KR101264663B1 - Automation system and method of sharing data in an automation system - Google Patents

Abstract

The automation system includes a plurality of automation devices each having a memory device allocated with different write areas and writing data generated therein only to the allocated write area, and a plurality of automation devices that write data written to the memory device at predetermined intervals. It includes the main control equipment that is shared between the equipment. Thus, the automation system may allow each of the automation equipment to share data in real time while using less CPU resources.

Description

Automation System and How to Share It {AUTOMATION SYSTEM AND METHOD OF SHARING DATA IN AN AUTOMATION SYSTEM}

The present invention relates to an automation system, and more particularly, to an automation system and a data sharing method that requires data sharing in real time between a plurality of manufacturing robots or equipment.

The automation system includes a plurality of manufacturing robots or equipment and collaborates by sharing data between them. In general, in order to increase the merchandise and productivity of the product, the automation system must ensure high precision and fast response, which can be determined depending on whether data is shared in real time between manufacturing robots or equipment. However, as automation systems become more complex and larger, it becomes difficult to share data in real time between manufacturing robots or equipment.

To this end, various distributed control schemes have recently been adopted for automation systems. In this distributed control scheme, manufacturing robots or equipment communicates in real time to share data. Since each manufacturing robot or equipment uses a central processing unit (CPU) resource for network management, distributed control is performed. The automated system employing the method has a problem that it cannot secure fast response.

An object of the present invention is to provide an automated system that enables a plurality of manufacturing robots or equipment to ensure high precision and fast response by sharing data in real time while using less CPU resources.

Another object of the present invention is to provide a data sharing method of an automation system that enables a plurality of manufacturing robots or equipment to share data in real time while using less CPU resources.

 However, the problem to be solved by the present invention is not limited to the above-described problem, and may be variously extended within a range without departing from the spirit and scope of the present invention.

In order to achieve the above object of the present invention, the automation system according to the embodiments of the present invention includes a memory device to which different write areas are allocated, and writes data generated therein to only the allocated write areas. Automation equipment, and main control equipment for sharing the data written in the memory device between the automation equipment at predetermined intervals.

According to an embodiment, the automation equipment may form a communication network to perform data communication at each cycle.

According to an embodiment, the main control device may provide a data sharing signal for performing data communication between the automation devices at each cycle.

According to one embodiment, the automation equipment may be a centralized system consisting of a master equipment and a plurality of slave equipment.

According to one embodiment, the automation equipment includes a first memory device having a first memory device and a first slave device for writing first data generated therein into a first write area of the first memory device. A second slave device for writing second data generated internally in a second write area of the second memory device, and a third memory device, the first data being the first data of the third memory device every cycle; And a master device for writing to a write area and writing the second data to a second write area of the third memory device.

According to one embodiment, the master equipment further comprises a central processing unit for controlling the first and second slave equipment, and a communication driver for performing data communication with the first and second slave equipment every cycle. can do.

In example embodiments, each of the first and second slave devices may further include an application unit for performing a predetermined application, and a communication driver for performing data communication with the master device at each cycle.

According to one embodiment, the automation equipment may be a distributed system composed of a plurality of equivalent equipment.

According to one embodiment, the automation equipment includes a first memory device and a first equivalent device for writing first data generated therein into a first writing area of the first memory device, and including a second memory device. A second equivalent device for writing second data generated therein in a second write area of the second memory device, and a third memory device having a third memory device, the second equivalent device being internally generated in the third write area of the third memory device. 3 may include third equivalent equipment for writing data.

In example embodiments, the main control device writes the first data into a first write area of the second and third memory devices at each cycle, and writes the second data to the first and third memory devices. The second data may be written in a second write area, and the third data may be written in third write areas of the first and second memory devices.

According to an embodiment, each of the first to third equivalent equipments may perform data communication with an application unit for performing a predetermined application, a central processing unit for controlling the application unit, and other equivalent equipments at each cycle. A communication driver may be further provided.

In order to achieve the above object of the present invention, a data sharing method of an automation system according to embodiments of the present invention writes data by allocating different write areas to memory devices provided in a plurality of automation devices. The method may include sharing the data written in the memory device between the automation devices at predetermined intervals.

According to an embodiment, the automation equipment may be configured as a communication network so that data communication may be performed at each cycle.

According to one embodiment, the automation equipment may be a centralized system consisting of a master equipment and a plurality of slave equipment.

According to one embodiment, the automation equipment may be a distributed system composed of a plurality of equivalent equipment.

The automation system and its data sharing method according to embodiments of the present invention allow manufacturing robots or equipment to form a network in a memory approach, and perform data sharing (ie, data update) at predetermined intervals, thereby manufacturing robots. Allow devices or devices to share data in real time while using less CPU resources. As a result, the automation system can achieve high precision and at the same time fast response. However, the effects of the present invention are not limited to the above-described effects, and may be variously expanded within a range not departing from the spirit and scope of the present invention.

1 is a diagram illustrating an automation system according to embodiments of the present invention.
2 is a flowchart illustrating an example in which the automation system of FIG. 1 operates.
3 is a block diagram illustrating an example in which the automation system of FIG. 1 is configured as a centralized system.
4A through 4B are diagrams illustrating an example in which data is shared in the centralized system of FIG. 3.
5 is a diagram illustrating an example in which the centralized system of FIG. 3 operates in a memory approach.
6 is a block diagram illustrating an example in which the automation system of FIG. 1 is configured as a distributed system.
7A to 7B are diagrams illustrating an example in which data is shared in the distributed system of FIG. 6.
FIG. 8 is a diagram illustrating an example in which the distributed system of FIG. 6 operates in a memory approach.
9 is a flowchart illustrating a data sharing method of an automation system according to embodiments of the present invention.

For the embodiments of the invention disclosed herein, specific structural and functional descriptions are set forth for the purpose of describing an embodiment of the invention only, and it is to be understood that the embodiments of the invention may be practiced in various forms, The present invention should not be construed as limited to the embodiments described in Figs.

As the inventive concept allows for various changes and numerous modifications, particular embodiments will be illustrated in the drawings and described in detail in the text. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms may be used for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between. Other expressions describing relationships between components, such as "between" and "immediately between" or "adjacent to" and "directly adjacent to", should be interpreted as well.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present application, the terms "comprise", "comprise" or "have" are intended to indicate that there is a feature, number, step, action, component, part, or combination thereof that is described, and one or the same. It is to be understood that the present invention does not exclude in advance the possibility of the presence or the addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be construed as meaning consistent with meaning in the context of the relevant art and are not to be construed as ideal or overly formal in meaning unless expressly defined in the present application .

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The same reference numerals are used for the same components in the drawings, and redundant description of the same components is omitted.

1 is a diagram illustrating an automation system according to embodiments of the present invention.

Referring to FIG. 1, the automation system 100 may include a plurality of automation devices 120_1,..., 120_n and a main control device 140.

The plurality of automation devices 120_1,..., 120_n each have a memory device to which different write areas are allocated, and may write data generated therein only in the allocated write area. For example, when the plurality of automation devices 120_1,..., 120_n consists of the first automation device 120_1 to the n th automation device 120_n, the first automation device 120_1 may include the first memory device. A first data generated therein may be written in the first write area of the first memory device, and the second automation device 120_2 may include a second memory device to write the second data generated therein. The nth automation device 120_n may include an nth memory device to write nth data generated therein to the nth write area of the nth memory device. I can write it. As such, the first to n-th automation devices 120_1,..., 120_n each include first to n-th memory devices to which different write areas are allocated, and the first to n-th data generated therein. Since data is written only to the first to nth write areas when the data is stored in the first to nth memory devices, the data sharing between the first to nth automation devices 120_1,. This may be done in a simple manner by writing (ie, copying) data provided from other automation devices 120_1,..., 120_n to unallocated write regions of the nth memory device. At this time, the first to n-th automation equipment (120_1, ..., 120_n) configures a communication network (communication network) to perform data communication (i.e., copy data) at each predetermined period to real-time data to each other You can share with. According to an embodiment, the communication network may correspond to a wired / wireless network having a transmission rate of 3 Mbps, 6 Mbps, or 10 Mbps.

The main control device 140 stores the first through nth data written in the first through nth memory devices of the first through nth automation devices 120_1,..., 120_n at predetermined intervals. n may be shared among the automation devices 120_1,..., 120_n. In one embodiment, the main control equipment 140 may provide a data sharing signal to perform data communication between the first to n-th automation equipment (120_1, ..., 120_n) every predetermined period. Thus, the first to n-th automation devices 120_1,..., 120_n may share the first to n-th data based on the data sharing signal provided at each preset period. Specifically, the first to nth automation equipments 120_1,..., 120_n respectively store the first to nth data written in the allocated write area of the first to nth memory devices based on the data sharing signal. Unassignment of the first to nth memory devices from the first to nth data devices provided to the other automation devices 120_1, ..., 120_n and provided from the other automation devices 120_1, ..., 120_n. Write (ie, copy) to the specified write areas. For example, assume that n is 3 in FIG. At this time, when the main control equipment 140 provides the data sharing signal, in response to the data sharing signal, the first data written in the first writing area of the first memory device included in the first automation equipment 120_1. Is written in the first writing area of the second memory device provided in the second automation device 120_2 and the first writing area of the third memory device provided in the third automation device 120_3, and the second automation device 120_2. ) Is provided in the second write area and the third automation device 120_3 of the first memory device provided in the first automation device 120_1. The third automation device 120_1 is written in the second write area of the third memory device, and the third data written in the third write area of the third memory device included in the third automation device 120_3 is provided in the first automation device 120_1. Third write of the first memory device The letter can be written to the third area of the second memory device provided in the region and a second automation device (120_2).

In one embodiment, the automation system 100 may be a centralized system in which a plurality of automation devices 120_1,..., 120_n are composed of a master device and a plurality of slave devices. In this case, the master device can individually control the operation of each slave device based on data provided from the plurality of slave devices. For example, assume that n is 3 in FIG. In this case, the first automation equipment 120_1 may correspond to the first slave equipment, the second automation equipment 120_2 may correspond to the second slave equipment, and the third automation equipment 120_3 may correspond to the master equipment. . In this case, the first slave device 120_1 may include a first memory device to write first data generated therein in the first write area of the first memory device, and the second slave device 120_2 may be written in the first write area. A second memory device may be provided to write second data generated therein in a second write area of the second memory device. The master device 120_3 includes a third memory device and writes first data written in a first write area of the first memory device included in the first slave device 120_1 at predetermined intervals of the third memory device. By writing in the first write area and writing the second data written in the second write area of the second memory device provided in the second slave device 120_2 to the second write area of the third memory device, The first data of the first slave device 120_1 and the second data of the second slave device 120_2 may be shared. Thereafter, the master device 120_3 based on the first data of the first slave device 120_1 and the second data of the second slave device 120_2 written in its memory device (ie, the third memory device). The first and second slave devices 120_1 and 120_2 may be individually controlled.

To this end, the master device 120_3 performs data communication with the central processing unit for controlling the first and second slave devices 120_1 and 120_2 and the first and second slave devices 120_1 and 120_2 at predetermined intervals. A communication driver may be further provided. Furthermore, each of the first and second slave devices 120_1 and 120_2 further includes an application unit for performing a predetermined application and a communication driver for performing data communication with the master device 120_3 at predetermined intervals. can do. However, this may be variously changed depending on the conditions required as an example. On the other hand, when the automation system 100 is a centralized system, the capacity of the third memory device provided in the master device 120_3 may be equal to the capacity of the first memory device provided in the first slave device 120_1. It may be larger than the capacity of the second memory device provided in the second slave device 120_2. According to an embodiment, the capacity of the first memory device provided in the first slave device 120_1 and the capacity of the second memory device provided in the second slave device 120_2 may be allocated to the allocated write area (that is, the first write). Area and second write area), and the capacity of the third memory device provided in the master device 120_3 may be the first memory device and the second slave device 120_2 provided in the first slave device 120_1. It may correspond to the sum of the write areas allocated to the second memory device provided in the. As a result, the master device 120_3 may obtain an effect of accessing both the first and second memory devices provided in the first and second slave devices 120_1 and 120_2.

In another embodiment, the automation system 100 may be a distributed system in which a plurality of automation equipments 120_1,..., 120_n are composed of a plurality of equivalent equipments. In this case, each equivalent equipment may perform a certain application based on data provided from other equivalent equipment. For example, assume that n is 3 in FIG. At this time, the first automation equipment 120_1 corresponds to the first equivalent equipment, the second automation equipment 120_2 corresponds to the second equivalent equipment, and the third automation equipment 120_3 corresponds to the third equivalent equipment. Can be. In this case, the first equivalent device 120_1 may include a first memory device to write first data generated therein in a first write area of the first memory device, and the second equivalent device may include a second memory. And a second data generated therein in a second write area of the second memory device, wherein the third equivalent device includes a third memory device to write a third write area of the third memory device. The third data generated internally can be written in. Thereafter, the first equivalent device 120_1 writes the second data written in the second write area of the second memory device included in the second equivalent device 120_2 at predetermined intervals, according to the second write of the first memory device. The third data written in the area and written in the third write area of the third memory device included in the third equivalent device 120_3 can be written in the third write area of the first memory device. The second equivalent device 120_2 may write first data written in the first write area of the first memory device included in the first equivalent device 120_1 at predetermined intervals to the first write area of the second memory device. The third data written in the third write area of the third memory device included in the third equivalent device 120_3 can be written in the third write area of the second memory device. The third equivalent device 120_3 may write first data written in the first write area of the first memory device included in the first equivalent device 120_1 at predetermined intervals to the first write area of the third memory device. The second data written in the second write area of the second memory device included in the second equivalent device 120_2 can be written in the second write area of the third memory device. As such, since the first to third equivalent devices 120_1 to 120_3 may share first to third data with each other, the first to third equivalent devices 120_1 to 120_3 may be written in the first to third write areas of their memory devices. The predetermined application may be performed based on the first to third data.

To this end, each of the first to third equivalent equipments 120_1,..., 120_3 is an application unit for performing a predetermined application, a central processing unit for controlling the application unit, and different equivalent equipment for each predetermined period. And a communication driver for performing data communication with the devices 120_1,..., 120_3. However, this may be variously changed depending on the conditions required as an example. Meanwhile, when the automation system 100 is a distributed system, the capacities of the first to third memory devices included in the first to third equivalent equipments 120_1 to 120_3 may be the same. According to an embodiment, the capacities of the first to third memory devices provided in the first to third equivalent equipments 120_1,..., 120_3 may be allocated to write regions (ie, first write regions and second writes). Area and third writing area). As a result, the first to third equivalent equipments 120_1 to 120_3 access all of the first to third memory devices provided to the first to third equivalent equipments 120_1 to 120_3, respectively. You can get the effect.

As such, the automation system 100 may share data between the plurality of automation devices 120_1,..., 120_n in real time. In particular, the automation system 100 may share a plurality of pieces of data written in a memory device of each of the plurality of automation devices 120_1,..., 120_n at a predetermined cycle by the main control device 140. Since each of the memory devices 120_1, ..., 120_n is assigned with a different write area, the memory devices may be allocated from the other automation devices 120_1, ..., 120_n to the unallocated write areas of the memory device. A simple way of writing (ie copying) the provided data can be used. In addition, since data sharing is automatically performed at a predetermined cycle in the automation system 100, each of the plurality of automation devices 120_1,..., 120_n may not substantially use CPU resources. That is, the automation system 100 is not a method in which the plurality of automation devices 120_1, ..., 120_n receive the data whenever the data of the other automation devices 120_1, ..., 120_n is needed. Each of the plurality of automation devices 120_1,..., 120_n may share data (ie, network configuration with a memory approach) in a manner of automatically directly referring to data written to its memory device. As a result, the automation system 100 can secure high precision and at the same time fast response. Accordingly, the automation system 100 is a motion control system and a manufacturing facility system (for example, textile knitting machine, high-speed automatic warping machine) that must share data in real time because a plurality of manufacturing robots or equipments must work in conjunction. Etc.). Meanwhile, in FIG. 1, the main control equipment 140 is illustrated as being implemented as a separate device from the plurality of automation devices 120_1,..., 120_n, but according to the required condition, the main control equipment 140 is It may be implemented integrated into one of the plurality of automation equipment (120_1, ..., 120_n).

2 is a flowchart illustrating an example in which the automation system of FIG. 1 operates.

Referring to FIG. 2, when the automation system 100 generates data therein (Step S120), each of the plurality of automation devices 120_1,..., 120_n generates a plurality of automation devices 120 at predetermined intervals. Data sharing may be performed (step S140). At this time, the automation system 100 determines whether the operations of the plurality of automation devices 120_1,..., 120_n are completed (Step S160), and thus, the plurality of automation devices 120_1,..., 120_n. When the operation of the) is completed, the operation of the automation system 100 ends, and when the operations of the plurality of automation devices 120_1,..., 120_n are not completed, the steps (Step S120, S140, S160). ) Can be repeated. As described above, the automation system 100 includes a plurality of automation devices 120_1,..., 120_n having a memory device allocated with different write areas, and writing data generated therein to only the allocated write areas. ) And a main control device 140 for sharing data written in the memory device between a plurality of automation devices 120_1,..., 120_n at predetermined intervals. ... 120_n) may allow each to share data (ie, network configuration with a memory approach) in a way that automatically refers directly to data written to its memory device. As such, the automation system 100 receives a plurality of pieces of automation equipment 120_1, ..., 120_n whenever the data of the other automation devices 120_1, ..., 120_n is required. If not, the plurality of automation devices 120_1,..., 120_n may not use CPU resources in sharing data in real time. As a result, the automation system 100 can secure high precision and at the same time fast response.

3 is a block diagram illustrating an example in which the automation system of FIG. 1 is configured as a centralized system.

Referring to FIG. 3, the automation system 100 may be configured as a centralized system 200. The centralized system 200 may include a master device 220 and first to mth slave devices 240_1,..., 240_m. However, it is assumed that m is 3 for convenience of explanation.

In the centralized system 200, the master device 220 and the first to third slave devices 240_1,..., And 240_3 may configure a communication network to perform data communication at predetermined intervals. Accordingly, the master device 220 may perform the first to third data written in the first to third memory devices provided in the first to third slave devices 240_1 to 240_3 at predetermined intervals. Can share Therefore, the user may set a timing at which the master device 220 shares the first to third data of the first to third slave devices 240_1 to 240_3 in a manner of adjusting a preset period. You can decide. At this time, when the preset period is relatively short, the real-time of data sharing becomes higher, but since CPU resources for performing data communication are consumed, both tradeoffs must be appropriately determined according to the required system. trade-off relationship. The master device 220 individually performs operations of each slave device 240_1, ..., 240_3 based on the first to third data provided from the first to third slave devices 240_1, ..., 240_3. Can be controlled by The master device 220 generates a control signal for controlling the first to third slave devices 240_1, ..., 240_3, and the first to third slave devices 240_1, ..., 240_3 are described above. The application may be performed based on the control signal.

In one embodiment, the master device 220 stores the first to third data written to the first to third memory devices provided in the first to third slave devices 240_1 to 240_3. A memory device, a central processing unit for controlling the first to third slave devices 240_1 to 240_3 based on the first to third data, and a first to third slave device every predetermined period ( 240_1,..., 240_3 may be provided with a communication driver for performing data communication. Furthermore, each of the first to third slave devices 240_1 to 240_3 may be a memory device to which a specific write area is allocated to store data generated therein, an application unit to perform a predetermined application, and a predetermined setting. A communication driver may be provided to perform data communication with the master device 220 at each cycle. At this time, the communication driver provided in the master device 220 and the first to third slave devices 240_1,..., 240_3 may be a communication driver supporting an RS485 network. However, this may be variously changed depending on the conditions required as an example. As described above, the memory device provided in the first slave device 240_1 is called a first memory device, the memory device provided in the second slave device 240_2 is called a second memory device, and the third slave device ( When the memory device provided at 240_3 is referred to as a third memory device, the first to third memory devices may have different write areas. In this case, the capacity of the memory device provided in the master device 220 may be greater than that of the memory device provided in the first to third slave devices 240_1,..., 240_3.

Specifically, the first slave device 240_1 may write and refer to data generated therein in the first write area of the first memory device, and the second slave device 240_2 may write the second write of the second memory device. The data generated therein may be written and referred to in the region, and the third slave device 240_3 may refer to the data generated therein in the third write region of the third memory device. The master device 220 writes to the first to third memory devices of the first to third slave devices 240_1 to 240_3 in the first to third write areas of its memory device at predetermined intervals, respectively. The first to third data can be written. As such, the master device 220 may write and use the first to third data of the first to third slave devices 240_1 to 240_3 in its own memory device at predetermined intervals. 220 may obtain an effect of accessing substantially all of the first to third memory devices provided in the first to third slave devices 240_1 to 240_3. According to an embodiment, the master device 220 may have extra write areas for writing data generated therein into its memory device. For example, if the centralization system 200 is composed of one master device 220 and 64 slave devices 240_1, ..., 240_64, 64 slave devices 240_1, ..., 240_64 ) May each include a memory device having a 4-byte capacity, and one master device 220 may include a memory device having a 256-byte capacity. At this time, since the four-byte data of the 64 slave devices 240_1,..., 240_64 are all written to the 256-byte memory device of one master device 220 every predetermined period, one master device 220 may refer to all data of 64 slave devices 240_1,..., 240_64. Meanwhile, the 64 slave devices 240_1,..., 240_64 may be distinguished by unique IDs.

4A through 4B are diagrams illustrating an example in which data is shared in the centralized system of FIG. 3.

Referring to FIG. 4A, the centralized system 200 may include a master device 220 and first to nth slave devices 240_1,..., 240_n. In this case, the memory device 222 provided in the master device 220 may include first to nth write regions MAR1,..., MARn, and the first to nth slave devices 240_1,. The first to nth memory devices 242_1 to 242_n provided at 240_n may include first to nth write regions MAR1 to MARn, respectively. As shown in FIG. 4A, the capacity of the memory device 222 provided in the master device 220 is the first to nth memory device provided in the first to nth slave devices 240_1,..., 240_n. It may be larger than the capacity of (242_1, ..., 242_n). For example, the first to nth memory devices 242_1 to 242_n provided in the first to nth slave devices 240_1 to 240_n may be the memory devices provided to the master device 220. It has a capacity corresponding to one write area of 222 and may correspond to a plurality of write areas of the memory device 222 provided in the master device 220. For example, the first slave device 240_1 may write first data generated therein in the first write area MAR1 of the first memory device 242_1, and the second slave device 240_2 may write the first data. The second data generated therein may be written in the second write area MAR2 of the second memory device 242_2, and the third slave device 240_3 may write the third write area MAR3 of the third memory device 242_3. ) Can be written internally generated third data. As such, the first slave device 240_1 may access the first write area MAR1 of the first memory device 242_1, and the second slave device 240_2 may access the second of the second memory device 242_2. The write area MAR2 may be accessed, and the third slave device 240_3 may access the third write area MAR3 of the third memory device 242_3. On the other hand, in the memory device 222 of the master device 220, the first to nth data of the first to nth slave devices 240_1 to 240_n are written (that is, copied) at predetermined intervals. Therefore, the master device 220 may access all of the first to nth write areas MAR1,..., MARn of the memory device 222.

Referring to FIG. 4B, the master device 220 may access the first to nth memory devices 242_1 to 242_n of the first to nth slave devices 240_1 to 240_n at predetermined intervals. The written first to nth data can be shared. In detail, the master device 220 stores the first data written in the first write area MAR1 of the first memory device 242_1 of the first slave device 240_1 at predetermined intervals in its own memory device 222. Write (i.e., copy) the first write area (MAR1) of the second) and write the second data written in the second write area (MAR2) of the second memory device (242_2) of the second slave device (240_2). The third data written in the second write area MAR2 of the memory device 222 of the memory device 222 and written in the third write area MAR3 of the third memory device 242_3 of the third slave device 240_3. Can be written in the third write area MAR3 of the memory device 222. In this manner, the first to nth data of the first to nth slave devices 240_1,..., 240_n may be written (ie, copied) to the master device 220 at predetermined intervals. Therefore, the master device 220 refers to the first to nth data of the first to nth slave devices 240_1, ..., 240_n, and thus, the first to nth slave devices 240_1, every predetermined period. ..., since the first to nth data of 240_n are written to its memory device 222, the first to nth slave devices 240_1,... To access their memory device 222. , 240_n) may share the first to n th data. As a result, the master device 220 is based on the first to n-th data of the first to n-th slave devices 240_1, ..., 240_n to the first to nth slave devices 240_1, ..., 240_n. ) May generate a control signal, and the first to n th slave devices 240_1,..., 240_n may perform a predetermined application based on the control signal. Therefore, the effect of substantially sharing data with each other among the first to nth slave devices 240_1,..., 240_n can be obtained.

5 is a diagram illustrating an example in which the centralized system of FIG. 3 operates in a memory approach.

Referring to FIG. 5, the centralized system 300 includes a master device 320 and a plurality of slave devices 340, and the master device 320 and the slave devices 340 connect the network in a memory approach. Can be configured. That is, the master device 320 and the plurality of slave devices 340 may perform data sharing with each other as a virtual multiport memory device exists between the master device 320 and the plurality of slave devices 340. . In this case, the virtual multiport memory device may be defined as a memory device provided in the master device 320 and memory devices provided in the plurality of slave devices 340 constituting a network in a memory access manner. Specifically, the master device 320 includes a central processing unit (CPU) to control the plurality of slave devices 340, so that the data DATA of the plurality of slave devices 340 based on the address ADD. ). The master device 320 may be viewed as accessing the virtual multiport memory device through the master port, and each of the plurality of slave devices 340 accesses the virtual multiport memory device through the slave ports PORT. It can be seen as. However, since the actual configuration of the virtual multiport memory device has been described above with reference to FIGS. 1 and 3, a detailed description thereof will be omitted. In one embodiment, when the centralized system 300 is configured with one master device 320 and 64 slave devices 340, each of the 64 slave devices 340 may be configured to have a virtual multiport memory device 4. It can be seen as accessing byte by byte, and one master device 320 can be seen as accessing the virtual multiport memory device by 256 bytes. In another embodiment, where the centralized system 300 consists of one master device 320 and 64 slave devices 340, each of the 64 slave devices 340 may be configured to have a virtual multiport memory device. It can be seen as accessing byte by byte, and one master device 320 can be seen as accessing a virtual multiport memory device by 512 bytes. However, this may be variously changed depending on the conditions required as an example. As described above, the centralized system 300 allows a plurality of automation equipment to configure a network in a memory approach and performs data sharing (ie, data update) at predetermined intervals, thereby providing a plurality of automation equipment. Each of them can use less CPU resources and share data in real time. As a result, the centralized system 300 operates as if a virtual multiport memory device exists between the master device 320 and the plurality of slave devices 340, thereby ensuring high precision and fast response. can do.

6 is a block diagram illustrating an example in which the automation system of FIG. 1 is configured as a distributed system.

Referring to FIG. 6, the automation system 100 may be configured as a distributed system 400. The distributed system 400 may include first to first equivalent equipment 430_1,..., 430_l. However, for convenience of explanation, l is assumed to be 3.

In the distributed system 400, the first to third equivalent equipments 430_1,..., 430_3 may configure a communication network to perform data communication at predetermined intervals. Accordingly, the first to third equivalent equipments 430_1 to 430_3 are written in the first to third memory devices respectively provided to the first to third equivalent equipments 430_1 to 430_3. The first to third data may be shared with each other at predetermined intervals. Therefore, the user may determine the timing at which the first to third data are shared between the first to third equivalent equipments 430_1,..., 430_3 in a manner of adjusting the preset period. At this time, when the predetermined period is relatively short, the real-time of data sharing becomes higher, but since CPU resources for performing data communication are consumed, both of them are trade-off relationships that must be appropriately determined according to the required system. Is in. Each of the first to third equivalent equipments 430_1 to 430_3 may perform a predetermined application based on the first to third data provided from the other equivalent equipments 430_1 to 430_3. have.

In one embodiment, each of the first to third equivalent equipments 430_1,..., 430_3 is internally generated data and data provided from other equivalent equipments 430_1,..., 430_3 at predetermined intervals. Memory device having a plurality of write areas for storing data, an application unit for performing a predetermined application, a central processing unit for controlling the application unit based on the data, and other equivalent equipments at predetermined periods. 430_1, ..., 430_3 may be provided with a communication driver for performing data communication. In this case, the communication driver provided in the first to third equivalent equipments 430_1,..., 430_3 may be a communication driver supporting an RS485 network. However, this may be variously changed depending on the conditions required as an example. As described above, the memory device provided in the first equivalent device 430_1 is called a first memory device, the memory device provided in the second equivalent device 430_2 is called a second memory device, and the third equivalent device ( When the memory device provided at 430_3 is referred to as a third memory device, the write areas of the first to third memory devices for writing data generated therein may be different from each other. In this case, the capacities of the memory devices provided in the first to third equivalent equipments 430_1 to 430_3 may be the same.

Specifically, the first to third equivalent equipments 430_1 to 430_3 not only write data generated therein into its memory device, but also different equivalent equipments 430_1 to ... 430_1 every predetermined period. Since the data provided from 430_3 is written, all data written in the first to third memory devices of the first to third equivalent equipments 430_1 to 430_3 can be referred to. As such, each of the first to third equivalent equipments 430_1,..., 430_3 may share data with the other equivalent equipments 430_1, ..., 430_3. The first to third memory devices 430_1 to 430_3 may be accessed. For example, if the decentralized system 400 consists of 64 equivalent devices 430_1, ..., 430_64, 64 equivalent devices 430_1, ..., 430_64 each have a 4-byte write capacity. It may include a 64 byte memory device having an area. At this time, every four-byte data of 64 equivalent devices 430_1, ..., 430_64 are written into the 256-byte memory device of 64 equivalent devices 430_1, ..., 430_64 every predetermined period. Each of the 64 equivalent equipments 430_1,..., 430_64 may refer to all data of the 64 equivalent equipments 430_1,..., 430_64. Meanwhile, 64 equivalent devices 430_1,..., 430_64 may be distinguished by unique IDs.

7A to 7B are diagrams illustrating an example in which data is shared in the distributed system of FIG. 6.

Referring to FIG. 7A, the distributed system 400 may include first to n-th equivalent equipment 430_1,..., 430_n. In this case, the first to nth memory devices 432_1 to 432_n provided in the first to nth equivalent equipments 430_1 to 430_n may respectively correspond to the first to nth write areas MAR1,. ..., MARn). As shown in FIG. 7A, the capacities of the first to nth memory devices 432_1 to 432_n provided in the first to nth equivalent devices 430_1 to 430_n may be the same. have. For example, the first to nth memory devices 432_1 to 432_n provided in the first to nth equivalent equipments 430_1 to 430_n may include the first to nth write regions MAR1,. 1st to nth memory devices having a capacity corresponding to the sum of MARn), and for writing data generated therein by the first to nth equivalent equipments 430_1 to 430_n. The allocated write areas of 432_1, ..., 432_n may be different from each other. For example, the first equivalent device 430_1 may write first data generated therein in the first write area MAR1 of the first memory device 432_1, and the second equivalent device 430_2 may write the first data. The second data generated therein may be written in the second write area MAR2 of the second memory device 432_2, and the third equivalent device 430_3 may write the third write area MAR3 of the third memory device 432_3. ) Can be written internally generated third data. However, since the first to n-th equivalent equipment 430_1,..., 430_n share data with each other at predetermined periods, the first to n-th equivalent devices 430_1,. The first to nth data may be written (that is, copied) every set period. Accordingly, the first to n-th equivalent equipments 430_1 to 430_n store the first to nth write regions MAR1 to MARn of the memory devices 432_1 to 432_n. All are accessible.

Referring to FIG. 7B, the first to n-th equivalent equipments 430_1,..., 430_n write first to the first to n-th memory devices 432_1,..., 432_n at predetermined intervals. n Can share data. In detail, the first equivalent device 430_1 may write the second data written in the second write area MAR2 of the second memory device 432_2 of the second equivalent device 430_2 at predetermined intervals in the first memory device. Third data written (ie, copied) in the second write area MAR2 of 432_1 and written in the third write area MAR3 of the third memory device 432_3 of the third equivalent device 430_3. Is written in the third write area MAR3 of the first memory device 432_1, and the fourth data written in the fourth write area MAR4 of the fourth memory device 432_4 of the fourth equivalent device 430_4. May be written in the fourth write area MAR4 of the first memory device 432_1. In this manner, each of the first to n-th equivalent equipment 430_1,..., 430_n writes all of the first to n-th data to its memory device 432_1,..., 432_n at predetermined intervals ( That is, copy). Therefore, each of the first to n-th equivalent equipment 430_1,..., 430_n refers to the data of the other equivalent equipments 430_1,..., 430_n. Since the data of ..., 430_n are written to its memory devices 432_1, ..., 432_n, other equivalent devices in a manner of accessing their memory devices 432_1, ..., 432_n. Data of 430_1, ..., 430_n may be shared. As a result, each of the first to n-th equivalent equipment 430_1,..., 430_n is predetermined based on all of the first to n-th data of the first to n-th equivalent equipment 430_1,..., 430_n. You can run the application.

FIG. 8 is a diagram illustrating an example in which the distributed system of FIG. 6 operates in a memory approach.

Referring to FIG. 8, the distributed system 500 may include a plurality of equivalent devices 520 and 540, and the plurality of equivalent devices 520 and 540 may configure a network in a memory approach. That is, the plurality of equivalent devices 520 and 540 may perform data sharing with each other as a virtual multiport memory device exists between the plurality of equivalent devices 520 and 540. In this case, the virtual multiport memory device may be defined as memory devices provided in the plurality of equivalent devices 520 and 540 constituting a network in a memory approach. Specifically, one equivalent equipment 520 includes a central processing unit (CPU) to perform a given application, and refers to the data DATA of other equivalent equipments 540 based on the address ADD. can do. Each of the equivalent devices 520 and 540 may be viewed as accessing the virtual multiport memory device through a port PORT for transmitting and receiving an address ADD and data DATA. However, since the actual configuration of the virtual multiport memory device has been described above with reference to FIGS. 1 and 6, a detailed description thereof will be omitted. That is, the distributed system 500 may implement a virtual multiport memory device that is accessible from two or more ports by expanding a port based on a dual port memory structure widely used for parallel communication. In one embodiment, when the distributed system 500 is comprised of 64 equivalent devices 520, 540, each of the 64 equivalent devices 520, 540 stores internally generated data in a virtual multiport memory device. It can be seen that accessing the virtual multiport memory device by 256 bytes, while writing in 4 bytes each. In another embodiment, when configured with 64 equivalent devices 520, 540, each of the 64 equivalent devices 520, 540 writes 8 bytes of internally generated data into the virtual multiport memory device. The virtual multiport memory device may be viewed as being accessed 512 bytes in length. However, this may be variously changed depending on the conditions required as an example. As described above, the distributed system 500 allows a plurality of automation equipment to configure a network in a memory approach and performs data sharing (ie, data update) at predetermined intervals, thereby providing a plurality of automation equipment. Each of them can use less CPU resources and share data in real time. As a result, the distributed system 500 operates as if a plurality of equivalent devices 520 and 540 exist as if there is a virtual multiport memory device therebetween, thereby ensuring high precision and fast response. .

9 is a flowchart illustrating a data sharing method of an automation system according to embodiments of the present invention.

Referring to FIG. 9, in the data sharing method of the automation system, data is allocated by allocating different write areas to memory devices included in a plurality of automation devices (Step S220), and the data is written to the memory device at predetermined intervals. The data can be shared among a plurality of automation equipment (Step S240). For this purpose, the automation system may comprise a plurality of automation equipment and main control equipment. In this case, each of the plurality of automation devices may include a memory device to which different write areas are allocated, and write data generated therein only in the allocated write area. Furthermore, the main control device may share data written in the memory devices of the plurality of automation devices among the plurality of automation devices at predetermined intervals. However, since it has been described above, overlapping description will be omitted. As such, the data sharing method of the automation system does not adopt a method in which a plurality of automation devices receive the data whenever the data of other automation devices is needed, and each of the plurality of automation devices is automatically written in its own memory device. By employing a method of directly referencing the data, it is possible for a plurality of automation equipment to configure a network in a memory approach to share data in real time. As a result, the data sharing method of the automation system can allow the automation system to secure high precision and at the same time fast response.

The present invention can be applied to an automation system requiring data sharing in real time between a plurality of manufacturing robots or equipment. For example, the present invention can be applied to a motion control system and a manufacturing facility system (eg, fiber knitting machine, high speed automatic warping machine, etc.) having a plurality of manufacturing robots or equipment.

Although the above has been described with reference to exemplary embodiments of the present invention, those skilled in the art may vary the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. It will be understood that modifications and changes can be made.

100: automation system 120: automation equipment
140: main control equipment

Claims (15)

A plurality of automation devices having a memory device allocated with different write areas, and writing data generated therein to only the allocated write areas; And
A main control device for sharing the data written in the memory device between the automation devices at predetermined intervals,
The automation equipment is a centralized system composed of a master equipment and a plurality of slave equipment, and forms a communication network to perform data communication every cycle, wherein the main control equipment performs the cycle. Providing a data sharing signal for performing data communication between the automation equipment, and the automation equipment
A first slave device having a first memory device to write first data generated therein into a first write area of the first memory device;
A second slave device having a second memory device to write second data generated therein into a second write area of the second memory device; And
A master device having a third memory device to write the first data to the first write area of the third memory device at each cycle and to write the second data to the second write area of the third memory device; Automation system comprising a. delete delete delete delete The method of claim 1, wherein the master equipment
A central processing unit for controlling the first and second slave equipment; And
And a communication driver for performing data communication with the first and second slave devices at each cycle. 7. The apparatus of claim 6, wherein each of the first and second slave equipment
An application unit for performing a predetermined application; And
And a communication driver for performing data communication with the master device at each cycle. delete A plurality of automation devices having a memory device allocated with different write areas, and writing data generated therein to only the allocated write areas; And
A main control device for sharing the data written in the memory device between the automation devices at predetermined intervals,
The automation equipment is a distributed system composed of a plurality of equivalent equipment, and forms a communication network to perform data communication every cycle, and the main control equipment performs data communication between the automation equipment every cycle. Provide a data sharing signal to perform, the automation equipment
First equivalent equipment having a first memory device to write first data generated therein to a first write area of the first memory device;
Second equivalent equipment having a second memory device to write second data generated therein to a second write area of the second memory device; And
And third equivalent equipment having a third memory device to write third data generated therein to a third write area of the third memory device. The memory device of claim 9, wherein the main control device writes the first data to the first write area of the second and third memory devices at each cycle, and writes the second data to the first and third memory devices. Write in a second write area, and write the third data into third write areas of the first and second memory devices. The apparatus of claim 10, wherein each of the first to third equivalent equipment
An application unit for performing a predetermined application;
A central processing unit for controlling the application unit; And
And a communication driver for performing data communication with other equivalent devices at each cycle. delete delete delete delete

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