CN112015118A - Method and device for controlling movement of automation equipment, controller and storage medium - Google Patents
Method and device for controlling movement of automation equipment, controller and storage medium Download PDFInfo
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- CN112015118A CN112015118A CN202010893410.9A CN202010893410A CN112015118A CN 112015118 A CN112015118 A CN 112015118A CN 202010893410 A CN202010893410 A CN 202010893410A CN 112015118 A CN112015118 A CN 112015118A
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- 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
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The application provides a motion control method and device of automation equipment, a controller and a storage medium, and belongs to the technical field of motion control. The automation device comprises: the controller is in communication connection with the servo mechanism, the servo mechanism is connected with the plurality of working shafts, and the controller is provided with main control software and operation control software; the method comprises the following steps: sending a first communication code of an action instruction at a preset position to operation and control software through main control software; and executing a command corresponding to the first communication code through operation control software according to the first communication code so as to control the servo mechanism to drive the working shafts to move to a preset position. The application can reduce the control cost and improve the working efficiency of motion control.
Description
Technical Field
The present disclosure relates to the field of motion control technologies, and in particular, to a method and an apparatus for controlling motion of an automation device, a controller, and a storage medium.
Background
The automatic equipment is widely applied to production and life of people, and the rapid and accurate control of the automatic equipment for movement is the main control requirement at present.
When the automation equipment is controlled in the prior art, a main control software and an operation control software are generally required to be used for respectively controlling, and because the instruction formats between the main control software and the operation control software are not matched, a special operation control engineer is required to be set for compiling and adjusting the instructions, the cost of motion control on the automation equipment is reduced, the work efficiency of compiling and adjusting work through the engineer is relatively low, and more time is wasted.
Disclosure of Invention
The application aims to provide a motion control method, a motion control device, a motion controller and a storage medium of automation equipment, which can reduce control cost and improve the work efficiency of motion control.
The embodiment of the application is realized as follows:
in one aspect of the embodiments of the present application, a method for controlling a motion of an automation device is provided, where the automation device includes: the controller is in communication connection with the servo mechanism, the servo mechanism is connected with the plurality of working shafts, and the controller is provided with main control software and operation control software; the method comprises the following steps:
sending a first communication code of an action instruction at a preset position to operation and control software through main control software;
and executing a command corresponding to the first communication code through operation control software according to the first communication code so as to control the servo mechanism to drive the working shafts to move to a preset position.
Optionally, the method further comprises:
when the operation control software detects that the working shafts move to the preset positions, the normally finished second communication codes of the preset positions are sent to the main control software through the operation control software;
and generating first action feedback of a preset position according to the second communication code through the main control software.
Optionally, the method further comprises:
when the operation control software detects that the plurality of working shafts are abnormal in the movement process, the operation control software sends a third communication code of abnormal completion at a preset position to the main control software;
and generating second action feedback of the preset position according to the third communication code through the main control software.
Optionally, before the operation control software executes the command of the first communication code according to the first communication code, the method further includes:
inquiring whether the first communication code is in a point-to-point communication configuration table established in advance through operation control software; the point-to-point communication configuration table comprises: a plurality of communication codes of preset positions;
and if the first communication code is in the point-to-point communication configuration table, determining a command corresponding to the first communication code through operation control software.
Optionally, the method further comprises:
if the first communication code is not in the point-to-point communication configuration table, sending a fourth communication code with a command error at a preset position to the main control software through the operation control software;
and generating command error feedback of the preset position according to the fourth communication code through the main control software.
Optionally, before the master control software sends the first communication code of the action instruction at the preset position to the operation control software, the method further includes:
and establishing socket communication connection between the master control software and the operation control software.
Optionally, before the master control software sends the first communication code of the action instruction at the preset position to the operation control software, the method further includes:
responding to the input selection operation aiming at the preset position button, and determining a preset position corresponding to the preset position button and a first communication code of the preset position through main control software according to the identification of the preset position button and a query point location communication configuration table; wherein, the point-to-point communication configuration table further comprises: and the corresponding relation between the mark of the preset position button and the mark of the preset position.
In another aspect of the embodiments of the present application, there is provided a motion control apparatus for an automation device, the automation device including: the controller is in communication connection with the servo mechanism, the servo mechanism is connected with the plurality of working shafts, and the controller is provided with main control software and operation control software; the device includes: the system comprises a main control module and an operation control module;
the main control module is used for sending a first communication code of an action instruction at a preset position to the operation control software through the main control software;
and the operation control module is used for executing a command corresponding to the first communication code through operation control software according to the first communication code so as to control the servo mechanism to drive the plurality of working shafts to move to a preset position.
Optionally, the operation control module is further configured to send a second communication code, which is normally completed at the preset position, to the main control software through the operation control software after the operation control software detects that the plurality of working shafts move to the preset position; the main control module is further used for generating first action feedback of the preset position according to the second communication code through the main control software.
Optionally, the operation control module is further configured to send a third communication code for completing the abnormality at the preset position to the main control software through the operation control software when the operation control software detects that the plurality of working shafts are abnormal in the movement process; and the main control module is also used for generating second action feedback of the preset position according to the third communication code through the main control software.
Optionally, the operation control module is further configured to query, through operation control software, whether the first communication code is in a point-to-point communication configuration table created in advance; the point-to-point communication configuration table comprises: a plurality of communication codes of preset positions; and if the first communication code is in the point-to-point communication configuration table, determining a command corresponding to the first communication code through operation control software.
Optionally, the operation control module is further configured to send, by the operation control software, a fourth communication code with a command error at a preset position to the main control software if the first communication code is not in the point-to-point communication configuration table; and the main control module is used for generating command error feedback of the preset position according to the fourth communication code through main control software.
Optionally, the main control module is further configured to determine, in response to an input selection operation for a preset position button, a preset position corresponding to the preset position button and a first communication code of the preset position according to the identifier of the preset position button and a query point location communication configuration table through main control software; wherein, the point-to-point communication configuration table further comprises: and the corresponding relation between the mark of the preset position button and the mark of the preset position.
In another aspect of the embodiments of the present application, there is provided a controller of an automation device, including: the motion control method of the automation equipment comprises a memory and a processor, wherein a computer program capable of running on the processor is stored in the memory, and when the processor executes the computer program, the steps of the motion control method of the automation equipment are realized.
In another aspect of the embodiments of the present application, a storage medium is provided, and the storage medium stores a computer program, and the computer program, when executed by a processor, implements the steps of the motion control method for an automation device.
The beneficial effects of the embodiment of the application include:
according to the motion control method, the motion control device, the motion controller and the storage medium of the automation equipment, the first communication code of the action instruction of the preset position can be sent to the operation control software through the main control software, the operation control software executes the command corresponding to the first communication code according to the first communication code, the servo mechanism is controlled to drive the working shafts to move to the preset position to achieve motion control, the processing workload of different types of control instructions between the main control software and the operation control software can be reduced, the control cost is reduced, and the work efficiency of the motion control is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a first flowchart illustrating a motion control method of an automation device according to an embodiment of the present disclosure;
fig. 2 is a second flowchart illustrating a motion control method of an automation device according to an embodiment of the present disclosure;
fig. 3 is a third schematic flowchart of a motion control method of an automation device according to an embodiment of the present application;
fig. 4 is a fourth flowchart illustrating a motion control method of an automation device according to an embodiment of the present disclosure;
fig. 5 is a fifth flowchart illustrating a motion control method of an automation device according to an embodiment of the present disclosure;
fig. 6 is a sixth schematic flowchart of a motion control method of an automation device according to an embodiment of the present application;
fig. 7 is a schematic diagram of a preset position setting provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of a motion control device of an automation apparatus according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a controller of an automation device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is noted that the terms "first", "second", "third", and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.
In automated equipment, there are a significant number of pieces of equipment that require the interaction of a motion control system and a computer vision system. The programming process of the two systems is complex, and some systems need two professional engineers to cooperate to write programs, one is responsible for motion control and the other is responsible for visual algorithms. The invention can simplify the coding work in the aspect of motion control, a coding engineer in charge of motion control can be saved on partial equipment, and a pure visual algorithm engineer can control an automatic system simultaneously containing motion control and a visual algorithm by utilizing the invention.
Motion control is a branch of automation that includes mechanical, software, electrical, etc. modules that use devices known as servos, such as hydraulic pumps, linear actuators, or motors, to control the position or speed of a machine to move it according to a desired motion profile and specified motion parameters. The software programming of the motion control needs to be customized according to the running logic diagram of the equipment.
Machine vision is an integrated technology including image processing, mechanical engineering, control, electrical light source illumination, optical imaging, sensors, analog and digital video technology, computer hardware and software technology (image enhancement and analysis algorithms, image cards, input-output cards, etc.). A typical machine vision application system comprises an image capture module, a light source system, an image digitization module, a digital image processing module, an intelligent judgment decision module and a mechanical control execution module.
It should be noted that, the automation equipment provided in the present application includes: the controller is in communication connection with the servo mechanism, the servo mechanism is connected with the plurality of working shafts, and the controller is provided with main control software and operation control software.
The automation equipment can be controlled by an industrial computer or other types of control equipment; the controller may be any type of control device such as an MCU (micro controller Unit) or a CPU (central processing Unit); the servo mechanism may be a hydraulic pump, a linear actuator or an actuator such as an electric motor, for controlling the movement and related work of the plurality of working shafts.
Alternatively, the automated device provided in the embodiment of the present application may be a device for performing a 3D image depth calibration process, which may have three working axes, respectively controlling the motion calibration of X, Y, R three axes in space. Of course, the automation device applied in the embodiment of the present application may also be other types of automation devices, and is not limited to the device for the depth calibration processing.
Optionally, the main control software may be a visual algorithm software, or may be other functional software, and the operation control software may be a motion control software. The operation control software can be general operation control software.
The following explains a specific implementation procedure of the motion control method of the automation device provided in the present application by a specific embodiment.
Fig. 1 is a first flowchart illustrating a motion control method of an automation device according to an embodiment of the present application, and referring to fig. 1, the method includes:
s110: and sending a first communication code of an action instruction at a preset position to operation and control software through the main control software.
It should be noted that the preset position may be preset positions of a plurality of working shafts; the action command of the preset position can be a command for controlling the plurality of axles to respectively move to the preset position; the first communication code may be a code character that expresses the action instruction of the preset position in a literal or coded form.
S120: and executing a command corresponding to the first communication code through operation control software according to the first communication code so as to control the servo mechanism to drive the working shafts to move to a preset position.
After receiving the first communication code, the operation control software can execute a corresponding command according to the first communication code, wherein the command corresponding to the first communication code can be a command preset in the operation control software and used for controlling the plurality of shafts to move to preset positions respectively, and the servo mechanism can be controlled to work according to the command, so that the plurality of shafts are driven to move to the preset positions respectively.
According to the motion control method of the automation equipment, the first communication code of the action instruction of the preset position can be sent to the operation control software through the main control software, the operation control software executes the command corresponding to the first communication code according to the first communication code, and the servo mechanism is controlled to drive the working shafts to move to the preset position to achieve motion control, so that the processing workload of different types of control instructions between the main control software and the operation control software can be reduced, the control cost is reduced, and the work efficiency of the motion control is improved.
Another embodiment of the motion control method of the automation device provided in the present application is explained below with reference to a specific embodiment.
Fig. 2 is a second flowchart illustrating a motion control method of an automation device according to an embodiment of the present application, referring to fig. 2, the method further includes:
s210: and after the operation and control software detects that the working shafts move to the preset positions, the normally finished second communication codes of the preset positions are sent to the main control software through the operation and control software.
It should be noted that the automation device may have a position detection device thereon, such as: the position detection device can be used for acquiring the position information of the plurality of working shafts and then sending the position information to the operation control software, the operation control software can determine the current positions of the plurality of working shafts according to the position information, and if the current positions of the plurality of working shafts are preset positions, the operation control software can send second communication codes which are normally finished at the preset positions to the main control software; wherein the second communication code may be code information for instructing all of the plurality of working axes to move to the preset position.
S220: and generating first action feedback of a preset position according to the second communication code through the main control software.
It should be noted that after receiving the second communication code sent by the operation control software, the main control software may generate a first action feedback corresponding to the preset position according to the second communication code, where the first action feedback may be a feedback signal indicating that the current motion control is normally completed, and the automation device may display a result of the first action feedback in the form of a text or a signal through a display window, or send the result of the first action feedback to other associated devices for display, which is not limited herein.
Fig. 3 is a third schematic flowchart of a motion control method of an automation device according to an embodiment of the present application, please refer to fig. 3, where the method further includes:
s310: and when the operation control software detects that the plurality of working shafts are abnormal in the movement process, the operation control software sends a third communication code which is completed by the abnormality of the preset position to the main control software.
It should be noted that, when the operation control software determines that the positions of the plurality of working axes are not preset positions or an abnormal condition occurs during the motion control of the plurality of working axes according to the position information sent by the position detection device, for example: and when the abnormal conditions of the movement of the working shafts in the movement process are detected, the third communication code for completing the abnormity of the preset position can be sent to the main control software through the operation control software, wherein the second communication code can be code information for indicating the abnormity of the working shafts in the movement process.
S320: and generating second action feedback of the preset position according to the third communication code through the main control software.
It should be noted that, after receiving the third communication code sent by the operation control software, the main control software may generate a second action feedback corresponding to the preset position according to the third communication code, where the second action feedback may be a feedback signal indicating that the current motion control is abnormally completed, and the automation device may display a result of the second action feedback in the form of a text or a signal through the display window, or send the result of the second action feedback to other associated devices (e.g., an alarm device) for display, which is not limited herein.
The following explains another embodiment of the motion control method of an automation device provided in the present application by way of a specific example.
Fig. 4 is a fourth flowchart illustrating a motion control method of an automation device according to an embodiment of the present application, referring to fig. 4, S120: before executing the command of the first communication code according to the first communication code by the operation control software, the method further comprises the following steps:
s410: and inquiring whether the first communication code is in a point-to-point communication configuration table established in advance through operation control software.
Wherein, the point-to-point communication configuration table includes: a plurality of communication codes of preset positions.
It should be noted that the point-to-point communication configuration table may be a table including the first communication code, the second communication code, the third communication code of the preset position and the corresponding relationship therebetween, for different preset positions, the first communication code, the second communication code, and the third communication code may be different, and the potential communication configuration table may have a plurality of preset positions and corresponding relationships of a plurality of communication codes corresponding thereto. After receiving the first communication code, the operation control software may query according to a point-to-point communication configuration table created in advance, and query whether the first communication code is in the point-to-point communication configuration table.
S420: and if the first communication code is in the point-to-point communication configuration table, determining a command corresponding to the first communication code through operation control software.
It should be noted that, if it is found that the first communication code is in the point location communication configuration table, the command corresponding to the first communication code may be determined by command information pre-stored in the operation control software.
Fig. 5 is a fifth flowchart illustrating a motion control method of an automation device according to an embodiment of the present application, please refer to fig. 5, where the method further includes:
s510: and if the first communication code is not in the point-to-point communication configuration table, sending a fourth communication code with a command error at a preset position to the main control software through the operation control software.
It should be noted that, if it is found that the first communication code is not in the point-to-point communication configuration table, a fourth communication code with a command error in a preset position may be sent to the main control software by the operation control software, where the fourth communication code may be code information of an error command of the first communication code; alternatively, the fourth communication code may be the same code information as the third communication code, both indicating a motion control abnormality.
S520: and generating command error feedback of the preset position according to the fourth communication code through the main control software.
It should be noted that, after receiving the fourth communication code sent by the operation control software, the main control software may generate a command error feedback corresponding to the preset position according to the fourth communication code, where the command error feedback may be a feedback signal indicating that the current code command is incorrect, the automation device may display a result of the command error feedback in the form of a text or a signal through a display window, and may also send the result of the command error feedback to other associated devices (e.g., an alarm device) for display, which is not limited herein.
Alternatively, S110: before the main control software sends the first communication code of the action instruction at the preset position to the operation control software, the method further comprises the following steps:
and establishing socket communication connection between the master control software and the operation control software.
It should be noted that, the master control software and the operation control software may be communicatively connected through a Socket (Socket). In the process of Socket communication connection, the master control software can be used as a Socket server, the operation control software can be used as a Socket client, and Socket communication connection is realized by constructing the Socket server and the Socket client.
The socket is a basic communication stone, and is a basic operation unit for supporting network communication of a TCP/IP Protocol (Transmission Control Protocol/Internet Protocol ). It is an abstract representation of an endpoint in the network communication process and contains five kinds of information necessary for network communication. Based on the main control software and the operation control software in the present application, the five types of information may include: the protocol used for the connection between the main control software and the operation control software, the IP address of the operation control software, the protocol port of the operation control software process, the IP address of the main control software and the protocol port of the main control software process. Among them, the TCP/IP transport protocol, also called network communication protocol, is the most basic communication protocol in use of a network. The TCP/IP transport protocol specifies the standards and methods for communicating between various parts of the internet.
Optionally, the process of constructing the Socket server (main control software) is specifically as follows:
(1) constructing a Listener of the main control software by using a Tcp Listener (transmission control Listener);
(2) constructing a receiving buffer area of the master control software;
(3) constructing a list of corresponding operation control software;
(4) and constructing a receiving thread of the operation control software. Wherein, an independent thread is adopted for connection with the operation control software;
(5) and starting a listening thread of the main control software.
The Socket client (operation control software) is specifically constructed as follows:
(1) constructing a socket client based on operation control software;
(2) setting an IP address and a port number of operation control software;
(3) and establishing connection with the master control software.
Alternatively, S110: before the main control software sends the first communication code of the action instruction at the preset position to the operation control software, the method further comprises the following steps:
and responding to the input selection operation aiming at the preset position button, and determining a preset position corresponding to the preset position button and a first communication code of the preset position through the main control software according to the identification of the preset position button and the query point location communication configuration table.
Wherein, the point-to-point communication configuration table further comprises: and the corresponding relation between the mark of the preset position button and the mark of the preset position.
It should be noted that the preset position button may be a virtual key arranged in the main control software, and the point-to-point communication configuration table further includes: the correspondence between the identifier of the preset position button and the identifier of the preset position can be obtained through the correspondence between the identifiers in the point location communication configuration table, the preset position can be determined according to the input selection operation for the preset position button, and then the first communication code of the action instruction of the preset position can be determined according to the correspondence between the preset position in the point location communication configuration table and the first communication code.
The following explains a specific procedure of the motion control method of the automation device in the present application by a specific flowchart.
Fig. 6 is a sixth schematic flowchart of a motion control method of an automation device according to an embodiment of the present application, please refer to fig. 6, where the method includes:
s610: and establishing network connection between the main control software and the operation control software.
It should be noted that a socket server needs to be established, and the monitoring is started to wait for the connection of the client. The master control software (visual algorithm software or other functional software) is connected with the operation control software as a socket client.
S620: the main control software responds to a click command input by an operator and sends a corresponding first communication code to the operation control software.
It should be noted that, after the connection between the two pieces of software is established, the main control software may wait for the operation control software to send a preparation signal, which indicates that the operation control software is ready and can be controlled. When the main control software needs the equipment to execute actions, only the button of the preset position needs to be clicked, the first communication codes corresponding to the corresponding preset position are sent to the operation control software, the operation control software can control the shafts to move to the preset position through the servo mechanism according to the command corresponding to the first communication codes, when the first communication codes are sent, the first communication codes are out of sequence, and the operation control software receives the first communication codes corresponding to the preset position and controls the shafts to move to the corresponding preset position.
S630: and the operation control software receives the first communication code and judges whether the first communication code is in a preset point-to-point communication configuration table or not.
S640: and if the first communication code is not in the point location communication configuration table, sending a fourth communication code with a command error at a preset position to the main control software through the operation control software, and generating a command error feedback at the preset position according to the fourth communication code through the main control software.
S650: if the first communication code is in the point-to-point communication configuration table, determining a command corresponding to the first communication code through operation and control software so as to control the plurality of working shafts to move to a preset position.
S660: and if the operation control software sends the second communication code of the preset position, which is normally finished, to the main control software, generating first action feedback of the preset position through the main control software according to the second communication code.
S670: and if the operation control software sends the third communication code which is completed abnormally at the preset position to the main control software, generating second action feedback at the preset position through the main control software according to the third communication code.
It should be noted that the above-mentioned S630-S670 have been described in detail in the foregoing process explanation, and are not described herein again.
The following explains a specific display form of the point-to-point communication configuration table provided by the present application by a specific embodiment. Table 1 is a point-to-point communication configuration table provided in this embodiment of the present application.
TABLE 1
As shown in table 1 above, in the point location communication configuration table of the present application, a fixed point location symbol is defined first, and this is used for internal recording of a program, and the point location symbol is a preset location, and then a point location name can be set, and this point location name corresponds to an identifier of each preset location button, and this point location name can be modified to make it more meaningful to a developer, so that the developer can record the actual location of this point location conveniently. The next three items are communication codes, and in the second behavior example of the table, the first is the first communication code ("L10"), the second is the second communication code ("L11"), and the third is the third/fourth communication code ("L12"), and all 3 code contents can be edited. The number of the point positions can be increased according to actual needs, and only the row number of the table needs to be increased.
In the motion control method of the automatic control equipment provided by the embodiment of the application, motion control can be realized through motion control software without modifying codes; through point location configuration, the name of each button can be automatically edited through the position states of a plurality of axes of one preset position button; the communication codes are bound together, and the corresponding relation of communication can be modified to facilitate use under the condition of not modifying software codes.
The specific illustration of the preset position setting provided by the present application is explained by the specific embodiment.
Fig. 7 is a schematic diagram of preset position settings provided in an embodiment of the present application, please refer to fig. 7, where fig. 7 includes preset 10 preset position buttons and 3 working axes, which may be increased or decreased according to actual needs. When each preset position button is set, the positions of 3 axes can be moved to the position desired by a software developer, then a corresponding 'record' button below the position button is clicked, the position information is recorded on the preset position button, and then the 3 axes can be simultaneously moved to the position just recorded when the position button is clicked, such as 'test position 1'. Therefore, the convenient and quick position information recording and configuration can be realized. Alternatively, the current actual position of each axis may be obtained through an Application Programming Interface (API) of the motion control card after the current actual position is moved to the preset position by moving the three bearings separately or in combination, and the current actual position of the current axis may be obtained by inputting 2 parameters (an axis pointer, a position of a double type referenced by an address) by taking a motion control card of any type as an example. And then binding the relation between the position and the preset position button and storing the relation in a configuration file, thereby realizing the recording of the shaft position information.
The control method provided by the embodiment of the application has the following advantages: through general operation control software, repeated coding is reduced in a complex automation program, namely, the coding amount is reduced, and the programming efficiency is improved.
Through the configurable number of point positions, the position information of each point position can be configured, the universality is very strong in different automation equipment, the position of the bearing is very convenient to debug, and the debugging efficiency is improved.
By self-configuring the communication codes, the method can better adapt to the communication styles and habits of different main control programs, and improves the compiling and debugging efficiency of communication.
The names of the point locations can be freely edited, and the action logic designer can give a unique name to each point location, so that the action designer can record each point location conveniently, and the programming efficiency and the debugging efficiency are improved.
Compared with software integrating operation control programs and algorithm programs, the method can omit the process of code fusion debugging, make the idea of the automatic development process clearer, and reduce the time of a large number of code fusion error debugging.
The following describes a device, an apparatus, a storage medium, and the like for executing the method for controlling the motion of the automation apparatus provided in the present application, and specific implementation procedures and technical effects thereof are referred to above and will not be described again below.
Fig. 8 is a schematic structural diagram of a motion control apparatus of an automation device according to an embodiment of the present application, please refer to fig. 8, the apparatus includes: a main control module 100 and an operation control module 200;
the main control module 100 is configured to send a first communication code of an action instruction at a preset position to the operation control software through the main control software;
and the operation control module 200 is configured to execute a command corresponding to the first communication code according to the first communication code through operation control software so as to control the servo mechanism to drive the plurality of working shafts to move to a preset position.
In the motion control device of automation equipment provided by the embodiment of the application, the first communication code of the action instruction of the preset position can be sent to the operation control software through the main control software, the command corresponding to the first communication code is executed according to the first communication code through the operation control software, so that the servo mechanism is controlled to drive the plurality of working shafts to move to the preset position to realize motion control, the processing workload of different types of control instructions between the main control software and the operation control software can be reduced, the control cost is reduced, and the work efficiency of the motion control is improved.
Optionally, the operation control module 200 is further configured to send a second communication code, which is normally completed at the preset position, to the main control software through the operation control software after the operation control software detects that the plurality of working shafts move to the preset position; the main control module 100 is further configured to generate a first action feedback of the preset position according to the second communication code through the main control software.
Optionally, the operation control module 200 is further configured to send, when the operation control software detects that the plurality of working axes are abnormal in the movement process, a third communication code for completing the abnormality at the preset position to the main control software through the operation control software; the main control module 100 is further configured to generate a second action feedback of the preset position according to the third communication code through the main control software.
Optionally, the operation control module 200 is further configured to query, by the operation control software, whether the first communication code is in a point-to-point communication configuration table created in advance; the point-to-point communication configuration table comprises: a plurality of communication codes of preset positions; and if the first communication code is in the point-to-point communication configuration table, determining a command corresponding to the first communication code through operation control software.
Optionally, the operation control module 200 is further configured to send, by the operation control software, a fourth communication code with a command error in a preset position to the main control software if the first communication code is not in the point location communication configuration table; and the main control module is used for generating command error feedback of the preset position according to the fourth communication code through main control software.
Optionally, the main control module 100 is further configured to determine, in response to an input selection operation for a preset position button, a preset position corresponding to the preset position button and a first communication code of the preset position according to the identifier of the preset position button and a query point location communication configuration table through main control software; wherein, the point-to-point communication configuration table further comprises: and the corresponding relation between the mark of the preset position button and the mark of the preset position.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 9 is a schematic structural diagram of a controller of an automation device according to an embodiment of the present application, and referring to fig. 9, the controller of the automation device includes: the memory 300 and the processor 400, wherein the memory 300 stores a computer program operable on the processor 400, and the processor 400 executes the computer program to implement the steps of the motion control method of the automation device.
In another aspect of the embodiments of the present application, a storage medium is further provided, and the storage medium stores a computer program, and the computer program, when executed by the processor 400, implements the steps of the motion control method of the automation device.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A motion control method of an automation device, characterized in that the automation device comprises: the servo mechanism is connected with the plurality of working shafts, and the controller is provided with main control software and operation control software; the method comprises the following steps:
sending a first communication code of an action instruction of a preset position to the operation control software through the main control software;
and executing a command corresponding to the first communication code by the operation control software according to the first communication code so as to control the servo mechanism to drive the working shafts to move to the preset position.
2. The method of claim 1, wherein the method further comprises:
after the operation control software detects that the working shafts move to the preset positions, the operation control software sends normally finished second communication codes of the preset positions to the main control software;
and generating first action feedback of the preset position according to the second communication code through the main control software.
3. The method of claim 1, wherein the method further comprises:
when the operation control software detects that the working shafts are abnormal in the movement process, a third communication code for completing the abnormity of the preset position is sent to the main control software through the operation control software;
and generating second action feedback of the preset position according to the third communication code through the main control software.
4. The method of claim 1, wherein prior to executing, by the operation control software, the command of the first communication code in accordance with the first communication code, the method further comprises:
inquiring whether the first communication code is in a point-to-point communication configuration table established in advance through the operation control software; the point-to-point communication configuration table comprises: a plurality of communication codes of the preset position;
and if the first communication code is in the point-to-point communication configuration table, determining a command corresponding to the first communication code through the operation control software.
5. The method of claim 4, wherein the method further comprises:
if the first communication code is not in the point-to-point communication configuration table, sending a fourth communication code with a command error at the preset position to the main control software through the operation control software;
and generating command error feedback of the preset position according to the fourth communication code through the main control software.
6. The method of any one of claims 1-5, wherein prior to sending, by the master software, the first communication code of the action instruction at the preset location to the operation control software, the method further comprises:
and establishing socket communication connection between the master control software and the operation control software.
7. The method of claim 4, wherein before the sending, by the master software, the first communication code of the action instruction of the preset location to the operation control software, the method further comprises:
responding to an input selection operation aiming at a preset position button, and inquiring the point-to-point communication configuration table according to an identifier of the preset position button through the main control software to determine the preset position corresponding to the preset position button and a first communication code of the preset position; wherein, the point-to-point communication configuration table further comprises: and the corresponding relation between the mark of the preset position button and the mark of the preset position.
8. A motion control apparatus of an automation device, characterized in that the automation device comprises: the servo mechanism is connected with the plurality of working shafts, and the controller is provided with main control software and operation control software; the device comprises: the system comprises a main control module and an operation control module;
the main control module is used for sending a first communication code of an action instruction at a preset position to the operation control software through the main control software;
the operation control module is used for executing a command corresponding to the first communication code through the operation control software according to the first communication code so as to control the servo mechanism to drive the plurality of working shafts to move to the preset position.
9. A controller for an automation device, comprising: memory in which a computer program is stored which is executable on the processor, and a processor which, when executing the computer program, carries out the steps of the method according to any one of the preceding claims 1 to 7.
10. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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