: Weighing module 31, reading module 42, pump valve module
43, wash module, Reagent management module, sample arm module or gripper unit 41 is grabbed.
In the present embodiment, the module in controlled device includes but is not limited to module as described above, is loaded in level-one CAN bus
On module can choose any one module in controlled device, Weighing module 31 is existed as the first module loading in Fig. 3
In level-one CAN bus.
Further, the second module includes: Weighing module 31, reading module 42, pump valve module 43, wash module, reagent
Management module, sample arm module and gripper unit 41 is grabbed, specifically, making other modules in addition to Weighing module 31 in Fig. 3
For the second module, and the main control unit of each module is connect by repeater with level-one CAN bus, wherein the master of wash module
The main control unit 54 for controlling unit 50, the main control unit 52 of Reagent management module and sample arm module passes through second level CAN bus respectively
It is connected to repeater 20, then is connect by repeater 20 with level-one CAN bus.
Further, the drive control unit 48 of the second module includes: the drive control unit of X-direction movement, Y-direction fortune
The drive control unit of dynamic drive control unit and Z-direction movement.
In the present embodiment, the drive control unit 48 of the second module includes but is not limited to the drive control list of X-direction movement
The drive control unit of member, the drive control unit of Y-direction movement and Z-direction movement, different modules have different driving controls
Unit processed, specifically, the drive control unit of the wash module in Fig. 3 includes the drive control unit and Z-direction of Y-direction movement
The drive control unit of movement, the drive control unit of Reagent management module include drive control unit and the side Z of X-direction movement
To the drive control unit of movement, the drive control unit of sample arm module includes the drive control unit of X-direction movement, the side Y
The drive control unit moved to the drive control unit and Z-direction of movement.
Further, equipment further includes a plurality of mechanical arm；Every mechanical arm respectively with corresponding first module or the second mould
The drive control unit 48 of block connects.Specifically, every mechanical arm is controlled by the drive control unit of corresponding module, with
Execute desired movement.
Further, mechanical arm includes: washing machine arm 56, Reagent management mechanical arm 57 or sample-adding mechanical arm 58.Specifically
, mechanical arm includes but is not limited to above-mentioned three kinds of mechanical arms, and different controlled devices has different mechanical arms.
Slave computer firmware can be upgraded under the premise of not dismantling module appearance using the equipment, reduce debugging
Workload reduces the development cycle.
Referring to a kind of flow chart of apparatus control method shown in Fig. 4, this method is applied to the equipment control of above-described embodiment
System processed；This method comprises:
Step S101, host computer send communication data to repeater or the first module.
When need in controlled device a module or multiple modules control when, host computer by level-one CAN it is total
Line sends communication data, which includes the control instruction to controlled device, specifically, if necessary to control one simultaneously
The joint movements of module or multiple modules, then host computer is sequentially completed the communication data of disparate modules by level-one CAN bus
It sends.
Step S102, repeater caches communication data, by communication data associated with the second module that repeater connects
The second module is sent to by second level CAN bus.
The repeater being connected in level-one CAN bus receives the communication data that host computer is sent, and is cached, then,
The second module connecting with repeater can be shielded device by internal CAN and shield unwanted data, only be received from repeater
Required communication data.
Step S103, repeater receive the node fortune that the second module connecting with repeater returns by second level CAN bus
Joint movements data are sent to host computer by level-one CAN bus by dynamic data.
Further, the joint movements data of the second module can be cached by second level CAN bus to relaying connected to it
In device, repeater passes through level-one CAN bus again and is sent to host computer, specifically, when the section in some module in the second module
When point simultaneously operation, if the module is when X-direction, Y-direction and Z-direction move at the same time, joint movements data can be slow by annular
It deposits, is successively sent in repeater.
A kind of apparatus control method provided in an embodiment of the present invention, firstly, host computer send communication data to repeater or
First module；Then, repeater caches communication data, and communication data associated with the second module that repeater connects is passed through
Second level CAN bus is sent to the second module；Finally, repeater receives the second mould connecting with repeater by second level CAN bus
Joint movements data are sent to host computer by level-one CAN bus by the joint movements data that block returns.By in level-one CAN
Repeater is loaded in bus, realizes caching and the forwarding of the communication data sent to host computer, and is connect to repeater
Module transmitted by communication data caching and forwarding, alleviate CAN bus data problem easy to be lost, while improving logical
Interrogate real-time.
The flow chart of another apparatus control method referring to Figure 5, this method comprises:
Step S201, host computer send communication data to repeater or the first module；
When needing to control controlled device, host computer sends communication data, the communication number by level-one CAN bus
According to including the control instruction to controlled device.
Communication data is sent to the main control unit of the second module by step S202, repeater, will be communicated by main control unit
Data are sent to drive control unit connected to the main control unit.
In the present embodiment, when host computer sends communication data, all communication datas can be cached first into repeater, with
The main control unit of second module of repeater connection can shield device by internal CAN, shield unwanted data, only receive institute
The communication data needed, the main control unit of the second module are again sent the communication data after shielding screening by three-level CAN bus
Into corresponding drive control unit.
Step S203, repeater receives the joint movements data that drive control unit returns by main control unit, by node
Exercise data is sent to host computer.
Specifically, the joint movements data of the second module feed back to main control unit by corresponding drive control unit, it is main
Joint movements data are sent in repeater by control unit by second level CAN bus again to be cached, and can be incited somebody to action after repeater caching
Joint movements data are sent directly to host computer, if other modules need the joint movements data, are sent by host computer.
Another kind apparatus control method provided in an embodiment of the present invention, firstly, host computer sends communication data to repeater
Or first module；Then, communication data is sent to the main control unit of the second module by repeater, will communicate number by main control unit
According to being sent to drive control unit connected to the main control unit；Finally, repeater receives drive control unit by main control unit
Joint movements data are sent to host computer by the joint movements data of return.By loading repeater in level-one CAN bus,
Caching and the forwarding of the communication data sent to host computer are realized, and to communication transmitted by the module connecting with repeater
The caching of data and forwarding alleviate CAN bus data problem easy to be lost, while improving Realtime Capability of Communication.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of apparatus control system characterized by comprising host computer and repeater；
The host computer connects the first module in controlled device by level-one CAN bus；The host computer passes through the level-one
CAN bus is also connect at least one repeater；The repeater passes through second in second level CAN bus and the controlled device
Module connection；
The host computer is for sending communication data to the repeater or first module；The repeater is for caching institute
Communication data is stated, the associated communication data of the second module connected with the repeater is sent out by the second level CAN bus
It send to second module；
The repeater is also used to receive the section that the second module connecting with the repeater returns by the second level CAN bus
The joint movements data are sent to the host computer by the level-one CAN bus by point exercise data.
2. system according to claim 1, which is characterized in that
The repeater connects the main control unit of second module, the master of second module by the second level CAN bus
Control unit is connect by three-level CAN bus with the drive control unit of second module；
The repeater is used to for the communication data being sent to the main control unit of second module, passes through the main control unit
The communication data is sent to the drive control unit connecting with the main control unit；
The repeater is also used to receive the joint movements data that the drive control unit returns by the main control unit, will
The joint movements data are sent to the host computer.
3. a kind of automation equipment characterized by comprising the first module, the second module and of any of claims 1 or 2 set
Standby control system.
4. equipment according to claim 3, which is characterized in that first module includes one of following modules: claiming
Molality block, reading module, pump valve module, wash module, Reagent management module, sample arm module grab gripper unit.
5. equipment according to claim 3, which is characterized in that second module include: Weighing module, reading module,
Pump valve module, wash module, Reagent management module, sample arm module and grab gripper unit.
6. equipment according to claim 3, which is characterized in that the drive control unit of second module includes: X-direction
The drive control unit of the drive control unit of movement, the drive control unit of Y-direction movement and Z-direction movement.
7. equipment according to claim 3, which is characterized in that the equipment further includes a plurality of mechanical arm；
Every mechanical arm is connected with the drive control unit of corresponding first module or the second module respectively.
8. equipment according to claim 7, which is characterized in that the mechanical arm includes: washing machine arm, Reagent management machine
Tool arm or sample-adding mechanical arm.
9. a kind of apparatus control method, which is characterized in that the method is applied to equipment of any of claims 1 or 2 control system
System；The described method includes:
Host computer sends communication data to repeater or the first module；
Repeater caches the communication data, and the associated communication data of the second module connected with the repeater is passed through institute
It states second level CAN bus and is sent to the second module；
Repeater receives the joint movements number that the second module connecting with the repeater returns by the second level CAN bus
According to the joint movements data are sent to the host computer by the level-one CAN bus.
10. according to the method described in claim 9, it is characterized in that, the method also includes:
The communication data is sent to the main control unit of second module by the repeater, by the main control unit by institute
It states communication data and is sent to the drive control unit connecting with the main control unit；
The repeater receives the joint movements data that the drive control unit returns by the main control unit, by the section
Point exercise data is sent to the host computer.
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| KR101036998B1 (en) * | 2009-11-19 | 2011-05-25 | 대성전기공업 주식회사 | Apparatus for controlling shift lock solenoid using a can(controller area network) and control method thereof |
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Application publication date: 20190827 |