WO2020147347A1

WO2020147347A1 - Control device, control system and control method

Info

Publication number: WO2020147347A1
Application number: PCT/CN2019/111004
Authority: WO
Inventors: 胡飞鹏; 胡余生; 钟成堡; 王长恺; 殷伟豪
Original assignee: 珠海格力电器股份有限公司
Priority date: 2019-01-16
Filing date: 2019-10-14
Publication date: 2020-07-23
Also published as: CN109613873A

Abstract

A control device (10), a control system and a control method. The control device (10) comprises: a main processor (11) and an auxiliary processor (12); the main processor (11) is connected to the auxiliary processor (12), is used for generating a control data set controlling at least one object and sends the control data set to the auxiliary processor (12); the auxiliary processor (12) is used for converting the control data set using a real-time industry Ethernet master station protocol to obtain a control command for the at least one control object, and sends the control command to the at least one object by means of an Ethernet interface (111). The real-time industry Ethernet master station protocol is operated on the auxiliary processor (12), and the auxiliary processor (12) is used to share a part of tasks of the main processor (11), so that the resource occupancy of the main processor (11) is reduced; and compared to a serial processing mode of the main processor (11) , a parallel processing mode of the auxiliary processor (12) has a higher efficiency and better real-time performances and lowers time jitter caused by the serial processing mode, thus achieving a real-time and accurate object controlling.

Description

Control equipment, control system and control method

Cross-reference of related applications

This application is based on the application with the CN application number 201910043260.X and the filing date of January 16, 2019, and claims its priority. The disclosure of the CN application is hereby incorporated into this application as a whole.

Technical field

The embodiments of the present disclosure relate to the field of robot control, and in particular, to a control device, a control system, and a control method.

Background technique

Some robot control methods in related technologies mainly run the real-time industrial Ethernet master station protocol through the processor, convert and process control instructions, send control instructions to the servo drive, and then control the robot's motors to realize the control of the robot. With the development of robotics, the execution of robots has become complex and diverse, and corresponding control instructions have also become complex.

Summary of the invention

According to an aspect of the present disclosure, an embodiment of the present disclosure provides a control device, including: a main processor and an auxiliary processor; the main processor is connected to the auxiliary processor, and is used to generate control data for controlling at least one object And send the control data set to the auxiliary processor; the auxiliary processor is used to perform parallel conversion processing on the control data set using the real-time industrial Ethernet master station protocol to obtain at least one control data set And send the control instruction to at least one of the objects through the Ethernet interface.

In some embodiments, the main processor is provided with a peripheral component interconnection standard PCI interface, or a high-speed serial computer expansion bus standard PCIe interface.

In some embodiments, the PCI interface or PCIe interface of the main processor is connected to the I/O interface of the auxiliary processor; PCI protocol or PCIe is adopted between the main processor and the auxiliary processor. Protocol for data transmission.

In some embodiments, the auxiliary processor includes: a field programmable gate array FPGA.

In some embodiments, the control device is a dual-core heterogeneous SOC chip.

In some embodiments, the I/O interface of the main processor in the dual-core heterogeneous SOC chip is connected to the I/O interface of the auxiliary processor.

According to another aspect of the present disclosure, an embodiment of the present disclosure provides a control system, including: the control device described in any of the embodiments.

In some embodiments, the control system further includes: at least one servo slave station; the servo slave station is configured to receive control instructions from the Ethernet interface of the auxiliary processor via a real-time industrial Ethernet.

In some embodiments, the servo slave is connected to the motor of the target object, and the motor is controlled by the control instruction.

In some embodiments, the target object includes: a robot.

According to another aspect of the present disclosure, an embodiment of the present disclosure proposes a control method, including: a main processor generates a control data set for controlling at least one object, and sends the control data set to an auxiliary processor; the auxiliary processor uses The real-time industrial Ethernet master station protocol performs parallel conversion processing on the control data set to obtain at least one control instruction for controlling the object, and sends the control instruction to at least one object through an Ethernet interface.

In some embodiments, the object is a servo slave station, and the control method further includes: the servo slave station receives a control instruction from the Ethernet interface of the auxiliary processor through a real-time industrial Ethernet, and controls The command controls the motor of the target object.

According to another aspect of the present disclosure, an embodiment of the present disclosure proposes a non-transitory computer-readable storage medium on which a computer program is stored, and when the program is executed by a control device, the control method in any one of the embodiments is implemented, wherein: The control device includes a main processor and an auxiliary processor.

BRIEF DESCRIPTION

FIG. 1 is a schematic structural diagram of a control device provided by some embodiments of the disclosure;

Figure 2 is a schematic structural diagram of another control device provided by some embodiments of the present disclosure;

3 is a schematic structural diagram of another control device provided by some embodiments of the present disclosure;

4 is a schematic structural diagram of a control system provided by some embodiments of the present disclosure;

Fig. 5 is a schematic structural diagram of another control system provided by some embodiments of the present disclosure;

Figure 6 is a schematic structural diagram of another control system provided by some embodiments of the present disclosure;

Fig. 7 is a schematic structural diagram of another control system provided by some embodiments of the present disclosure;

FIG. 8 is a schematic structural diagram of another control system provided by some embodiments of the disclosure;

FIG. 9 is a schematic flowchart of a control method provided by some embodiments of the present disclosure.

detailed description

To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be described clearly and completely in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments It is a part of the embodiments of the present disclosure, but not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present disclosure.

In order to facilitate the understanding of the embodiments of the present disclosure, specific embodiments will be further explained below in conjunction with the drawings, and the embodiments do not constitute a limitation to the embodiments of the present disclosure.

The inventor found that the processor running the real-time industrial Ethernet master station protocol will occupy more processor resources when converting and processing control instructions, and the general processor usually uses serial processing, thereby reducing the processor's ability , Resulting in longer time jitter between the processor and the robot, affecting the precise control of the robot.

FIG. 1 is a schematic structural diagram of a control device provided by some embodiments of the present disclosure. As shown in FIG. 1, the device specifically includes a main processor 11 and an auxiliary processor 12.

The main processor 11 is connected to the auxiliary processor 12 and is configured to generate a control data set for controlling at least one object, and send the control data set to the auxiliary processor 12.

The auxiliary processor 12 is configured to perform parallel conversion processing on the control data set using the real-time industrial Ethernet master station protocol to obtain at least one control instruction for controlling the object, and send the control instruction through the Ethernet interface Give at least one of the objects. The object can be a servo slave, for example.

In some embodiments, referring to FIG. 2, there is shown a schematic structural diagram of another control device provided by some embodiments of the present disclosure. The main processor 11 is provided with a standard interface 111, and the auxiliary processor 12 is provided with I /O (Input/Output, input/output) interface 121, the standard interface 111 of the main processor 11 is connected to the I/O interface 121 provided on the auxiliary processor 12.

Further, the standard interface 111 may be, but is not limited to, a Peripheral Component Interconnect (PCI) interface, or a high-speed serial computer expansion bus standard (Peripheral Component Interconnect express, PCIe) interface.

It can be understood that the PCI protocol or PCIe protocol is used for data transmission between the main processor 11 and the auxiliary processor 12.

In some embodiments, the main processor 11 may be, but is not limited to: X86, Advanced RISC (Reduced Instruction Set Computing) Machines (ARM), or Microcontroller Unit (MCU).

In some embodiments, the auxiliary processor 12 may be, but is not limited to: a Field-Programmable Gate Array (FPGA).

It should be noted that the control device may include two separate chips, specifically: the main processor 11 and the auxiliary processor 12. When the control device includes two separate chips, as shown in Figure 1 or Figure 2, both Data transmission is carried out through PCI protocol or PCIe protocol.

In some embodiments, referring to FIG. 3, there is shown a schematic structural diagram of another control device provided by some embodiments of the present disclosure. The control device may also be a dual-core heterogeneous SOC (System on Chip) chip. Understand that the main processor 11 and the auxiliary processor 12 are integrated on a chip, only the I/O interface of the main processor 11 and the I/O interface of the auxiliary processor 12 can be connected to realize the main processor 11 and auxiliary processor 12 Data interaction between processors 12.

The control device provided by the embodiment of the present disclosure includes a main processor and an auxiliary processor. By running the real-time industrial Ethernet master station protocol on the auxiliary processor, the auxiliary processor shares part of the work of the main processor (real-time industrial Ethernet master station). Corresponding processing content), which reduces the resource occupancy rate of the main processor; and the parallel processing mode of the auxiliary processor is more efficient and real-time than the serial processing mode of the main processor, reducing the number of serial processing The time jitter caused by this can realize real-time and precise control of the various operations of the object; in addition, the PCI protocol or PCIe protocol is used for data transmission between the main processor and the auxiliary processor, which has faster transmission time, higher efficiency and better compliance Real-time requirements.

FIG. 4 is a schematic structural diagram of a control system provided by some embodiments of the present disclosure. As shown in FIG. 4, the control system includes: a control device 10 and at least one servo slave station 13.

Further, the control device 10 may adopt the design of two separate chips shown in FIG. 1 to FIG. 2, or may also adopt the design of a dual-core heterogeneous SOC chip shown in FIG. 3, which can be designed according to actual needs. Certainly, this embodiment does not specifically limit this.

In some embodiments, the auxiliary processor 12 in the control device 10 is provided with an Ethernet interface 122, and the auxiliary processor 12 sends a control instruction to at least one servo slave station 13 through the Ethernet interface 122.

Further, the servo slave 13 controls the motor of the target object connected to it according to the control instruction, and then controls the target object by controlling the motor.

In some embodiments, the target object may be, but is not limited to: robots, drones, or industrial equipment.

For example, the target object is: a six-axis robot, the six-axis robot has 6 motors, and the number of corresponding servo slave stations is 6. The number of servo slave stations can be determined according to the type of target object. The embodiments are not specifically limited.

Figure 5 is a schematic structural diagram of a control system provided by some embodiments of the present disclosure. As shown in Figure 5, the control system adopts a control device 10 designed with two separate chips, and the main processor 11 adopts X86, and the auxiliary processor 12 Using FPGA, standard interface 111 (such as PCI interface or PCIe interface) is set on X86, standard interface 111 is connected with I/O interface 121 on FPGA, and PCI protocol or PCIe protocol is adopted for data transmission between X86 and FPGA; FPGA The control command is sent to at least one servo slave station 13 through the Ethernet interface 122.

Fig. 6 is a schematic structural diagram of another control system provided by some embodiments of the disclosure. As shown in Fig. 6, the control system adopts a control device 10 designed with two separate chips, and the main processor 11 adopts ARM, and the auxiliary The processor 12 uses FPGA, the ARM is equipped with a standard interface 111 (PCI interface or PCIe interface), the standard interface 111 is connected to the I/O interface 121 on the FPGA, and the PCI protocol or PCIe protocol is used for data transmission between X86 and FPGA ; FPGA sends control instructions to at least one servo slave 13 through the Ethernet interface 122.

Fig. 7 is a schematic structural diagram of another control system provided by some embodiments of the present disclosure. As shown in Fig. 7, the control system uses a dual-core heterogeneous SOC chip design control device 10, and the main processor 11 uses X86. The auxiliary processor 12 adopts an FPGA, and the X86 I/O interface is connected with the FPGA I/O interface, and the FPGA sends control instructions to at least one servo slave 13 through the Ethernet interface 122.

Fig. 8 is a schematic structural diagram of another control system provided by some embodiments of the present disclosure. As shown in Fig. 8, the control system adopts a control device 10 designed with a dual-core heterogeneous SOC chip, and the main processor 11 adopts ARM. The auxiliary processor 12 adopts an FPGA, and the I/O interface of the ARM is connected with the I/O interface of the FPGA, and the FPGA sends control instructions to at least one servo slave 13 through the Ethernet interface 122.

It should be noted that Figures 5-8 respectively take the main processor as X86 or ARM as an example. In addition to X86 or ARM, other forms of processors (such as MCU) can be used instead of the main processor. The requirements are set, which is not specifically limited in this embodiment.

In the control system provided by this embodiment, by setting the auxiliary processor on the side of the main processor, and by running the real-time industrial Ethernet master station protocol on the auxiliary processor, the auxiliary processor shares part of the work of the main processor (real-time industrial Ethernet). The processing content corresponding to the main station), which reduces the resource occupancy rate of the main processor; and the parallel processing mode of the auxiliary processor is more efficient and real-time than the serial processing mode of the main processor. The time jitter caused by the processing, and then realize the real-time and accurate control of the robot; in addition, the PCI protocol or PCIe protocol is used for data transmission between the main processor and the auxiliary processor, the transmission time is faster, the efficiency is higher, and the real-time performance is better. demand.

FIG. 9 is a schematic flowchart of a control method provided by some embodiments of the present disclosure

As shown in FIG. 9, the control method of this embodiment includes steps 91-92, and optionally includes step 93.

In step 91, the main processor generates a control data set for controlling at least one object, and sends the control data set to the auxiliary processor.

In step 92, the auxiliary processor uses the real-time industrial Ethernet master station protocol to perform parallel conversion processing on the control data set to obtain at least one control instruction for controlling the object, and sends the control instruction to the at least One said object.

In step 93, if the object is a servo slave station, the servo slave station receives a control instruction from the Ethernet interface of the auxiliary processor through the real-time industrial Ethernet, and controls the motor of the target object through the control instruction.

For example, if the object is a servo slave and the target object is a robot, and the servo slave needs to control the motor of the robot connected to it, the corresponding control data set can be, for example, the position information or angle information of the motor, and the corresponding control command can be It is the position command or angle command of the motor.

Professionals should be further aware that the units and algorithm steps of the examples described in the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the hardware and software Interchangeability. In the above description, the composition and steps of each example have been generally described in accordance with the function. Whether these functions are executed in hardware or software depends on the specific application of the technical solution and design constraints. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

The steps of the method or algorithm described in the embodiments disclosed in this document can be implemented by hardware, a software module executed by a processor, or a combination of the two. Software modules can be placed in random access memory (RAM), memory, read-only memory (Read-Only Memory, ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROM, or any other form of storage medium known in the technical field.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present disclosure in further detail. It should be understood that the above descriptions are only specific embodiments of the present disclosure and are not intended to limit the disclosure. The scope of protection, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this disclosure shall be included in the scope of protection of this disclosure.

Claims

A control device including:

Main processor and auxiliary processor;

The main processor is connected to the auxiliary processor, and is configured to generate a control data set for controlling at least one object, and send the control data set to the auxiliary processor;

The auxiliary processor is configured to perform parallel conversion processing on the control data set using the real-time industrial Ethernet master station protocol to obtain at least one control instruction for controlling the object, and send the control instruction to the At least one of said objects.
The control device according to claim 1, wherein the main processor is provided with a peripheral component interconnection standard PCI interface, or a high-speed serial computer expansion bus standard PCIe interface.
The control device according to claim 2, wherein the PCI interface or PCIe interface of the main processor is connected to the I/O interface of the auxiliary processor;

The PCI protocol or PCIe protocol is used for data transmission between the main processor and the auxiliary processor.
The control device according to any one of claims 1-3, wherein the auxiliary processor comprises: a field programmable gate array FPGA.
The control device according to claim 1, wherein the control device is a dual-core heterogeneous system-on-chip SOC chip.
7. The control device according to claim 5, wherein the I/O interface of the main processor in the dual-core heterogeneous SOC chip is connected to the I/O interface of the auxiliary processor.
A control system, comprising: the control device according to any one of claims 1-6.
The control system according to claim 7, wherein the control system further comprises: at least one servo slave station;

The servo slave station is configured to receive control instructions from the Ethernet interface of the auxiliary processor through real-time industrial Ethernet.
8. The control system according to claim 8, wherein the servo slave is connected to a motor of the target object, and the motor is controlled by the control instruction.
The control system according to claim 9, wherein the target object includes a robot.
A control method including:

The main processor generates a control data set for controlling at least one object, and sends the control data set to the auxiliary processor;

The auxiliary processor uses the real-time industrial Ethernet master station protocol to perform parallel conversion processing on the control data set to obtain at least one control instruction for controlling the object, and sends the control instruction to at least one of the objects through the Ethernet interface .
The control method according to claim 11, wherein the object is a servo slave, and the control method further comprises:

The servo slave station receives control instructions from the Ethernet interface of the auxiliary processor through real-time industrial Ethernet, and controls the motor of the target object through the control instructions.
A non-transitory computer-readable storage medium with a computer program stored thereon, which when executed by a control device implements the control method of claim 11, wherein the control device includes a main processor and an auxiliary processor.