CN205959050U - All -in -one controlling means - Google Patents

The utility model discloses not high to current programmable logic controler commonality, functional not strong characteristics provide a multi -functional integrated all -in -one controlling means. Including PLC controller, IO system, communication interface module, human -computer interaction system, motion control kernel and machine vision control kernel, wherein, the PLC controller adopts soft nuclear scheme, local communication interface carries out centralized control, the real -time bus interface of industry connects long -range extended device etc. Realizes distributed control, the IO system is the input/output point of all -in -one controlling means from the area, the embedded touch display screen of human -computer interaction system, the motion control kernel is used for the motion and the motion mode of planning and control execution, machine vision control kernel is used for detecting work piece production processing state and provides the feedback. The demand for control of pluralism can be satisfied through this device to integrate webServer and OPCServer, realized the remote connection and the control of equipment, and ability and the automatic equipment interconnection of other platforms.

All-in-one control device

Technical field

This utility model belongs to industrial automation industry programmable logic controller (PLC) (PLC), motion controller field, machine Visual field is and in particular to a kind of all-in-one control device of multifunctional unit.

Background technology

In the middle of industrial automation, with PLC for core control element, HMI is aobvious to the basic scheme of automation equipment Show that interactive device, converter or servo-drive are drive system, asynchronous machine or servomotor are actuator, and cooperation input is defeated Go out signal, analog signalses and various kinds of sensors, the action of control machinery component, composition has the complete device of correlation function. But, with the continuous development of automatic technology, in high-end equipment field and the field that segments market, these general structures are constituted Device intelligence can not be met with technology controlling and process, form restriction with the demand of continuous lifting Consumer's Experience.

Content of the invention

The versatility that this utility model is directed to existing controller is not high, and the not strong feature of feature, in improved all-in-one Embed the functional module such as motor control kernel and machine vision kernel in control device, meet the demand for control of diversification；Union Become cloud service module, integrate WebServer and OPCServer, provide the user diversified man-machine interaction solution, carry For the remote debugging of the most direct most convenient, programming, diagnosis, maintenance scheme.

Multi-functional all-in-one control device provided by the utility model, connects including PLC, I/O system, communication Mouth module, man-machine interactive system, motor control kernel and machine vision control kernel；Wherein, PLC adopts soft core side Case；Communication interface module includes local communication interface and industrial real time bus interface；Local communication interface connects local extension and sets Standby and locally execute mechanism, carry out centerized fusion；Industrial real time bus interface connects remote expansion apparatus, end effector Or drive system, realize distributed AC servo system；I/O system embeds local I/O module, the input and output that the machine control device of being integrated carries Point；Man-machine interactive system embeds touch display screen, the display as all-in-one control device and operation interface；Motor control kernel Drive system or actuator can be connected, for planning and controlling motion and the motion mode of execution；Machine vision controls kernel Industrial camera can be connected, for detecting work piece production machining state and providing feedback.

Preferably, I/O system also includes locally extending I/O module, accesses all-in-one control device by local communication interface, For centerized fusion.I/O system also includes Remote Expansion I/O module, accesses all-in-one by industrial real time bus interface and controls Device, for distributed AC servo system.

Preferably, motor control kernel embed for store motion control arithmetic motor control storehouse, motor control kernel Api interface, it is used for parsing and send motion control instruction and to actuator or drive system and receives feedback states and carry out closed loop The drive module controlling.

Preferably, machine vision controls kernel to connect industrial camera, embeds and regards for storing the general of machine vision algorithm Feel algorithms library and the industrial camera drive module with industrial camera communication.

Preferably, all-in-one control device also includes cloud service module, for remote operation.Cloud service module embeds and is used for Primary remote support and the WebServer unit of networking.Cloud service module can also embed for different platform equipment room data Interconnection OPCServer unit.

Preferably, man-machine interactive system adopts B/S framework, can be attached visiting by the standard browser of networked devices Ask.Locally embed browser, can work in coordination with WebServer unit, local user interface is provided.

Preferably, the soft core of PLC include PLC runtime, configuration parsing module, analytic application module, user mutual interface, Parameter configuration module, data interaction module, diagnostic module；Wherein, PLC runtime is mainly responsible for scheduling PLC application program；Group State parsing module, for parsing the peripheral expansion equipment that all-in-one control device is connected, and distributes address and determines even Connect topological sum modification relevant parameter configuration；Analytic application module, the line parameter of going forward side by side of the application program for parsing client development is repaiied Change；User mutual interface, for communicating with HMI device and Monitor Computer Control System；Parameter configuration module, for configuring all-in-one The relevant parameter of control device；Data interaction module, is responsible for extracting the various data in the middle of PLC running and state；Diagnosis Module, for diagnostic system information, is accurately positioned equipment fault source.

Beneficial effect：

The all-in-one control device integrated machine vision kernel of this utility model offer, motor control core functions module, Realize combining closely of field of machine vision, motion control field and logic control field to regard it is no longer necessary to machine is separately configured Feel controller and motion controller, meet the demand for control of diversification and the devices interconnect demand of industry 4.0.

All-in-one control device additionally provide a kind of new way based on B/S framework, the man-machine interaction that web interface shows Interface, embedded touch display screen, embedded browser, with diversified man machine interface solution, reduces equipment purchase cost, carries Rise Consumer's Experience.

The integrated cloud service module of all-in-one control device contains WebServer and OPCServer service, passes through WebServer can achieve intelligent terminal, long-range field equipment connecting, such as mobile phone, flat board etc., and carry out remote debugging, programming, under Work, the greatly technical support of convenient automation equipment such as carry, diagnose, safeguarding；Can be met and other by OPCServer The demand for interconnection of platform automation equipment, such as CNC machining center, cam controller etc., realize the equipment networking of whole machine.

Additionally, all-in-one control device can also according to user's request in I/O system flexibly integrated local extension I/O module and Remote Expansion I/O module, realizes the distributed AC servo system of local centerized fusion and remote equipment.

Brief description

Fig. 1 all-in-one control device systemic-function block schematic illustration

Fig. 2 all-in-one control device hardware frame figure

Fig. 3 all-in-one control device system architecture diagram

Specific embodiment

This utility model improves mainly for traditional programmable logic controller device, to increase the work(of equipment Can, reduce the cost of automation equipment total solution, the efficiency of lifting automation equipment.

On the basis of traditional controller, the all-in-one control device increase motor control kernel of this utility model offer, Machine vision kernel, meets the demand for control of user's diversification, and such as robot controls, produces workpiece, defect detection etc.；Provide A kind of new way based on B/S framework, the human-computer interaction interface that web interface shows, embedded touch display screen, embedded browse Device, to provide diversified man machine interface solution；Embedded cloud service module, be integrated with WebServer and OPCServer, user can realize remotely control/debugging/diagnosis/maintenance by networked devices such as mobile phone, flat board etc., passes through OPCServer can collect the data of other platform automation equipments, realizes integral device or even the networking work(of factory, workshop level Energy.

Multi-functional all-in-one control device mainly includes PLC, I/O system, communication interface module, man-machine interaction System, motor control kernel and machine vision kernel etc.；Wherein：

PLC adopts soft core scheme, that is, in PC-Base or embedded system, by Real-time Communication Technology and Upper layer software (applications), it might even be possible to integrated multiple soft core PLC on the basis of all-in-one control device cpu performance is powerful enough, realizes The depth customization of PLC function, the corresponding function module interface according to needed for user's request is merged, for user using offer facility. And, in PLC running, relevant parameter configuration, data acquisition, the Internet can be uploaded to by cloud service module.And The firmware of traditional stone PLC can not migrate to general-purpose platform, can only run, function is deleted very not under corresponding hardware platform Just, operational efficiency is not high and after function is complicated.PLC also can achieve distributed control scheme, by respective bus Agreement, such as EtherCAT, CANOpen, ProfiBus, ProfiNet, Ethernet/IP etc., by the use of high-speed transfer medium as Interface so that the input and output flexible configuration of equipment, be easy to increase and decrease, install safeguard convenient, expansion module function is customizable in addition Exploitation.

Communication interface module includes industrial real time bus interface and local communication interface.Real-time industrial EBI, passes through In high precision, low delay, the industrial Real-time Fieldbus of high bandwidth or EPA connect remote expansion apparatus, and high-performance terminal is held Row mechanism, such as robot, or drive system, such as high-speed synchronous servosystem, to realize distributed AC servo system；Wherein, industry is real-time Fieldbus includes EPA, LVDS, CAN etc., industrial real-time bus agreement include EtherCAT, CANOpen, ProfiNet, Ethernet IP etc..Local communication interface, the local expansion equipment of connection and related actuator such as converter, Generic servo system etc., for centerized fusion, local communication interface includes RS485, RS232, standard ethernet, USB etc., this Ground communications protocol is generally ModBus, ProfiBus etc..

I/O system embeds local I/O module, the input and output point that the machine control device of being integrated carries；Certainly, according to user's need Ask I/O system also can add local extension I/O module and Remote Expansion I/O module；Wherein, local extension I/O module is passed through locally to lead to Communication interface accesses all-in-one control device, for centerized fusion, can connect on-off model local or close together, biography Sensor, executor etc., it be may be provided at and is between identical regulator cubicle with all-in-one control device；Remote Expansion I/O module is passed through Industrial real time bus interface accesses all-in-one control device, is the I/O module being extended for distributed AC servo system, can connect long-range Sensor, executor etc., can be interconnected by connection, facilitate all-in-one control device remote equipment to be monitored, no Need and all-in-one control device be in identical electricity cabinet among.

Man-machine interactive system is the WebServer service in embedded touch display screen and cloud service module, as one The display of body machine control device and operation interface；The preferred B/S framework of man-machine interactive system provided by the present invention, also embedded browses Device, is browsed by in-cell touch panel and operates, and can be attached accessing by the standard browser of networked devices, so that equipment is propped up Hold remote functionality；And contents displayed on interface can be customized or secondary development by the programming of standard Web.

Motor control kernel, embedded motor control storehouse, motor control core A PI interface and drive module；Wherein, motion control Storehouse processed is used for storing motion control arithmetic, such as curve interpolating, elaborate position control etc.；Drive module is used for parsing and sends motion Control instruction to actuator or servo-driver and receives feedback states.Motor control kernel is used for multi-axial Simultaneous, control, and Direct drive actuator or motor control component, thus realize the indexs such as the high accuracy of equipment, high response.Specifically can achieve： 1) servomotor multi-axial Simultaneous, that is, complication system many motors Collaboration is it is ensured that the concordance of producing line, process of manufacture；2) Motion interpolation, that is, controlled motor carry out such as circular arc, the complex curve such as spiral track move；3) electric cam, you can substitute machinery Cam, completes to meet the cyclical action of certain rule；4) function such as Current Position speed three close-loop control, can using these functions Direct drive actuator such as polytype robot, also can connect relative drive systems such as servosystem.

The machine vision that all-in-one control device also includes connecting industrial camera controls kernel.Machine vision controls in kernel Embedding general vision algorithms library and industrial camera drive module, wherein, general vision algorithms library is used for storing machine vision algorithm, such as Sub-pix scanning, eigenvalue matching etc., industrial camera drive module is used for controlling, arranges industrial camera and compatible industrial camera leads to News agreement, such as GIGEVISION.Machine vision control kernel be used for realizing to produce workpiece carry out positioning, identify, defects detection, The functions such as sorting, color separation, testing result is passed to PLC, and calls fortune by PLC according to user application Dynamic control core instructions carry out executing operation to actuator or drive system.Introduce nuclear energy in machine vision and substitute the special of costliness With visual apparatus, and can and motor control combine.

On aforementioned base, the present invention also provides another preferred embodiment, i.e. all-in-one control device also includes cloud service Module, supports WebServer service and OPCServer service, realizes the remote operation of equipment.Specifically, can be used for realization to set Standby remote monitoring, debugging, programming and data acquisition；The data of different platform plant equipment can also be gathered；And can be by mark Quasi- Ethernet interface is conducted interviews using browser it is also possible to obtain corresponding data using special gateway device to carry out correlation Operation.

Cloud service module includes WebServer unit and OPCServer unit.Wherein, WebServer unit can achieve former Raw remote support, realizes remote download and debugging, and user can also be by the intelligent terminal that can network, such as mobile phone, PC etc., Directly access WebServer.And the remote debugging of existing equipment scheme is all to increase the equipment such as Communication Gateway, wireless module in fact Existing, many uncertain factors such as this existence and stability, protocol compatibility, reliability.OPCServer unit sets for different platform Interconnection between standby or networking, provide the data acquisition of different platform equipment, provide the digitized networking blueprint of whole equipment.And mesh Front general way is to increase protocol converter, and cost increases and inefficient, and OPCUA has been widely recognized as by industry, Increase OPCServer function inside controller, can be with significant increase equipment competitiveness so that distinct device be in same industrial network Middle seamless coexistence.

Additionally, all-in-one control device also can embed browser, work in coordination with WebServer, user interface is provided. WebServer can provide the device programming of Web mode, state to check, be available for remotely programming, the operation such as diagnose, safeguard, debugging； And diversified man-machine interaction solution can be realized by various ways such as in-cell touch panel.And traditional way is to increase Equipment such as HMI, and HMI belongs to special equipment, needs special secondary developing platform, and relatively costly, the Web based on browser Page program is then more easy-to-use and flexible, and can provide the Function Extension outclassing HMI.It can be seen that, embed in the controller WebServer, so that equipment possesses network savvy, can promote information-based and automatization depth integration, change in industry 4.0 During making, also there is reduction customer using cost.

In conjunction with above example, one kind of the soft and hardware part for all-in-one control device provided herein is preferable to carry out Example.

As shown in Fig. 2 all-in-one control device can be using the Duo-Core Architecture including primary processor and coprocessor.Main process task Device, can be selected for ARM Cortex series processors, or the CPU of X86 system, for runtime software etc., soft including PLC Core, real time operating system (RT OS System), functional module, cloud service module, various kinds of equipment driving etc..

As shown in figure 3, the soft core of PLC mainly includes PLC runtime, configuration parsing module, analytic application module, Yong Hujiao Mutually interface, parameter configuration module, data interaction module, diagnostic module.

PLC runtime is mainly responsible for scheduling PLC application program, and directly invokes the hardware behaviour that functional module carries out reality Control, obtains respective feedback；Sent data among each external or expansion equipment according to corresponding configuration info；Configuration parses mould Block, for parsing the peripheral expansion equipment that all-in-one control device is connected, such as local extension I/O module, servo-driver, change Frequency device, touch screen, camera etc., and distribute address and determine that connecting topological sum modification relevant parameter configures；Configuration info is Pass to PLC runtime eventually, final scheduling is responsible for by PLC runtime；Analytic application module, for parsing client development Application program, changes relevant parameter, user program is parsed into concrete operations instruction list and passes to PLC execution system, by It is responsible for concrete scheduling and execution；User mutual interface, mainly communicates with HMI device and Monitor Computer Control System, to user Intuitively facilities for observation running status is provided；Parameter configuration module, for configuring the relevant parameter of all-in-one control device, such as expands Exhibition device-dependent message, communications parameter etc.；Data interaction module, is responsible for extracting the various data in the middle of PLC running and shape State, such as running status, operational factor instantaneous value, related register value etc., the data in data interaction module can be handed over by user Mutually interface, cloud service module are checked and are changed；Diagnostic module, for diagnostic system information, is accurately positioned equipment fault source.

Real time operating system is the operating system of real-time, two priority classes, be equipment run basis, be responsible for completing be The scheduling of system software is it is ensured that system stability lift operational efficiency；Cloud service module can be by standard ethernet interface profit Conducted interviews with browser it is also possible to obtain corresponding data using special gateway device to carry out associative operation.Functional module As machine vision controls kernel, motor control kernel, technological process module, I/O scan module etc..Device drives mainly include respectively The driver of individual hardware cell and communications protocol, are hardware normal work and invoked basis；User application and Configuration program can by cloud service module complete develop and download it is also possible to completed using traditional PC development scheme and under Carry.

Coprocessor, can be selected for the chips such as FPGA, CPLD, ASI, for running real-time bus protocol stack, connects industry real When bus or EPA, responsible technical grade communication, manipulation remote I/O expansion module, servo, motor control function.And can There is provided at least 2 physical interfaces, for user networking.

Embodiment described above only have expressed some embodiments of the present utility model, and its description can not be interpreted as to this The restriction of the scope of the claims.It is to be noted that for the person of ordinary skill of the art, conceiving without departing from this utility model On the premise of, some improvement can also be made, protection domain all should be fallen into.