KR20180073182A - Self driving roller control method using can communication - Google Patents

Abstract

The present invention relates to a method of controlling a self-driving roller using CAN communication in a conveyor system having a plurality of controllers each controlling a plurality of self-driving rollers which are disposed intermittently. The method includes a step (a) of receiving physical settings related with a driving sequence of the self-driving rollers controlled by the respective controller if power is applied to the conveyor system; a step (b) of checking a switch level of identifier set lines which are connected in series with the respective controllers; a step (c) of, if the switch level is a first level, instructing the n^th controller (n is a natural number) to set the CAN identifier, so that the n^th controller sets the switch level as a second level; and a step (d) of repeating the step (c) until the switch level of the identifier set line corresponds to the second level. Therefore, the method can automatically set the CAN identifier in the plurality of controllers each controlling the self-driving rollers.

Description

[0001] SELF DRIVING ROLLER CONTROL METHOD [0002] USING CAN COMMUNICATION [0003]

The present invention relates to a self-driving roller control technique using can communication, and more particularly, to a self-driving roller control method using can communication in which a CAN identifier is automatically set to a plurality of controllers each controlling a plurality of self- .

In the CAN (Controller Area Network) communication, a plurality of control objects are connected in parallel, and information exchange among a plurality of control objects can be processed in priority order. The CAN communication system can check all the messages on the network and control the corresponding control objects. Can communication system uses a peer-to-peer network scheme and can classify a plurality of control objects through a unique identifier.

 The prior art required a setup procedure for each of the plurality of controllers to set the CAN identifiers of the plurality of controllers each controlling the plurality of self drive rollers. That is, the prior art has a problem of inefficiency in the process of setting a CAN identifier.

Korean Patent Registration No. 10-1384639 relates to a can communication system for managing a plurality of bus lines in cooperation with each other. A can communication system for dividing electronic devices into a plurality of groups and communicating through bus lines shared by groups, Discloses a can communication system in which a plurality of bus lines are connected to each other to allow communication between electronic devices belonging to different groups to communicate with each other and to improve the stability of signals by leaving only two termination resistors when connecting the bus lines to each other .

Korean Patent No. 10-1544887 relates to a CAN communication diagnostic method and apparatus, comprising: entering a diagnostic mode for diagnosing CAN communication in a communication mode for transmitting and receiving information from an electronic control device; A step of virtually constructing an electronic control device other than the electronic control device to be diagnosed, analyzing a message transmission / reception between a virtual electronic control device and the electronic control device based on a previously stored CAN database to perform diagnosis, And outputting a signal for notifying the occurrence of an error when the occurrence is confirmed.

Korean Registered Patent No. 10-1384639 (Registered on April 4, 2014) Korean Registered Patent No. 10-1544887 (Registered on Aug. 20, 2015)

An embodiment of the present invention is to provide a self drive roller control method using can communication in which a CAN identifier is automatically set to a plurality of controllers each controlling a plurality of self drive rollers.

One embodiment of the present invention is to provide a self drive roller control method using can communication in which a CAN identifier is automatically set to a plurality of controllers when a setting of a control board is changed.

An embodiment of the present invention is to provide a self drive roller control method using can communication in which, when an arbitrary controller does not respond, power is applied to the controller to set a CAN identifier.

Among the embodiments, the self drive roller control method using can communication is a self drive roller control method using can (CAN) communication in a conveyor system including a plurality of controllers each controlling a plurality of self drive rollers arranged intermittently (A) receiving physical configuration items associated with a driving sequence of self drive rollers controlled by each of the plurality of controllers when power is applied to the conveyor system; (b) (C) when the switch level is at the first level, instructs to set the CAN identifier to the n-th controller (where n is a natural number), and the n-th controller instructs the switch (D) setting a switch level of the identifier setting line to a second level Until a step of repeating the step (c).

The step (c) may include setting the switch level to a second level when the first controller sets the CAN identifier. In one embodiment, step (c) may include instructing the second controller to set the CAN identifier if the switch level for the first controller is set to a second level.

The step (d) may include stopping the setting of the CAN identifier if all the switch levels of all the identifier setting lines correspond to the second level. The step (c) may include periodically instructing to set the CAN identifier until the corresponding switch level corresponds to a second level. In one embodiment, step (a) may include detecting a controller for which the physical configuration is not received and applying power to the controller.

The disclosed technique may have the following effects. It is to be understood, however, that the scope of the disclosed technology is not to be construed as limited thereby, as it is not meant to imply that a particular embodiment should include all of the following effects or only the following effects.

The self drive roller control method using the CAN communication according to an embodiment of the present invention can automatically set the CAN identifier to a plurality of controllers each controlling a plurality of self drive rollers.

The self drive roller control method using the CAN communication according to an embodiment of the present invention can automatically set the CAN identifier to a plurality of controllers when the setting of the control board is changed.

In the self drive roller control method using the CAN communication according to an embodiment of the present invention, when a certain controller does not respond, power can be applied to the controller to set a CAN identifier.

1 is a view for explaining a self drive roller control method using can communication in a conveyor system according to an embodiment of the present invention.
2 is a block diagram illustrating the control board of FIG.
Fig. 3 is a flowchart illustrating a self drive roller control process using can communication in the conveyor system shown in Fig. 1. Fig.
FIG. 4 is a flowchart illustrating a self drive roller control process using can communication when a problem occurs in any controller in FIG. 1; FIG.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas. Also, the purpose or effect of the present invention should not be construed as limiting the scope of the present invention, since it does not mean that a specific embodiment should include all or only such effect.

Meanwhile, the meaning of the terms described in the present application should be understood as follows.

The terms "first "," second ", and the like are intended to distinguish one element from another, and the scope of the right should not be limited by these terms. For example, 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" to another element, it may be directly connected to the other element, but there may be other elements in between. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that there are no other elements in between. On the other hand, other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

It is to be understood that the singular " include " or "have" are to be construed as including the stated feature, number, step, operation, It is to be understood that the combination is intended to specify that it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In each step, the identification code (e.g., a, b, c, etc.) is used for convenience of explanation, the identification code does not describe the order of each step, Unless otherwise stated, it may occur differently from the stated order. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.

The present invention can be embodied as computer-readable code on a computer-readable recording medium, and the computer-readable recording medium includes all kinds of recording devices for storing data that can be read by a computer system . Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and also implemented in the form of a carrier wave (for example, transmission over the Internet) . In addition, the computer-readable recording medium may be distributed over network-connected computer systems so that computer readable codes can be stored and executed in a distributed manner.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used predefined terms should be interpreted to be consistent with the meanings in the context of the related art and can not be interpreted as having ideal or overly formal meaning unless explicitly defined in the present application.

1 is a view for explaining a self drive roller control method using can communication in a conveyor system according to an embodiment of the present invention.

1, a conveyor system 100 includes a control board 110, a plurality of controllers 120, a dip switch 130, an identifier setting line 140, a plurality of self drive rollers 150, Belt < / RTI >

The control board 110 can control the plurality of controllers 120 using a CAN (Controller Area Network) communication. More specifically, the control board 110 can process a plurality of controllers 120 in a priority order by connecting a plurality of controllers 120 in parallel. The control board 110 may be connected to the plurality of controllers 120 via a CAN bus. That is, the control board 110 can sequentially access data having a priority via the CAN bus. The control board 110 can determine the priority of the data based on the CAN identifier. In one embodiment, the control board 110 may communicate with a plurality of controllers 120 through a peer-to-peer network scheme.

The control board 110 may set a CAN identifier for identifying each of the plurality of controllers 120. Here, the CAN identifier can determine the priority for controlling each of the plurality of controllers 120. [ For example, the CAN identifier may be set according to the driving order of the plurality of self drive rollers 150, and the control board 110 may sequentially control the plurality of controllers 120 based on the CAN identifier have.

Each of the plurality of controllers 120 can control the driving of the self-driving roller 150. Each of the plurality of controllers 120 may control each self drive roller 150 corresponding to each of the plurality of self drive rollers 150. In one embodiment, the plurality of controllers 120 include first to ninth controllers 121 to 129, and the plurality of self-driving rollers 150 includes first to ninth self-driving rollers 151 To 159). That is, the first controller 121 controls the first self-driving roller 151, and the second controller 122 controls the second self-driving roller 152.

When the plurality of controllers 120 are instructed to set the CAN identifier from the control board 110, they can set their own CAN identifier and set the corresponding switch level to the second level. Here, the CAN identifier may be associated with the physical configuration set at the DIP switch 130. For example, the second controller 122, which controls the second self drive roller 152, may set the CAN identifier to 2 and the switch level of the second identifier setting line 142 to the second level. Further, the third controller 123, which controls the third self drive roller 153, can set the CAN identifier to 3 and the switch level of the third identifier setting line 143 to the second level.

The dip switch 130 may set physical settings for each of the plurality of controllers 120. [ Here, the physical settings may be associated with the drive sequence of the plurality of self drive rollers 150. [ In one embodiment, when multiple self drive rollers 150 are sequentially driven from one side of the conveyor system 100, the physical settings may be set sequentially from one side of the conveyor system 100. The control board 110 may instruct the plurality of controllers 120 to set the CAN identifier based on the physical configuration.

In one embodiment, the dip switch 130 may set the first controller 121, which controls the first self drive roller 151 that is first driven among the plurality of self drive rollers 150, as the start controller. The first controller 121 can set the CAN identifier itself without being instructed to set the CAN identifier from the control board 110. [ The first controller 121 can set the switch level of the first identifier setting line 141 to the second level by setting the CAN identifier.

 Meanwhile, the dip switch 130 may set the ninth controller 129 that controls the ninth self-driving roller 159, which is the last one of the plurality of self-driving rollers 150, as the termination controller. The ninth controller 129 is instructed to set the CAN identifier from the control board 110 and can set the CAN identifier and the switch level of the ninth identifier setting line 149 to the second level. That is, the dip switch 130 can set the start controller and the end controller based on the physical setting.

The identifier setting line 140 may have a switch level according to whether the CAN identifiers of the plurality of controllers 120 are set. Here, the switch level of the identifier setting line 140 corresponds to the first level before the CAN identifier of the controller 120 is set, and may correspond to the second level when the CAN identifier is set.

In one embodiment, the control board 110 may receive a bit value via the identifier setting line 140. The switch level may correspond to the first level when the bit value of the identifier setting line 140 corresponds to the high level (or 1), and the switch level corresponds to the second level when the bit value of the identifier setting line 140 corresponds to the low level can do. That is, the control board 110 receives the bit value, checks the switch level of the identifier setting line 140, and instructs the controller 120 to set the identifier.

Each of the plurality of self drive rollers 150 may be driven by the corresponding controller 120. A plurality of self drive rollers 150 may be intermittently disposed within the conveyor belt 160. The conveyor belt 160 may intermittently place and control the plurality of self drive rollers 150 through the controller 120 to reduce costs and prevent collision between the baggage carried on the conveyor belt 160 .

2 is a block diagram illustrating the control board of FIG.

2, the control board 110 includes a physical configuration receiving unit 210, a switch level checking unit 220, an identifier setting instruction unit 230, an abnormality detection unit 240, a power applying unit 250, (260).

The physical configuration receiving unit 210 may receive physical configuration items associated with the driving sequence of the self drive rollers 150 controlled by the plurality of controllers 120 when the power of the conveyor system 100 is applied. The physical settings may be associated with the driving sequence of the plurality of self drive rollers 150. [ The physical configuration receiving unit 210 may receive physical configuration information from the DIP switch 130. [

The switch level checking unit 220 may check the switch level of the identifier setting line 140 serially connected to each of the plurality of controllers 120. [ The switch level check unit 220 can sequentially check the switch level of the identifier setting line 140 based on the physical setting items. The switch level check unit 220 may check the switch level and provide the same to the identifier setting instruction unit 230.

In one embodiment, the switch level of the identifier setting line 140 may correspond to a first level once power is applied to the conveyor system 100. Thereafter, when the CAN identifier of the plurality of controllers 120 is set, the switch level of the identifier setting line 140 can be set to the second level.

The identifier setting instruction unit 230 can instruct the n-th controller (n is a natural number) whose switch level corresponds to the first level to set the CAN identifier. More specifically, the identifier setting instruction unit 230 can instruct the n-th controller to set the CAN identifier based on the physical setting items. When the n-th controller 120 sets the CAN identifier and the switch level of the n-th identifier setting line 140 is set to the second level, the identifier setting instruction unit 230 instructs the (n + 1) Can be set. For example, the identifier setting instruction unit 230 may instruct the second controller 122 to set the CAN identifier when the switch level for the first controller 121 is set to the second level. The identifier setting instruction unit 230 may repeat the process of setting the CAN identifier until the switch level of all the identifier setting lines 140 corresponds to the second level.

In one embodiment, the first controller 121 may control the first self drive roller 151 that is first driven among the plurality of self drive rollers 150. The first controller 121 can set the CAN identifier itself without being instructed to set the CAN identifier from the control board 110 when the power of the conveyor system 100 is applied. The first controller 121 may set the switch level of the first identifier setting line 141 to the second level after setting the CAN identifier.

In one embodiment, the identifier setting directive 230 may periodically instruct to set the CAN identifier until the switch level for the controller 120 in priority order corresponds to the second level, based on the physical configuration . For example, the identifier setting instruction unit 230 may instruct to set the CAN identifier at intervals of 0.1 to 0.5 seconds though not necessarily limited thereto. That is, the identifier setting instruction unit 230 can periodically instruct the controller 120 to set the CAN identifier until the controller 120 sets the CAN identifier.

The identifier setting instruction unit 230 may stop setting the CAN identifier if the switch level of all the identifier setting lines 140 corresponds to the second level. The identifier setting instruction unit 230 may stop setting the CAN identifier if the switch level of the identifier setting line 140 connected in series with the end controller corresponds to the second level.

The abnormality detection unit 240 can detect the abnormality based on the physical setting reception status of the physical configuration information receiving unit 210 when the power of the conveyor system 100 is applied. More specifically, the physical configuration receiver 210 may receive physical configuration information from the dip switch 130 and may detect anomaly if it fails to receive the physical configuration from one of the dip switches 130 have. The anomaly detection unit 240 can provide an abnormal signal to the power application unit 250 when an abnormal situation is detected.

The power applying unit 250 can apply power to the controller 120 that has not received the physical configuration items. When the power application unit 250 applies power to the controller 120, the physical configuration information receiving unit 210 can receive the physical configuration information again.

The control unit 260 controls the overall operation of the control board 110 and includes a physical configuration receiving unit 210, a switch level checking unit 220, an identifier setting instruction unit 230, an abnormality detection unit 240, (250) can control the data flow.

Fig. 3 is a flowchart illustrating a self drive roller control process using can communication in the conveyor system shown in Fig. 1. Fig.

3, when the power of the conveyor system 100 is applied, the physical setting information receiving unit 210 receives the physical setting items related to the driving sequence of the self drive roller 150 controlled by each of the plurality of controllers 120 (Step S310).

The switch level check unit 220 may check the switch level of the identifier setting line 140 serially connected to each of the plurality of controllers 120 based on the physical setting (step S320). The switch level check unit 220 may check the switch level and provide the same to the identifier setting instruction unit 230 (step S330).

The identifier setting instruction unit 230 can instruct the n-th controller (n is a natural number) whose switch level corresponds to the first level to set the CAN identifier (step S340).

When the n-th controller 120 receives the identifier setting instruction from the identifier setting instruction unit 230, it can set the CAN identifier by itself and set the corresponding switch level to the second level (step S350).

The switch level check unit 220 may notify the identifier setting instruction unit 230 that the identifier setting process is completed when the switch level of the identifier setting line 140 connected to the end controller corresponds to the second level (step S360). The switch level check unit 220 may notify the identifier setting instruction unit 230 that the identifier setting process is completed when the switch levels of all the identifier setting lines 140 correspond to the second level.

FIG. 4 is a flowchart illustrating a self drive roller control process using can communication when a problem occurs in any controller in FIG. 1; FIG.

4, when the power of the conveyor system 100 is applied, the physical configuration receiving unit 210 receives the physical setting items related to the driving order of the self drive rollers 150 controlled by the plurality of controllers 120 (Step S410).

The anomaly detection unit 240 may detect whether the physical configuration information receiving unit 210 has received the physical configuration items for all the controllers 120 (step S420). That is, the abnormality detection unit 240 can detect the abnormality by detecting the controller 120 that has not received the physical setting items.

The power applying unit 250 may apply power to the controller 120 that has not received the physical setting items (step S430). When the power application unit 250 applies power to the controller 120, the physical configuration information receiving unit 210 can receive the physical configuration information again.

The switch level check unit 220 receives the physical configuration items for all the controllers 120 and transmits the switch level of the identifier setting line 140 serially connected to each of the plurality of controllers 120 (Step S440). The processes after step S440 are the same as those after step S320 in FIG. 3 (steps S450 to S480).

A self-driving roller control method using CAN (Controller Area Network) communication can automatically set a CAN identifier to a plurality of controllers 120 each controlling a plurality of self-driving rollers 150. In one embodiment, the self drive roller control method using CAN communication can automatically set the CAN identifier to the plurality of controllers 120 when the setting of the control board 110 is changed, and any controller 120 If it does not respond, the controller can be powered on to set the CAN identifier.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims And changes may be made without departing from the spirit and scope of the invention.

100: Conveyor system
110: Control board 120: Multiple controllers
130: dip switch 140: identifier setting line
150: a plurality of self-driving rollers 160: conveyor belt
210: physical configuration reception unit 220: switch level check unit
230: identifier setting instruction unit 240: abnormality detection unit
250: power applying unit 260:

Claims (6)

A self drive roller control method using CAN communication in a conveyor system including a plurality of controllers each controlling a plurality of intermittently arranged self drive rollers,
(a) receiving physical configuration items associated with a driving sequence of self drive rollers controlled by each of the plurality of controllers when power to the conveyor system is applied;
(b) checking a switch level of an identifier setting line serially connected to each of the plurality of controllers;
(c) instructing the n-th controller (where n is a natural number) to set a CAN identifier when the switch level is the first level, and causing the n-th controller to set the switch level to a second level; And
(d) repeating the step (c) until the switch level of the identifier setting line corresponds to a second level. 2. The method of claim 1, wherein step (c)
And setting the switch level to a second level when the first controller sets the CAN identifier. 3. The method of claim 2, wherein step (c)
And instructing a second controller to set a CAN identifier if the switch level for the first controller is set to a second level. 2. The method of claim 1, wherein step (d)
And stopping the setting of the CAN identifier if the switch level of all the identifier setting lines corresponds to the second level. 2. The method of claim 1, wherein step (c)
And periodically instructing to set the CAN identifier until the corresponding switch level corresponds to a second level. The method of claim 1, wherein step (a)
Detecting a controller for which the physical setting is not received, and applying power to the controller.

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