CN112731822A - Preemptive control system based on independent lifting table cooperative motion - Google Patents
Preemptive control system based on independent lifting table cooperative motion Download PDFInfo
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- CN112731822A CN112731822A CN202011551024.8A CN202011551024A CN112731822A CN 112731822 A CN112731822 A CN 112731822A CN 202011551024 A CN202011551024 A CN 202011551024A CN 112731822 A CN112731822 A CN 112731822A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B87/00—Sectional furniture, i.e. combinations of complete furniture units, e.g. assemblies of furniture units of the same kind such as linkable cabinets, tables, racks or shelf units
- A47B87/002—Combination of tables; Linking or assembling means therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47B—TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE
- A47B9/00—Tables with tops of variable height
Abstract
The invention discloses a preemptive control system based on cooperative motion of an independent lifting table, which comprises the independent lifting table, wherein the independent lifting table comprises a table plate, a controller and a controller, the controller is connected with the controller and is used for controlling the lifting of the table plate, the controllers are all mounted on the same communication bus, and the controller adopts a preemptive strategy to register temporary master-slave equipment. The invention improves the flexibility and extensibility of the extension of the intelligent lifting table system, can extend other logic instructions to realize special application under some artistic scenes, improves the complexity of the system, and systematically integrates a single lifting table.
Description
Technical Field
The invention relates to a lifting table cooperative technology, in particular to a preemptive control system based on cooperative motion of an independent lifting table.
Background
The mainstream elevating table manufacturers on the market currently still stay at the level of simple quantity stacking to expand the system application. There are currently two main technical routes: 1. the number of the table pushers controlled by a single controller is piled up, and one controller controls one table to be pushed to the direction of controlling two, three, four or even more table pushers to develop; 2. the number of the stacking controllers is that a plurality of controllers are connected through communication lines, the controller is connected to a certain controller to serve as a main device, and the main device forwards a control command to achieve the purpose of synchronous lifting.
CN 106292422 a discloses a multiple-upright-column lifting control system based on CAN bus, which includes an operator for user to input control information, a first controller for controlling the lifting of a first group of upright columns, and a second controller for controlling the lifting of a second group of upright columns.
The above methods all lack flexibility, extensibility and complexity of system expansion, and only a small table is simply made into a large table.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the preemptive control system based on the independent lifting table cooperative motion, which improves the flexibility and the extensibility of the extension of an intelligent lifting table system, can extend other logic instructions to realize special applications under some artistic scenes, improves the complexity of the system, and systematically integrates a single lifting table.
The purpose of the invention is realized by the following technical scheme.
The preemptive control system comprises the independent lifting table, the independent lifting table comprises a table plate, a controller and a controller, the controller is connected with the controller and used for controlling the lifting of the table plate, the controllers are all mounted on the same communication bus, and the controllers adopt preemptive strategies to register temporary master-slave equipment.
The table plate is provided with a plurality of table pushers, and the table pushers are used for supporting the table plate to lift.
The manipulator is independent of the controller or the manipulator is integrated within the controller.
The controller and the controller are respectively connected with a wired or portable power supply.
The preemptive strategy is as follows: the controller which acts first sends a control instruction to the controller, the controller broadcasts a preemption command on a bus to become a temporary master device, other controllers register the temporary slave device with own unique device code to the temporary master device on the bus, and then the temporary master-slave relationship is not released until the controller corresponding to the temporary master device recovers no action.
During the duration of the temporary master-slave relationship, the temporary master device synchronizes data among the devices in a mode of periodically polling the temporary slave devices in a traversing manner, and executes various combined lifting actions and fault protection, wherein the steps of the method comprise:
1) the temporary master equipment traverses the slave equipment to obtain the current height and fault information of each equipment for the first time;
2) when any equipment has faults currently, the temporary main equipment reports the faults to stop executing the movement operation, and otherwise, the step 3) is executed;
3) if the heights of the devices acquired for the first time are not within the threshold value of the same horizontal plane, adjusting the devices to be horizontal to the devices with the current lowest height, and if not, executing the step 4);
4) the temporary master polls the slave to send: running command, current self height, self fault information and current output power of a self motor;
5) each temporary slave responds: the current self height, the self fault information and the current output power of the self motor;
6) when any equipment has faults currently, the temporary main equipment reports the faults to stop executing the movement operation, otherwise, the step 7) is executed;
7) when the heights of the devices are not within the same horizontal plane threshold value, the temporary main device reports the fault and stops executing the movement operation; otherwise, executing step 8);
8) when any temporary slave device responds to timeout, the temporary master device reports the fault and stops executing the movement operation, otherwise, step 9) is executed;
9) when the output power of the motor of any temporary slave equipment exceeds the rated output, the temporary master equipment actively reduces the speed to adapt to the existing unbalance load, otherwise, the step 10) is executed;
10) the temporary main device pushes the desk to run at normal speed, and then returns to the step 4).
The method comprises the following specific steps that the controller broadcasts a preemption command on a bus to become a temporary master device, and other controllers register temporary slave devices to the temporary master device on the bus by using own unique device codes: the temporary master device packs and broadcasts a registration instruction and sends the registration instruction to a bus; begin wait for device reply on bus wait timeout set 100 milliseconds; when waiting for time out, whether slave equipment is registered currently or not is judged, otherwise, waiting is continued, the temporary slave equipment information is registered to the equipment to continue broadcast registration, and a temporary master equipment packaging broadcast registration instruction is returned to be sent to the bus; if the slave equipment is registered, no unregistered equipment on the bus prepares for unifying equipment parameters, otherwise, no other equipment of the bus operates independently; meanwhile, the temporary slave equipment receives a registration instruction and starts random time delay within the random range of 1-50 milliseconds; when the bus receives the data with the equipment preemptive response, the random time delay is carried out again to wait for the end of the time delay, whether the bus receives the data with the equipment preemptive response is judged again, otherwise, the self equipment data response is packaged to be registered and sent to the bus, and the waiting is continued.
The temporary main equipment obtains the minimum of the registration parameters according to the temporary slave registration parameter unified stroke parameters, the adjustment level parameter obtains the minimum of the current height, and the speed parameter obtains the minimum of the current speed; according to the polling index, acquiring a device code in the temporary slave device list; the packed uniform parameter instruction specifies that the slave device codes to send an instruction to the bus; temporarily resolving the unified parameter instruction of the specified self equipment from the equipment; updating equipment parameters; sending the code of the appointed main equipment to the bus after the response updating is completed; and after the current index of the temporary master equipment is updated, the index is carried forward, and the equipment codes in the temporary slave equipment list are returned and executed according to the polling index.
The temporary master device takes the device code in the temporary slave device list according to the polling index; the packing adjustment level instruction specifies that the slave device encodes a send instruction to the bus; temporarily resolving the command of adjusting the level of the specified self equipment from the equipment; driving a motor to move to a horizontal parameter position to update faults in the movement process; responding to the adjustment condition and the fault information, and appointing a main device code to send to a bus; and the temporary master equipment updates the current index adjustment condition and delays the fault update index, and returns to execute the temporary master equipment to fetch the equipment codes in the temporary slave equipment list according to the polling index.
The temporary master device takes the device code in the temporary slave device list according to the polling index; the packed motion command specifies that the slave device encodes a send command to the bus; temporarily resolving the motion instruction of the specified self equipment from the equipment; the driving motor operates according to the motion instruction to update the fault in the motion process; responding to the operation condition, and appointing a main device code to send to a bus; updating the current index running condition of the temporary main equipment; when fault equipment exists on the bus, updating the motion instruction to stop, otherwise, judging whether the position difference value of each piece of equipment on the bus exceeds 5 mm; and when the difference value of the positions of all the devices on the bus exceeds 5mm, updating the motion instruction to stop, otherwise, the index is continued, and the temporary master device returns to execute the temporary slave device coding in the temporary slave device list according to the polling index.
The temporary master device takes the device code in the temporary slave device list according to the polling index; the packaging stop instruction specifies that the slave device encodes a send instruction to the bus; temporarily resolving a stop instruction of the specified self equipment from the equipment; stopping the motor by braking; responding to stop the code of the appointed main equipment from being sent to the bus; exiting the temporary slave equipment, and updating the current index running condition of the temporary master equipment; and when the polling is finished, quitting the temporary master device, otherwise, delaying the index, and returning to the execution of the temporary master device to obtain the device code in the temporary slave device list according to the polling index.
Compared with the prior art, the invention has the advantages that: the flexibility of expansion of the intelligent lifting table system is improved, and a large combined lifting system can be formed by randomly splicing single lifting tables serving as standard modules; the extensibility of system expansion is improved, and other logic instructions, such as asynchronous lifting instructions, can be expanded on a system bus on the basis of the existing synchronous lifting, so that special applications under some artistic scenes can be realized; the complexity of the system is improved, systematic integration is carried out on the single lifting table, and the field of intelligent lifting tables is promoted to develop to a deep degree.
Drawings
FIG. 1 is a block diagram of the system of the present invention.
Fig. 2 is a flow chart of the temporary master device synchronizing data between devices in a manner that periodically polls the temporary slave devices.
Fig. 3 is a flow chart of temporary master broadcast registration command, temporary slave response registration.
Fig. 4 is a flow chart of polling and issuing by the temporary master according to the parameter unified operation parameter registered by each temporary slave.
Fig. 5 is a flow chart of a temporary master bus leveling, polling temporary slave leveling scenario.
Fig. 6 is a flow chart of the situation of scheduling the temporary master bus motion and polling the temporary slave bus motion.
FIG. 7 is a flow chart of temporary master bus exit and temporary master slave relationship release.
Detailed Description
The invention is described in detail below with reference to the drawings and specific examples.
As shown in fig. 1, a preemptive control system based on cooperative motion of an independent lifting table includes the independent lifting table, the independent lifting table includes a table, a controller and a controller, the controller is connected with the controller, the controller is used for controlling the lifting of the table, the controllers are all mounted on the same communication bus, and the controller registers temporary master-slave devices by using a preemptive strategy.
The table plate is provided with a plurality of table pushers, and the table pushers are used for supporting the table plate to lift.
The manipulator is independent of the controller or the manipulator is integrated within the controller.
The controller and the controller are respectively connected with a wired or portable power supply.
The bus is a portable connection wire harness, the common form is a three-way male and female connection wire harness, the three-way male and female connection wire harness is hidden under a table plate when the three-way male and female connection wire harness is not required to be expanded, the connection wire harnesses among lifting tables are mutually butted when the three-way male and female connection wire harness is required to be expanded, and a lifting table controller physically enters a bus system after the wire harnesses are connected.
Each lifting table in the bus system has no fixed master device, and the preemptive strategy is as follows: the controller which acts first sends a control instruction to the controller, the controller broadcasts a preemption command on a bus to become a temporary master device, other controllers register the temporary slave device with own unique device code to the temporary master device on the bus, and then the temporary master-slave relationship is not released until the controller corresponding to the temporary master device recovers no action.
As shown in fig. 2, during the duration of the temporary master-slave relationship, the temporary master device synchronizes data among the devices in a manner of periodically polling the temporary slave devices in a traversal manner, and performs various combined lifting actions and fault protection, including the steps of:
1) the temporary master equipment traverses the slave equipment to obtain the current height and fault information of each equipment for the first time;
2) when any equipment has faults currently, the temporary main equipment reports the faults to stop executing the movement operation, and otherwise, the step 3) is executed;
3) if the heights of the devices acquired for the first time are not within the threshold value of the same horizontal plane, adjusting the devices to be horizontal to the devices with the current lowest height, and if not, executing the step 4);
4) the temporary master polls the slave to send: running command, current self height, self fault information and current output power of a self motor;
5) each temporary slave responds: the current self height, the self fault information and the current output power of the self motor;
6) when any equipment has faults currently, the temporary main equipment reports the faults to stop executing the movement operation, otherwise, the step 7) is executed;
7) when the heights of the devices are not within the same horizontal plane threshold value, the temporary main device reports the fault and stops executing the movement operation; otherwise, executing step 8);
8) when any temporary slave device responds to timeout, the temporary master device reports the fault and stops executing the movement operation, otherwise, step 9) is executed;
9) when the output power of the motor of any temporary slave equipment exceeds the rated output, the temporary master equipment actively reduces the speed to adapt to the existing unbalance load, otherwise, the step 10) is executed;
10) the temporary main device pushes the desk to run at normal speed, and then returns to the step 4).
As shown in fig. 3, the step of broadcasting the preemption command on the bus by the controller to become the temporary master device, and the step of registering the temporary slave device with its own unique device code on the bus by each of the other controllers includes: the temporary master device packs and broadcasts a registration instruction and sends the registration instruction to a bus; begin wait for device reply on bus wait timeout set 100 milliseconds; when waiting for time out, whether slave equipment is registered currently or not is judged, otherwise, waiting is continued, the temporary slave equipment information is registered to the equipment to continue broadcast registration, and a temporary master equipment packaging broadcast registration instruction is returned to be sent to the bus; if the slave equipment is registered, no unregistered equipment on the bus prepares for unifying equipment parameters, otherwise, no other equipment of the bus operates independently; meanwhile, the temporary slave equipment receives a registration instruction and starts random time delay within the random range of 1-50 milliseconds; when the bus receives the data with the equipment preemptive response, the random time delay is carried out again to wait for the end of the time delay, whether the bus receives the data with the equipment preemptive response is judged again, otherwise, the self equipment data response is packaged to be registered and sent to the bus, and the waiting is continued.
As shown in fig. 4, the temporary master device obtains the minimum of the registration parameters, the minimum of the current height of the adjustment level parameter, and the minimum of the current speed of the speed parameter according to the temporary slave registration parameter uniform travel parameters; according to the polling index, acquiring a device code in the temporary slave device list; the packed uniform parameter instruction specifies that the slave device codes to send an instruction to the bus; temporarily resolving the unified parameter instruction of the specified self equipment from the equipment; updating equipment parameters; sending the code of the appointed main equipment to the bus after the response updating is completed; and after the current index of the temporary master equipment is updated, the index is carried forward, and the equipment codes in the temporary slave equipment list are returned and executed according to the polling index.
As shown in fig. 5, the temporary master device takes the device code in the temporary slave device list according to the polling index; the packing adjustment level instruction specifies that the slave device encodes a send instruction to the bus; temporarily resolving the command of adjusting the level of the specified self equipment from the equipment; faults (high-voltage abnormity, under-voltage abnormity, over-current abnormity, position abnormity and collision abnormity) in the process of updating the motion of the driving motor to the horizontal parameter position; responding to the adjustment condition (during adjustment and after adjustment) and the fault information, designating the main equipment code and sending the main equipment code to the bus; and the temporary master equipment updates the current index adjustment condition and delays the fault update index, and returns to execute the temporary master equipment to fetch the equipment codes in the temporary slave equipment list according to the polling index.
As shown in fig. 6, the temporary master device takes the device code in the temporary slave device list according to the polling index; the packed motion command specifies that the slave device encodes a send command to the bus; temporarily resolving the motion instruction of the specified self equipment from the equipment; the driving motor operates according to the motion instruction to update faults (high-voltage abnormity, under-voltage abnormity, over-current abnormity, position abnormity and collision abnormity) in the motion process; responding to the running condition (position information, motor output power and fault information), and designating a main device code to be sent to a bus; updating the current index running condition of the temporary main equipment; when fault equipment exists on the bus, updating the motion instruction to stop, otherwise, judging whether the position difference value of each piece of equipment on the bus exceeds 5 mm; and when the difference value of the positions of all the devices on the bus exceeds 5mm, updating the motion instruction to stop, otherwise, the index is continued, and the temporary master device returns to execute the temporary slave device coding in the temporary slave device list according to the polling index.
As shown in fig. 7, the temporary master device takes the device code in the temporary slave device list according to the polling index; the packaging stop instruction specifies that the slave device encodes a send instruction to the bus; temporarily resolving a stop instruction of the specified self equipment from the equipment; stopping the motor by braking; responding to stop the code of the appointed main equipment from being sent to the bus; exiting the temporary slave equipment, and updating the current index running condition of the temporary master equipment; and when the polling is finished, quitting the temporary master device, otherwise, delaying the index, and returning to the execution of the temporary master device to obtain the device code in the temporary slave device list according to the polling index.
Claims (10)
1. A preemptive control system based on cooperative motion of an independent lifting table comprises the independent lifting table, the independent lifting table comprises a table plate, a controller and a controller, the controller is connected with the controller, the controller is used for controlling the lifting of the table plate, and the preemptive control system is characterized in that the controllers are all mounted on the same communication bus and register temporary master-slave equipment by adopting a preemptive strategy.
2. The preemptive control system according to claim 1, wherein a plurality of pushers are disposed on the table, and the pushers are used to support the table for lifting.
3. Preemptive control system according to claim 1 or 2, wherein the controller is independent of the controller or integrated into the controller. The controller and the controller are respectively connected with a wired or portable power supply.
4. A preemptive control system according to claim 1, wherein said preemptive strategy is: the controller which acts first sends a control instruction to the controller, the controller broadcasts a preemption command on a bus to become a temporary master device, other controllers register the temporary slave device with own unique device code to the temporary master device on the bus, and then the temporary master-slave relationship is not released until the controller corresponding to the temporary master device recovers no action.
5. The preemptive control system according to claim 4, wherein the temporary master device synchronizes data among the devices in a manner of periodically polling the temporary slave devices in a traversal manner during the duration of the temporary master-slave relationship, and performs various combined lifting actions and fault protection, the steps of which include:
1) the temporary master equipment traverses the slave equipment to obtain the current height and fault information of each equipment for the first time;
2) when any equipment has faults currently, the temporary main equipment reports the faults to stop executing the movement operation, and otherwise, the step 3) is executed;
3) if the heights of the devices acquired for the first time are not within the threshold value of the same horizontal plane, adjusting the devices to be horizontal to the devices with the current lowest height, and if not, executing the step 4);
4) the temporary master polls the slave to send: running command, current self height, self fault information and current output power of a self motor;
5) each temporary slave responds: the current self height, the self fault information and the current output power of the self motor;
6) when any equipment has faults currently, the temporary main equipment reports the faults to stop executing the movement operation, otherwise, the step 7) is executed;
7) when the heights of the devices are not within the same horizontal plane threshold value, the temporary main device reports the fault and stops executing the movement operation; otherwise, executing step 8);
8) when any temporary slave device responds to timeout, the temporary master device reports the fault and stops executing the movement operation, otherwise, step 9) is executed;
9) when the output power of the motor of any temporary slave equipment exceeds the rated output, the temporary master equipment actively reduces the speed to adapt to the existing unbalance load, otherwise, the step 10) is executed;
10) the temporary main device pushes the desk to run at normal speed, and then returns to the step 4).
6. The preemptive control system according to claim 4, wherein the controller broadcasts the preemptive command on the bus to become the temporary master device, and the other controllers register the temporary slave devices with their unique device codes on the bus to the temporary master device, the method comprising: the temporary master device packs and broadcasts a registration instruction and sends the registration instruction to a bus; begin wait for device reply on bus wait timeout set 100 milliseconds; when waiting for time out, whether slave equipment is registered currently or not is judged, otherwise, waiting is continued, the temporary slave equipment information is registered to the equipment to continue broadcast registration, and a temporary master equipment packaging broadcast registration instruction is returned to be sent to the bus; if the slave equipment is registered, no unregistered equipment on the bus prepares for unifying equipment parameters, otherwise, no other equipment of the bus operates independently; meanwhile, the temporary slave equipment receives a registration instruction and starts random time delay within the random range of 1-50 milliseconds; when the bus receives the data with the equipment preemptive response, the random time delay is carried out again to wait for the end of the time delay, whether the bus receives the data with the equipment preemptive response is judged again, otherwise, the self equipment data response is packaged to be registered and sent to the bus, and the waiting is continued.
7. The preemptive control system according to claim 4, wherein the temporary master device obtains the minimum of the registered parameters, the minimum of the current height of the adjustment level parameter, and the minimum of the current speed of the speed parameter according to the uniform stroke parameter of each temporary slave registered parameter; according to the polling index, acquiring a device code in the temporary slave device list; the packed uniform parameter instruction specifies that the slave device codes to send an instruction to the bus; temporarily resolving the unified parameter instruction of the specified self equipment from the equipment; updating equipment parameters; sending the code of the appointed main equipment to the bus after the response updating is completed; and after the current index of the temporary master equipment is updated, the index is carried forward, and the equipment codes in the temporary slave equipment list are returned and executed according to the polling index.
8. The preemptive control system according to claim 4, wherein the temporary master device obtains the device code from the temporary slave device list according to the polling index; the packing adjustment level instruction specifies that the slave device encodes a send instruction to the bus; temporarily resolving the command of adjusting the level of the specified self equipment from the equipment; driving a motor to move to a horizontal parameter position to update faults in the movement process; responding to the adjustment condition and the fault information, and appointing a main device code to send to a bus; and the temporary master equipment updates the current index adjustment condition and delays the fault update index, and returns to execute the temporary master equipment to fetch the equipment codes in the temporary slave equipment list according to the polling index.
9. The preemptive control system according to claim 4, wherein the temporary master device obtains the device code from the temporary slave device list according to the polling index; the packed motion command specifies that the slave device encodes a send command to the bus; temporarily resolving the motion instruction of the specified self equipment from the equipment; the driving motor operates according to the motion instruction to update the fault in the motion process; responding to the operation condition, and appointing a main device code to send to a bus; updating the current index running condition of the temporary main equipment; when fault equipment exists on the bus, updating the motion instruction to stop, otherwise, judging whether the position difference value of each piece of equipment on the bus exceeds 5 mm; and when the difference value of the positions of all the devices on the bus exceeds 5mm, updating the motion instruction to stop, otherwise, the index is continued, and the temporary master device returns to execute the temporary slave device coding in the temporary slave device list according to the polling index.
10. The preemptive control system according to claim 4, wherein the temporary master device obtains the device code from the temporary slave device list according to the polling index; the packaging stop instruction specifies that the slave device encodes a send instruction to the bus; temporarily resolving a stop instruction of the specified self equipment from the equipment; stopping the motor by braking; responding to stop the code of the appointed main equipment from being sent to the bus; exiting the temporary slave equipment, and updating the current index running condition of the temporary master equipment; and when the polling is finished, quitting the temporary master device, otherwise, delaying the index, and returning to the execution of the temporary master device to obtain the device code in the temporary slave device list according to the polling index.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114488916A (en) * | 2022-04-14 | 2022-05-13 | 常州市凯迪电器股份有限公司 | Electric lifting table control method based on integrated table push and CAN bus communication |
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| CN112731822B (en) | 2022-03-08 |
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