CN113110140B - Execution method of instruction synchronization system based on 5G and satellite time service - Google Patents
Execution method of instruction synchronization system based on 5G and satellite time service Download PDFInfo
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- CN113110140B CN113110140B CN202110326915.1A CN202110326915A CN113110140B CN 113110140 B CN113110140 B CN 113110140B CN 202110326915 A CN202110326915 A CN 202110326915A CN 113110140 B CN113110140 B CN 113110140B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
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Abstract
The invention discloses an instruction synchronization system and an execution method based on 5G and satellite time service, wherein the instruction synchronization system based on 5G and satellite time service comprises a machine station group, an AGV trolley group, a 5G terminal group and a master control PLC (programmable logic controller), wherein: the machine table group comprises a plurality of machine tables, and the machine tables are internally provided with machine table PLC; the AGV trolley group comprises an AGV1 trolley and an AGV2 trolley; the 5G terminal group comprises a plurality of machine table 5G terminals, a material frame 5G terminal, a manipulator 5G terminal and a main control 5G terminal, and each 5G terminal is internally provided with a Beidou satellite chip and used for accurately synchronizing the time of each 5G terminal through Beidou satellite time service; each N machine PLC is electrically connected with one machine 5G terminal; the material frame 5G terminal is electrically connected with an AGV1 trolley, and the manipulator 5G terminal is electrically connected with an AGV2 trolley. The invention solves the problems of network cable damage and message blockage by matching the 5G terminal with the satellite time service technology and eliminates time delay jitter.
Description
Technical Field
The invention relates to the technical field of production line communication, in particular to an execution method of an instruction synchronization system based on 5G and satellite time service.
Background
The existing automatic production line is composed of a plurality of machine tables, an AGV trolley and a master control PLC, one master control PLC controls the AGV trolley and the plurality of machine tables simultaneously, and due to the fact that the number of the machine tables is large, data loss and instruction blocking often occur, and influence is caused on production efficiency of products.
Meanwhile, the AGV trolley and the master control PLC adopt a Profinet protocol to communicate and the Profinet protocol used is in Layer 2, the Profinet protocol must be used in the same local area network, due to the requirements of low time delay and high efficiency, the networking mode of the master control PLC adopts wired networking, the AGV trolley is in a motion state, the network cable adopts a tank chain to protect the bend of the AGV trolley along with the motion, the tank chain is easy to break after long-time abrasion, the production line is required to be stopped for maintenance, and the loss is caused to the production value.
Disclosure of Invention
In order to solve the problems, the invention provides an execution method of an instruction synchronization system based on 5G and satellite time service, solves the problems of network cable damage and message blockage through the cooperation of a 5G terminal and a satellite time service technology, and eliminates time delay jitter.
The technical scheme adopted by the invention is as follows:
the application provides an instruction synchronization system based on 5G and satellite time service, including platform group, AGV trolley group, 5G terminal group and master control PLC, wherein:
the machine table group comprises a plurality of machine tables, and the machine tables are all provided with machine table PLCs;
the AGV trolley group comprises an AGV1 trolley and an AGV2 trolley;
the 5G terminal group comprises a plurality of machine table 5G terminals, a material frame 5G terminal, a manipulator 5G terminal and a main control 5G terminal, wherein each 5G terminal is internally provided with a Beidou satellite chip for accurately synchronizing the time of each 5G terminal through Beidou satellite time service; each N machine PLC is electrically connected with a machine 5G terminal, and N is an integer which is more than or equal to 1 and less than or equal to the total number of the machines; the material frame 5G terminal is electrically connected with an AGV1 trolley, and the manipulator 5G terminal is electrically connected with an AGV2 trolley; the main control 5G terminal is electrically connected with the main control PLC, and the machine table 5G terminal, the material frame 5G terminal and the manipulator 5G terminal are all electrically connected with the main control 5G terminal.
Preferentially, the machines are divided into two groups, the AGV trolleys are arranged between the two groups of machines, and an electric cabinet is arranged outside the main control 5G terminal.
Preferentially, the tracks are arranged between the two groups of platforms in parallel, and the AGV1 trolley and the AGV2 trolley are respectively arranged on the tracks which are relatively arranged and are used for grabbing products and placing raw materials in a horizontal sliding mode on the tracks. Preferentially, be equipped with the material frame on the AGV1 dolly, be equipped with the manipulator on the AGV2 dolly.
Preferentially, all be equipped with servo driver on AGV1 dolly and the AGV2 dolly, servo driver is electric connection material frame 5G terminal and manipulator 5G terminal respectively, AGV1 dolly and AGV2 dolly are used for independent motion or follow-up motion, in the follow-up motion, the manipulator is used for snatching the product on the material frame.
Preferably, each 5G terminal and the connected PLC or servo driver adopt a Modbus TCP protocol and an IO protocol for communication, and the 5G terminals adopt a TCP protocol for communication.
Preferably, the follow-up motion of the AGV1 carts and the AGV2 carts are controlled using siemens 104 messages. Based on the instruction synchronization system based on 5G and satellite time service, the application also provides an execution method using the instruction synchronization system based on 5G and satellite time service, which comprises the following steps:
s1, the master control PLC sends a follow-up instruction to a manipulator 5G terminal or a material frame 5G terminal;
s2, the manipulator 5G terminal sends a follow-up instruction to the material frame 5G terminal, the material frame 5G terminal sends confirmation feedback to the manipulator 5G terminal after receiving the follow-up instruction, and the manipulator 5G terminal carries out 100ms of delay with the material frame 5G terminal after receiving the confirmation feedback;
and S3, the manipulator 5G terminal and the material frame 5G terminal synchronously send motion instructions to the AGV1 trolley and a servo driver on the AGV2, and the servo driver executes the instructions after receiving the motion instructions.
Preferably, in step S3, the manipulator 5G terminal and the material frame 5G terminal send specific command content of the motion command to the PLC or the servo driver through the Modbus TCP protocol; secondly, the PLC or the servo driver does not execute the operation after receiving the instruction content; then, the manipulator 5G terminal and the material frame 5G terminal send action instructions to a PLC or a servo driver through an IO protocol; and finally, the PLC or the servo driver executes the instruction to eliminate the time delay jitter caused by the communication of the PLC or the servo driver by adopting a Modbus TCP protocol.
The beneficial effects of the invention are:
1. the production line equipment adopts a connection 5G terminal to replace a network cable for connection, so that the problem that the production is influenced by maintenance after the network cable is damaged is solved;
the 2.5G terminal enables the time to be accurate to microsecond level through Beidou satellite time service;
3. after the instruction is issued, the 5G terminal negotiates for time delay, so that the two AGV trolleys move synchronously, the error is reduced, and the grabbing precision requirement is met;
the 4.5G terminal and the PLC or the servo driver adopt the combination of the Modbus TCP protocol and the IO protocol for communication, and time delay jitter caused by communication of the Modbus TCP protocol is eliminated.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of the instruction synchronization system connections of the present invention;
FIG. 2 is a schematic diagram of command synchronization transceiving according to the present invention;
fig. 3 is a flow chart of the communication of the 5G terminal of the present invention with a PLC or servo driver.
Labeled as: 1. the system comprises a machine table, 2, a machine table 5G terminal, 3, an AGV1 trolley, 4, an AGV2 trolley, 5, a material frame 5G terminal, 6, a manipulator 5G terminal, 7, a servo driver, 8, a main control 5G terminal and 9, a main control PLC.
Detailed Description
As shown in fig. 1, the present application provides an instruction synchronization system based on 5G and satellite time service, which includes a machine group, an AGV cart group, a 5G terminal group and a master control PLC9, wherein:
as shown in fig. 1, the machine group includes 66 machines 1, the machines 1 are all provided with a machine PLC therein, the machines 1 are divided into two groups, the AGV trolley group is disposed between the two groups of machines 1, and the main control 5G terminal 8 is provided with an electric cabinet outside.
As shown in fig. 1, the AGV cart group includes AGV1 cart 3 and AGV2 cart 4, a rail is arranged between the two groups of platforms 1 in parallel, and the AGV1 cart 3 and the AGV2 cart 4 are respectively arranged on the rails set up oppositely and used for horizontally sliding on the rails to grab products and place raw materials. The AGV1 is provided with a material frame on the trolley 3, and the AGV2 is provided with a manipulator on the trolley 4. The AGV1 trolley 3 and the AGV2 trolley 4 are respectively provided with a servo driver 7, the servo drivers 7 are respectively electrically connected with the material frame 5G terminal 5 and the manipulator 5G terminal 6, the AGV1 trolley 3 and the AGV2 trolley 4 are used for independent motion or follow-up motion, and in the follow-up motion, the manipulator is used for grabbing products on the material frame. The follow-up motion of AGVs 1 cart 3 and AGV2 cart 4 is controlled using siemens 104 messages.
As shown in fig. 1, the 5G terminal group includes a plurality of machine stations 5G terminals 2, a material frame 5G terminal 5, a manipulator 5G terminal 6 and a main control 5G terminal 8, and each 5G terminal is provided with a beidou satellite chip for accurately synchronizing the time of each 5G terminal through beidou satellite time service; each N number of the machine PLCs is electrically connected to one machine 5G terminal 2, N is an integer greater than or equal to 1 and less than or equal to the total number of the machines 1, and as shown in fig. 1, each 3 number of the machine PLCs is electrically connected to one machine 5G terminal 2; the material frame 5G terminal 5 is electrically connected with an AGV1 trolley 3, and the manipulator 5G terminal 6 is electrically connected with an AGV2 trolley 4; the main control 5G terminal 8 electric connection main control PLC9, board 5G terminal 2, material frame 5G terminal 5 and manipulator 5G terminal 6 all with main control 5G terminal 8 electric connection. Each 5G terminal and the connected PLC or servo driver 7 adopt a Modbus TCP protocol and an IO protocol for communication, and the 5G terminals adopt the TCP protocol for communication.
As shown in fig. 2 to 3, based on the above instruction synchronization system based on 5G and satellite time service, the present application further provides an execution method using the above instruction synchronization system based on 5G and satellite time service, including the following steps: s1, the master control PLC9 issues a follow-up instruction to the manipulator 5G terminal 6 or the material frame 5G terminal 5;
s2, the manipulator 5G terminal 6 sends a follow-up instruction to the material frame 5G terminal 5, the material frame 5G terminal 5 sends confirmation feedback to the manipulator 5G terminal 6 after receiving the follow-up instruction, and the manipulator 5G terminal 6 delays the material frame 5G terminal 5 for 100ms after receiving the confirmation feedback;
s3, the manipulator 5G terminal 6 and the material frame 5G terminal 5 synchronously send motion instructions to the AGV1, the trolley 3 and a servo driver 7 on the AGV2, wherein: the manipulator 5G terminal 6 and the material frame 5G terminal 5 firstly send the concrete instruction content of the motion instruction to the PLC or the servo driver 7 through a Modbus TCP protocol; secondly, the PLC or the servo driver 7 does not execute the operation after receiving the instruction content; then, the manipulator 5G terminal 6 and the material frame 5G terminal 5 send action instructions to the PLC or the servo driver 7 through an IO protocol; and finally, the PLC or the servo driver 7 executes the instruction to eliminate the time delay jitter caused by the communication of the PLC or the servo driver 7 by adopting a Modbus TCP protocol.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. An execution method of an instruction synchronization system based on 5G and satellite time service is characterized in that: the method comprises the following steps:
s1, a master control PLC (programmable logic controller) issues a follow-up instruction to a manipulator 5G terminal;
s2, the manipulator 5G terminal sends a follow-up instruction to the material frame 5G terminal, the material frame 5G terminal sends confirmation feedback to the manipulator 5G terminal after receiving the follow-up instruction, and the manipulator 5G terminal carries out 100ms of delay with the material frame 5G terminal after receiving the confirmation feedback;
s3, the manipulator 5G terminal and the material frame 5G terminal synchronously send motion instructions to an AGV1 trolley and a servo driver on an AGV2, and the servo driver receives the motion instructions and executes the instructions;
in step S3, the manipulator 5G terminal and the frame 5G terminal send the specific instruction content of the movement instruction to the servo driver through the Modbus TCP protocol; secondly, the servo driver does not execute the command after receiving the command content; then, the manipulator 5G terminal and the material frame 5G terminal send action instructions to a servo driver through an IO protocol; and finally, the servo driver executes the instruction, so that the delay jitter caused by the communication of the servo driver by adopting a Modbus TCP protocol is eliminated.
2. The execution method of the instruction synchronization system based on 5G and satellite time service according to claim 1, characterized in that: the material frame 5G terminal is electrically connected with an AGV1 trolley, and the manipulator 5G terminal is electrically connected with an AGV2 trolley; the master control 5G terminal is electrically connected with the master control PLC; the machine table 5G terminal, the material frame 5G terminal and the manipulator 5G terminal are electrically connected with the main control 5G terminal;
n machine PLC and a machine 5G terminal are electrically connected, wherein N is an integer which is more than or equal to 1 and less than or equal to the total number of the machines;
all be equipped with big dipper satellite chip in board 5G terminal, material frame 5G terminal, manipulator 5G terminal and the master control 5G terminal, make every 5G terminal time accurate synchronization through big dipper satellite time service.
3. The execution method of the instruction synchronization system based on 5G and satellite time service according to claim 2, characterized in that: the follow-up motion of the AGV1 cart and the AGV2 cart is controlled using siemens 104 messages.
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