CN114488984B - Control system and control method for multiple DCS (distributed control system) main machines of power plant - Google Patents
Control system and control method for multiple DCS (distributed control system) main machines of power plant Download PDFInfo
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- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33273—DCS distributed, decentralised controlsystem, multiprocessor
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Abstract
The invention discloses a control system and a control method of multiple DCS (distributed control system) hosts of a power plant, wherein the system comprises a touch display screen, an operating robot, an industrial personal computer, an image acquisition module and a KVM control module, the KVM control module is connected with the multiple DCS hosts, the KVM control module receives video stream signals of the multiple DCS hosts, and the KVM control module performs signal enhancement on the video stream signals and outputs the video stream signals to the touch display screen and the image acquisition module; the industrial personal computer receives the video stream transmitted by the image acquisition module, performs image recognition, sends a robot instruction after program escape to the operating robot, and the operating robot controls the touch display screen in a point mode; the touch display screen provides a touch control function, and after the operation robot operates the touch display screen, the touch display screen generates a control signal and forwards the control signal to the corresponding DCS host through the KVM control module. The invention concentrates a plurality of DCS systems in a centralized control room, and greatly reduces the expenditure of manpower and material resources.
Description
Technical Field
The invention relates to the field of power plant multi-DCS (distributed control system) host control, in particular to a control system and a control method of a power plant multi-DCS host.
Background
The use method of the existing operation system of the power plant centralized control room comprises the following steps: every computer host in the power plant centralized control room all is used for operating specific power plant Distributed Control System (DCS), and every or every several host computers are responsible for the monitoring operation by an interior operating personnel of centralized control room, when a certain power plant DCS system appears unusually or when needing to operate, judge the data abnormal conditions on this DCS system and issue the instruction by corresponding responsible person. At present, because the distributed control system in the centralized control room of the power plant is various and the devices are numerous, more personnel need to be equipped in the centralized control room, and meanwhile, operators are easy to fatigue when in judgment, so that an abnormal judgment error or an instruction issuing error is caused, and great production loss is easily caused.
Therefore, the manpower expenditure of a power plant can be effectively reduced and the occurrence rate of command errors can be reduced by integrating all DCS system hosts and controlling the work by handing over a program.
The prior art provides a thermal power plant auxiliary workshop centralized control system based on DCS, which comprises a plurality of DCS operator stations, a unit DCS control network, a public DCS control network, a plurality of unit control devices, a unit public control device, a water local area control network, a fuel local area control network, a gray local area control network and a plurality of inter-network connectors. The unit set DCS control network is connected with the public DCS control network through the internetwork connector; the DCS control network of the unit set is connected with the DCS operator station and the unit set control equipment; the public DCS control network is connected with the DCS operator station, the water local area control network, the fuel local area control network, the ash local area control network and the unit public system. The scheme can not integrate all DCS system main machines of the power plant.
Disclosure of Invention
The invention aims to provide a control system of multiple DCS main engines of a power plant, which integrates all the DCS main engines and controls work by programs, thereby effectively reducing the manpower expenditure of the power plant and reducing the occurrence rate of command errors.
The invention further aims to provide a control method of multiple DCS main engines of a power plant
In order to solve the technical problems, the technical scheme of the invention is as follows:
the utility model provides a control system of many DCS host computers of power plant, is including setting up many DCS host computers at the power plant, including touch display screen, operation robot, industrial computer, image acquisition module and KVM control module, wherein:
the KVM control module is connected with the plurality of DCS host computers, receives video stream signals of the plurality of DCS host computers, strengthens the video stream signals and outputs the signals to the touch display screen and the image acquisition module;
the industrial personal computer receives the video stream transmitted by the image acquisition module, identifies images, judges the steps to be executed, sends a robot instruction after program escape to the operating robot, and the operating robot controls the touch display screen in a point mode instead of a human;
the touch display screen provides a touch control function, and after the operation robot operates the touch display screen, the touch display screen generates a control signal and forwards the control signal to the corresponding DCS host through the KVM control module.
Preferably, the touch display screen also integrates a keyboard and a mouse.
Preferably, the image acquisition module is an image acquisition card.
Preferably, the KVM control module includes a plurality of video stream and signal transceiver modules, an interface status monitoring module, a video stream switching and converting module, a video stream output module, and a touch screen input signal receiving module, wherein:
the video stream and signal receiving and transmitting module respectively receives video stream signals of a plurality of DCS hosts;
the interface state monitoring module polls the state information of each video stream and signal receiving and transmitting module at any time and forwards the corresponding video stream signal to the video stream switching and converting module;
the video stream switching and converting module is used for carrying out signal enhancement on the video stream signal and then outputting and displaying the video stream signal to the touch display screen and the image acquisition module through the video stream output module;
the touch screen input signal receiving module receives a control signal sent by the touch display screen, acquires a current video channel through the video stream switching and converting module and forwards the current video channel to the corresponding DCS host.
Preferably, the KVM control module further includes a program logic control module and a program control signal transceiver module, the program control signal transceiver module receives a control signal for switching a data source sent by the industrial personal computer, the program logic control module switches a video source after determining the control signal, outputs a corresponding video stream to the image capture card or outputs the video stream to the touch display screen together, and the KVM control module sends the host ID to the industrial personal computer through the program control signal transceiver module.
Preferably, the KVM control module further includes a touch screen authorization control signal transceiver module, an input end of the touch screen authorization control signal transceiver module is connected to the industrial personal computer, an output end of the touch screen authorization control signal transceiver module is connected to the program logic control module, the industrial personal computer sends the touch screen authorization control signal to the program logic control module through the touch screen authorization control signal transceiver module, and the program logic control module identifies and processes the touch screen authorization control signal.
Preferably, the video stream switching and converting module is to convert the video signal in the form of a digital signal and an analog signal.
A control method of multiple DCS main machines of a power plant is used for the control system of the multiple DCS main machines of the power plant, and comprises the following steps:
s1: each module is electrified and started;
s2: the interface state detection module of the KVM control module is powered by a single-side video channel line and records activated port numbers;
s3: the video stream switching and converting module in the KVM control module respectively outputs the video streams to the touch display screen and the image acquisition module through the video output interface;
s4: the method comprises the steps that an industrial personal computer program is executed, whether an instruction to be operated can be executed on a current host computer is judged, if yes, the instruction is executed, and if not, the instruction is sent to a KVM control module to switch a video source;
s5: the KVM control module receives a control signal of the switching host and selects another DCS host to switch a video source;
s6: the industrial personal computer inquires an instruction set and sends an instruction to the operation robot;
s7: and the robot controls the touch display screen in a point mode, and the touch signals are sent to the KVM control system and forwarded to the corresponding DCS host to complete the operation.
Preferably, before the industrial personal computer works in step S4, the host ID sent by the KVM control module is obtained, then the video stream obtained by the image acquisition module is identified by using an image identification algorithm, the zone bit of the current interface is determined, the database is queried, the instruction set to be currently executed is queried, and the instructions are sent to the operation robot one by one in the form of the motion state, the speed and the pose information of the robot.
Preferably, in step S4, the industrial personal computer is operated, and sends a touch screen authorization control signal to the KVM control module at an indefinite time, and if the touch screen authorization signal is touch screen prohibition, the KVM control module does not perform any transfer processing on the received touch screen authorization until the touch screen is permitted.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
1. the invention can operate a plurality of DCS systems in the centralized control room of the power plant in a centralized way, thereby greatly reducing the expenditure of manpower and material resources.
2. The invention avoids the condition that an abnormal judgment error or an instruction issuing error occurs due to fatigue of operators, and effectively improves the monitoring and control efficiency of the power plant.
3. The invention can intelligently switch each video input source and accurately execute the click control operation, thereby reducing the condition of human judgment errors.
Drawings
FIG. 1 is a block diagram of a control system according to the present invention.
FIG. 2 is a schematic diagram of a KVM control module according to the present invention.
FIG. 3 is a flow chart illustrating a control method according to the present invention.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the present embodiments, certain elements of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1
This embodiment provides a control system of many DCS hosts of power plant, including setting up at many DCS hosts of power plant, as shown in fig. 1, including touch display screen, operation robot, industrial computer, image acquisition module and KVM control module, wherein:
the KVM control module is connected with the plurality of DCS host computers, receives video stream signals of the plurality of DCS host computers, strengthens the video stream signals and outputs the signals to the touch display screen and the image acquisition module;
the industrial personal computer receives the video stream transmitted by the image acquisition module, identifies images, judges the steps to be executed, sends a robot instruction after program escape to the operating robot, and the operating robot controls the touch display screen in a point mode instead of a human;
the touch display screen provides a touch function, and after the operation robot operates the touch display screen, the touch display screen generates a control signal and forwards the control signal to the corresponding DCS host through the KVM control module.
The touch display screen also integrates the functions of a keyboard and a mouse.
The image acquisition module is an image acquisition card.
In the specific implementation process, each DCS host is controlled by a program, and the detailed steps of normal execution of the program are described as follows:
step 1, after a program is started, a KVM control module outputs a video stream of a video source to a touch display screen, and an industrial personal computer and an operation robot are started normally.
Specifically, all the devices are started, and when a host in the distributed control system cluster is started, the KVM control module is powered by a video signal line, converts the video signal and outputs the converted video signal to the touch display screen and the image acquisition module.
And 2, when the industrial personal computer program is executed, performing image recognition on the video stream obtained by the image acquisition module by using an image recognition algorithm, after receiving an operation instruction, inquiring the database and sending a corresponding robot execution instruction set to the operation robot.
Specifically, when the program of the industrial personal computer is executed, the host ID sent by the KVM controller is firstly obtained, then the video stream obtained by the image acquisition card is identified by using an image identification algorithm, the zone bit of the current interface is judged, the database is inquired, the instruction set to be executed currently is inquired, and the instructions are sent to the operation robot one by one in the form of information such as the motion state, the speed, the pose and the like of the robot.
And 3, clicking the touch display screen by the operating robot according to the received instruction set, and sending the touch operation to the corresponding DCS host by the KVM control module to complete instruction execution.
Specifically, the operation robot receives each pair of motion state, speed and pose information and executes to click the touch display screen, touch operation is equivalent to an external keyboard and mouse function, a touch signal is sent to the KVM control module through a data line, and the KVM control module finally forwards the touch signal to the corresponding DCS host. The interface state module monitors the state of the video interface and can correctly forward the state to the corresponding video stream and signal transceiving module.
And 4, in the process of point control of the touch display screen by the robot, the industrial personal computer intermittently sends a touch screen authorization control signal to the KVM control module to control the touch screen control from time to time.
Specifically, in the process of searching for the path by the operating robot, the industrial personal computer sends a touch screen authorization signal to the KVM control module, the KVM control module processes interception and passing of the touch screen signal after receiving the control signal, and if the touch screen is forbidden, the received touch screen authorization is not subjected to any switching processing until the touch screen is allowed.
Optional steps: if the industrial personal computer needs to switch the DCS host to be processed, the program sends a control signal to the KVM control system, then a video source is switched, the content of the touch display screen is changed into a corresponding host interface, and the image acquisition card acquires a corresponding host stream.
Specifically, the industrial personal computer stores the unique ID of each host to communicate with the KVM control module, packs the host ID to be switched and sends the packed host ID to the KVM control module for unpacking, sets a corresponding state code, switches the video stream source by the switching signal, outputs the video stream source to the touch display screen and the image acquisition card, and finally sends the switched video stream data to the industrial personal computer.
Through above-mentioned 5 steps, can accomplish the function that an industrial computer and robot come many DCS systems of intelligent control, realize the high integration of power plant's equipment.
Example 2
In this embodiment, a specific structure of a KVM control module is provided on the basis of embodiment 1, as shown in fig. 2:
the KVM control module comprises a plurality of video stream and signal receiving and transmitting modules, an interface state monitoring module, a video stream switching and converting module, a video stream output module and a touch screen input signal receiving module, wherein:
the video stream and signal transceiving module receives video stream signals of a plurality of DCS hosts respectively;
the interface state monitoring module polls the state information of each video stream and signal receiving and transmitting module at any time and forwards the corresponding video stream signal to the video stream switching and converting module;
the video stream switching and converting module performs signal enhancement on the video stream signal and then outputs and displays the video stream signal to the touch display screen and the image acquisition module through the video stream output module;
the touch screen input signal receiving module receives a control signal sent by the touch display screen, acquires a current video channel through the video stream switching and converting module and forwards the current video channel to the corresponding DCS host.
The KVM control module further comprises a program logic control module and a program control signal transceiving module, the program control signal transceiving module receives a control signal for switching a data source sent by the industrial personal computer, the control signal is judged by the program logic control module and then a video source is switched, corresponding video streams are output to the image acquisition card or are output to the touch display screen together, and meanwhile, the KVM control module sends the host ID to the industrial personal computer through the program control signal transceiving module.
The KVM control module further comprises a touch screen authorization control signal receiving and sending module, the input end of the touch screen authorization control signal receiving and sending module is connected with the industrial personal computer, the output end of the touch screen authorization control signal receiving and sending module is connected with the program logic control module, the industrial personal computer sends the touch screen authorization control signal to the program logic control module through the touch screen authorization control signal receiving and sending module, and the program logic control module identifies and processes the touch screen authorization control signal.
The video stream switching and converting module converts the video signal in the form of a digital signal and an analog signal.
Example 3
The embodiment provides a control method of multiple DCS hosts of a power plant, which is used in the control system of the multiple DCS hosts of the power plant in embodiment 1, and as shown in fig. 3, the control method includes the following steps:
s1: each module is electrified and started;
in step S1 in this embodiment, the KVM control module is not sufficiently powered by the basic video communication cable, so the external power line is powered.
S2: the interface state detection module of the KVM control module is powered by a single-side video channel line and records activated port numbers;
in step S2 in this embodiment, the interface state detection module of the KVM control module calibrates the video stream input port according to the level change and records the calibrated video stream input port in the SRAM chip of the module.
S3: the video stream switching and converting module in the KVM control module respectively outputs the video streams to the touch display screen and the image acquisition module through the video output interface;
in step S3 of this embodiment, the video stream switching and converting module in the KVM control module will convert the video signals in the form of digital signals and analog signals, wherein the VGA three 9-bit DAC outputs analog RGB at a pixel rate of up to 200 MHz.
S4: the method comprises the steps that an industrial personal computer program is executed, whether an instruction to be operated can be executed on a current host computer is judged, if yes, the instruction is executed, and if not, the instruction is sent to a KVM control module to switch a video source;
in step S4 in this embodiment, the industrial personal computer executes a program defined by a user and matches with the KVM control module, when the program needs to issue to the DCS system to execute an operation, the industrial personal computer keeps a video stream activation port ID of the KVM control module, determines whether a received execution instruction operates on the current DCS system in combination with the ID, if so, queries the database and issues a series of robot operation instructions including information of a motion state, a speed, a pose, and the like, and if not, sends a target DCS host ID and switching control information to the KVM control module.
S5: the KVM control module receives a control signal of the switching host and selects another DCS host to switch a video source;
in this embodiment, step S5 is executed when step S4 determines that the current host fails, the program control signal transceiver module of the KVM control module receives the host switching command, transmits data to the program logic control module to process and determine whether the host switching is allowed, and sends a switching signal to the video stream switching and converting module, which is responsible for switching the video source and outputting the video stream to the output interface.
S6: the industrial personal computer inquires an instruction set and sends an instruction to the operation robot;
in the step S6 in this embodiment, the industrial personal computer queries the database and issues a series of robot operation instructions including information of motion state, speed, pose, and the like, and these instruction information are sent to the robot control cabinet for execution in a TCP/IP communication manner.
S7: and the robot controls the touch display screen in a point mode, and the touch signals are sent to the KVM control system and forwarded to the corresponding DCS host to complete the operation.
In step S7 in this embodiment, the operating robot moves and point-controls the touch display screen according to the received motion state, speed, and pose, a touch signal of the touch display screen is transmitted to the touch screen input signal receiving module through the USB data line, and the program logic control module is responsible for unpacking, analyzing, and packing the touch signal and forwarding the touch signal to the corresponding video stream and signal transceiving module, and finally reaches the target DCS host, thereby achieving the function of simulating a keyboard and a mouse. Meanwhile, in the process of lifting and moving the robot, a program indirectly sends a touch screen authorization control signal to the KVM control system, so that manual operation except the robot can be blocked.
Before the industrial personal computer works in the step S4, the host ID sent by the KVM control module is firstly obtained, then the video stream obtained by the image acquisition module is identified by using an image identification algorithm, the zone bit of the current interface is judged, a database is inquired, the instruction set which is required to be executed currently is inquired, and the instructions are sent to the operation robot one by one in the form of the motion state, the speed and the pose information of the robot.
And in the step S4, when the industrial personal computer works, a touch screen authorization control signal is sent to the KVM control module irregularly, and if the touch screen authorization signal is touch screen prohibition, the KVM control module does not perform any switching processing on the received touch screen authorization until the touch screen is permitted.
The same or similar reference numerals correspond to the same or similar parts;
the terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (7)
1. The utility model provides a control system of many DCS hosts of power plant, is including setting up many DCS hosts at the power plant, its characterized in that, including touch display screen, operation robot, industrial computer, image acquisition module and KVM control module, wherein:
the KVM control module is connected with the plurality of DCS host computers, receives video stream signals of the plurality of DCS host computers, strengthens the video stream signals and outputs the signals to the touch display screen and the image acquisition module;
the industrial personal computer receives the video stream transmitted by the image acquisition module, identifies images, judges the steps to be executed, sends a robot instruction after program escape to the operating robot, and the operating robot controls the touch display screen in a point mode instead of a human;
the touch display screen provides a touch control function, and after the operation robot operates the touch display screen, the touch display screen generates a control signal and forwards the control signal to a corresponding DCS host through the KVM control module;
the KVM control module comprises a plurality of video stream and signal receiving and transmitting modules, an interface state monitoring module, a video stream switching and converting module, a video stream output module and a touch screen input signal receiving module, wherein:
the video stream and signal receiving and transmitting module respectively receives video stream signals of a plurality of DCS hosts;
the interface state monitoring module polls the state information of each video stream and signal receiving and transmitting module at any time and forwards the corresponding video stream signal to the video stream switching and converting module;
the video stream switching and converting module is used for carrying out signal enhancement on the video stream signal and then outputting and displaying the video stream signal to the touch display screen and the image acquisition module through the video stream output module;
the touch screen input signal receiving module receives a control signal sent by the touch display screen, acquires a current video channel through the video stream switching and converting module and forwards the current video channel to a corresponding DCS host;
the KVM control module also comprises a program logic control module and a program control signal transceiving module, the program control signal transceiving module receives a control signal for switching a data source sent by the industrial personal computer, the control signal is judged by the program logic control module and then a video source is switched, corresponding video streams are output to the image acquisition card or are output to the touch display screen together, and meanwhile, the KVM control module sends a host ID to the industrial personal computer through the program control signal transceiving module;
the KVM control module further comprises a touch screen authorization control signal receiving and sending module, the input end of the touch screen authorization control signal receiving and sending module is connected with the industrial personal computer, the output end of the touch screen authorization control signal receiving and sending module is connected with the program logic control module, the industrial personal computer sends the touch screen authorization control signal to the program logic control module through the touch screen authorization control signal receiving and sending module, and the program logic control module identifies and processes the touch screen authorization control signal
2. The control system of a plant multi-DCS host as claimed in claim 1, wherein said touch screen also integrates keyboard and mouse functions.
3. The control system of a plant multi-DCS host according to claim 1, wherein the image acquisition module is an image acquisition card.
4. The control system of a plant DCS host of claim 1, wherein the video stream switching and converting module is to convert the video signal in the form of a digital signal and an analog signal.
5. A control method of multiple DCS main units of a power plant, which is used for the control system of multiple DCS main units of the power plant of any one of claims 1 to 4, and comprises the following steps:
s1: each module is electrified and started;
s2: the interface state detection module of the KVM control module is powered by a single-side video channel line and records activated port numbers;
s3: the video stream switching and converting module in the KVM control module respectively outputs the video streams to the touch display screen and the image acquisition module through the video output interface;
s4: the program of the industrial personal computer is executed, whether the instruction to be operated can be executed on the current host computer is judged, if yes, the instruction is executed, and otherwise, the instruction is handed to the KVM control module to switch the video source;
s5: the KVM control module receives a control signal of the switching host and selects another DCS host to switch a video source;
s6: the industrial personal computer inquires an instruction set and sends the instruction to the operating robot;
s7: and the robot controls the touch display screen in a point mode, and the touch signals are sent to the KVM control system and forwarded to the corresponding DCS host to complete the operation.
6. The method for controlling multiple DCS hosts of a power plant according to claim 5, wherein before the industrial personal computer operates in step S4, the host ID sent by the KVM control module is first obtained, and then the video stream obtained by the image acquisition module is identified by using an image identification algorithm, so as to determine the flag bit of the current interface.
7. The method for controlling the multiple DCS hosts of the power plant according to claim 6, wherein in step S4, the industrial personal computer is in operation, and constantly sends a touch screen authorization control signal to the KVM control module, and if the touch screen authorization signal indicates that the touch screen is prohibited, the KVM control module does not perform any switching processing on the received touch screen authorization until the touch screen is permitted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210098527.7A CN114488984B (en) | 2022-01-27 | 2022-01-27 | Control system and control method for multiple DCS (distributed control system) main machines of power plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210098527.7A CN114488984B (en) | 2022-01-27 | 2022-01-27 | Control system and control method for multiple DCS (distributed control system) main machines of power plant |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114488984A CN114488984A (en) | 2022-05-13 |
| CN114488984B true CN114488984B (en) | 2023-02-03 |
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| CN202433721U (en) * | 2011-11-18 | 2012-09-12 | 南京航空航天大学 | Servo controller for tri-axial antenna test robot |
| KR101305704B1 (en) * | 2013-05-13 | 2013-09-09 | 김철곤 | Open-user type electronic board system having embedded os capable of supporting other computing apparatus with different os |
| CN206212037U (en) * | 2016-08-30 | 2017-05-31 | 德为显示科技股份有限公司 | Medical treatment display all-in-one |
| CN109799933A (en) * | 2019-01-02 | 2019-05-24 | 中国船舶重工集团公司第七0七研究所 | A kind of multi-point touch that supporting more hosts and display system |
| CN112526911A (en) * | 2020-12-04 | 2021-03-19 | 江苏泰治科技股份有限公司 | Non-invasive equipment control and data acquisition method and industrial control device |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202433721U (en) * | 2011-11-18 | 2012-09-12 | 南京航空航天大学 | Servo controller for tri-axial antenna test robot |
| KR101305704B1 (en) * | 2013-05-13 | 2013-09-09 | 김철곤 | Open-user type electronic board system having embedded os capable of supporting other computing apparatus with different os |
| CN206212037U (en) * | 2016-08-30 | 2017-05-31 | 德为显示科技股份有限公司 | Medical treatment display all-in-one |
| CN109799933A (en) * | 2019-01-02 | 2019-05-24 | 中国船舶重工集团公司第七0七研究所 | A kind of multi-point touch that supporting more hosts and display system |
| CN112526911A (en) * | 2020-12-04 | 2021-03-19 | 江苏泰治科技股份有限公司 | Non-invasive equipment control and data acquisition method and industrial control device |
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