CN115903710A - Generator stator core stacking robot edge control system and control method - Google Patents
Generator stator core stacking robot edge control system and control method Download PDFInfo
- Publication number
- CN115903710A CN115903710A CN202211649727.3A CN202211649727A CN115903710A CN 115903710 A CN115903710 A CN 115903710A CN 202211649727 A CN202211649727 A CN 202211649727A CN 115903710 A CN115903710 A CN 115903710A
- Authority
- CN
- China
- Prior art keywords
- control
- edge
- remote
- stator core
- production
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Programmable Controllers (AREA)
Abstract
The invention provides an edge control system and a control method of a generator stator core stacking robot. The 5G network communication technology, the edge calculation technology and the informatization interaction technology are comprehensively applied, and a specific control mode is combined to construct an edge control system of the generator stator core laminated robot. The invention realizes the remote real-time control and the remote state display of the stator core lamination procedure with the control cycle less than or equal to 1 millisecond on one hand, and realizes the closed-loop control of production by constructing the interconnection and intercommunication of relevant lamination systems on the other hand, thereby effectively improving the production efficiency.
Description
Technical Field
The invention provides an edge control system and a control method for a generator stator core stacking robot, which are used for remotely monitoring, remotely controlling and controlling a plurality of robots in a closed-loop manner to realize the cooperative completion of a stacking process of magnetic punching sheets, and belong to the technical field of industrial control.
Background
The industrial upgrading in the industrial field is closely related to the innovation of the information technology, and the combination of the production and manufacturing technology and the advanced information communication technology provides sufficient power for the industrial upgrading and deep and comprehensive change of the manufacturing industry. The intelligent manufacturing is taken as the core main attack direction of five major projects, and aims to comprehensively improve the digital networking intelligent level of the industry through the fusion development of a new generation of information technology and an industrial technology.
The stator core is the heart of large-scale power generation equipment and is formed by segmented overlapping, pressurizing and curing of punching sheets with good magnetic conductivity. In the stacking process, a plurality of robots (mechanical arms) are used for grabbing and positioning the punching sheets under the assistance of machine vision. In the whole process, the punching state needs to be monitored in real time, image information with large data volume is processed, and a plurality of robots are coordinated and controlled in real time based on the punching information. Large power generation equipment is produced according to orders in a customized mode, and the stacking unit robot is required to have flexible and rapid redeployment capacity. This presents a significant challenge to the control of the palletized robot.
In the existing stator core stacking procedure, a PLC (programmable logic controller) is adopted on site, a field bus or an industrial Ethernet is adopted, a stacking workbench, an industrial robot and a detection platform are integrated, the PLC coordinates the actions of all control objects to complete stacking operation, and the continuity between the operations is realized by auxiliary planning of workers on site. However, the following technical problems exist in the prior art:
the PLC controller is only responsible for the control process of the stacking procedure, no information interaction exists between the PLC controller and other relevant production systems, the whole production flow must be planned on site by technicians, the intercommunity between the systems is poor, and a data isolated island exists.
The processing personnel can only operate the stacked equipment and obtain various state information in the working process in a workshop field, and cannot remotely sense the production state in real time.
The wired network formed by the industrial Ethernet in the workshop is mainly used, the wired network layout cost is high, the flexible modification of a production line is influenced, and the system communication crossing the workshop is not facilitated. The wireless network mainly based on Wi-Fi has poor anti-interference performance, unstable performance and limited capacity. The traditional 4G network cannot meet the scene of high real-time performance due to the limitations of transmission rate, bandwidth and time delay.
A cloud platform is adopted to manage the production process, and the problems of instantaneity, bandwidth, privacy, energy consumption and the like can exist from workshop terminal equipment to the cloud platform.
Disclosure of Invention
The problems of data non-communication and field control in the stacking process of the stator core of the generator are solved. The invention provides a new scheme combining '5G + MEC + stator core stacking cooperative control application', comprehensively applies a 5G network communication technology, an edge calculation technology and an informatization interaction technology, and combines a specific control mode to construct an edge control system of a generator stator core stacking robot.
The 5G communication has the characteristics of high speed, low delay, high reliability and the like, can realize the integration and control of workshop and factory equipment, and can overcome the problem that the wired network is difficult to meet the requirement of adjusting the production flow due to order change. However, the air interface delay of 5G transmission is generally more than 5 milliseconds, and the control cycle of machine tool and robot real-time control is less than or equal to 1 millisecond, so that the requirement of real-time control cannot be met by using 5G alone.
The edge calculation model provides the capability of integrating resources such as calculation, storage, network and the like at the edge side of a network close to an object or a data source, so that the uplink pressure of terminal equipment data can be reduced, and the equipment response time is shortened. The method comprises the steps of combining a 5G communication technology with an edge calculation technology, deploying an edge calculation (MEC) node in a lamination workshop, deploying a User Plane Function (UPF) in MEC equipment, sinking the user plane function of a 5G core network to the edge of a stator core lamination process, transmitting production data to the sunk UPF through a 5G base station, and transmitting the data to the MEC node, so that transmission and unloading of service data at the edge of a production line are realized. Service data does not need to be transmitted to a transmission network through a bearing network, transmission delay is obviously reduced, real-time control delay of a machine tool and a robot is met, and safety of the service data is also guaranteed.
The specific technical scheme is as follows:
the generator stator core stacking robot edge control system comprises an operation system, an operation auxiliary system, a 5G communication gateway, a generator stator core stacking cooperative control application and a remote control terminal, wherein the generator stator core stacking cooperative control application is used as a system brain to construct unified effective connection.
The main body of the operating system, namely the stator core stacking procedure executing mechanism, is composed of a stacking worktable, an industrial robot and various position, speed and pressure sensors, and the main control PLC is used as a field control core to integrate field processing information and environment sensing information.
The operation auxiliary system comprises a material management system, an AGV system and a monitoring system; the material management system digitizes the material information of the production site through seamless integration with the resources of factory logistics, storage and production line. The AGV system carries out unified management through carrying out to AGV, contains to the material upper scheduling and fixes a position, environmental perception, path planning and guidance control two aspects to AGV. The monitoring system comprises a front-end camera, network transmission equipment and a rear-end control display part, and realizes visual perception of a target system or target processing equipment by continuously monitoring a workshop system. Currently, each operation related system cannot be directly associated with an operation system, and workers operate each operation related system in an auxiliary mode on site.
The 5G communication gateway is a field communication device, and the 5G communication capability of the gateway is used for realizing the access of workshop equipment to a 5G network environment. The acquisition and issuing application is deployed in the gateway, field computing power is provided at the edge of an operating system, services of acquiring information of a downstream operating system and issuing information of an upstream task are provided by communicating with the master control PLC, and interconnection and intercommunication between the generator stator core laminated cooperative control application and the operating system are realized by converting protocols and data types.
The stator core stacking cooperative control application, hereinafter referred to as an edge control platform, is deployed on an MEC node server, and is a unified interaction for constructing each system by a system core computation control center based on a B/S architecture, namely a browser/server architecture.
The cross-workshop scheduling terminal is a client corresponding to the edge control platform and directly interacts with a user, so that the user can comprehensively sense and remotely assist the machining process.
The control method of the generator stator core laminated robot edge control system integrates all systems and realizes three system functions of remote monitoring, remote control and closed-loop control based on edge calculation.
1. The system constructs a five-node remote monitoring chain consisting of a remote control terminal, an edge control platform, a 5G communication gateway, a field PLC (programmable logic controller) and a field camera, the chain is transmitted based on a 5G network, the monitoring data is processed nearby based on edge calculation, and the real-time monitoring delay and the production data safety are ensured. The remote monitoring process mainly comprises two aspects of parametric monitoring of the production state and remote video monitoring of the production scene:
(1) The edge control platform calls collection services of 5G communication gateway application at intervals of 30ms at regular intervals based on an HTTP (hyper text transport protocol), the gateway application acquires the current states of all robots and the whole task execution state from all addresses of a master control PLC (programmable logic controller) through an industrial control protocol, formats all the addresses and parameters, packages the data into JSON (Java Server object notation) format data and responds the JSON format data to the edge control platform, and the data of a production field is mapped to a network space. The edge control platform analyzes the address parameters, a real-time mirror image of production data is built in the application, the real-time state is pushed to the remote control terminal through a WebSocket protocol, and related personnel can realize remote parametric monitoring of the production process by accessing an interface of the remote control terminal.
(2) The edge control platform pulls the operation site monitoring video stream in real time according to the video stream address, and the video stream is transmitted back to the edge control platform through the 5G communication gateway. And the edge control platform encodes and transcodes the video, and converts the video stream slices into a plurality of small files for storage. The remote control terminal acquires the video file based on the HTTP protocol and displays the video file in real time, so that remote video monitoring of the production scene is achieved.
2. The system establishes a five-node remote control chain consisting of a remote control terminal, an edge control platform, a 5G communication gateway, a field PLC (programmable logic controller) and a stacked robot controller. The remote control process comprises the following steps:
the remote control terminal has the authority of setting a stacking task, controlling the loading and unloading of the field device, adjusting the processing state of the robot controller, emergency stop and the like. In an initial production state, after a worker edits a processing task at a remote control terminal, task data are issued to an edge control platform through an HTTP (hyper text transport protocol), the edge control platform checks task parameters, the task is automatically optimized by combining with a real-time production mirror on the premise of meeting the legality, and the shortest calculation time of all tasks is calculated on the premise of ensuring that the current task and the original task can be completely executed, so that the optimal mapping of stations and tasks is constructed, and the overall energy consumption minimum optimization is performed on the overall robot track after the task allocation calculation is completed. The edge control platform issues control parameters to a 5G gateway application through a 5G network according to an optimization result, the gateway application performs protocol and data type conversion and then sets parameters of a PLC (programmable logic controller) and a robot controller, namely the edge control platform is used for performing parameter optimization by stator core stacking cooperative control application every 50 milliseconds, the PLC performs state updating and control output of each device on site every 2 milliseconds, and the robot controller performs position closed-loop control every 0.5 milliseconds. When the stacking operation is carried out, the remote control terminal only has the authority of emergency stop and adjustment of the processing task.
3. The system constructs four system node closed-loop control chains of an operation system, an edge control platform, a material management system and an AGV system. The closed-loop control process comprises the following steps:
when production pause scenes such as material shortage, material returning and the like of materials at specified stations occur in the production process, the equipment control right is transferred to an edge control platform, the edge control platform performs multi-dimensional analysis and calculation on production images by using a multithreading technology, service continuity conditions and current task requirements are integrated, standard service continuity parameters are worked out, decision data are issued to a material management system, materials are integrated by the material management system, then the task parameters are issued to an AGV system in charge of material transportation, after the AGV system transports the materials to the specified stations of a stacking system, the material ready state is captured by the edge control platform, the stacking system is controlled by the edge control platform to perform loading or unloading operation, so that production continues to run, and the equipment control right is transferred to a field PLC (programmable logic controller) and a stacking robot controller again. The background calculation and system communication of the edge control platform replace the manual operation of staff on site, and the data island of the stacked system is effectively broken.
In addition to the above control flow, for the safety of the stacking operation, an automatic remote control switch is arranged on the site, a system administrator with a system control right sends an instruction to a site PLC controller through an edge control platform, meanwhile, a processing personnel sets a PLC input signal on the site to realize the switching between the site operation and the remote automatic control, the system administrator has a priority and must send a switching instruction, and the input signal of the site personnel is effective. Under the condition that the switch is turned on, closed-loop control and real-time control at a remote control terminal can be realized through application, and under the condition that the switch is turned off, the remote control is turned off and is controlled by a processing worker on site.
The invention constructs the edge control system of the generator stator core laminated robot by combining the 5G technology, the edge calculation technology and the stator core laminated cooperative control application. On one hand, the remote real-time control and the remote state display of the control cycle of the stator core stacking procedure is less than or equal to 1 millisecond are realized, on the other hand, the production closed-loop control is realized by constructing interconnection and intercommunication of stacking related systems, and the production efficiency is effectively improved.
Drawings
FIG. 1 is a system interaction model of the present invention;
FIG. 2 is a block diagram of the remote monitoring control of the present invention;
FIG. 3 is a flow chart of remote control and closed loop control of the present invention.
Detailed Description
The specific technical scheme of the invention is explained by combining the attached drawings.
An interaction model of each node of the generator stator core laminated robot edge control system is shown in fig. 1, the whole system mainly comprises an operation system, an operation auxiliary system, a 5G communication gateway, a generator stator core laminated cooperative control application and a remote control terminal, and the generator stator core laminated cooperative control application is used as a system brain to establish unified effective connection. Each structural node is introduced as follows:
the main body of the operating system, namely the stator core stacking procedure executing mechanism, is composed of a stacking worktable, an industrial robot and various position, speed and pressure sensors, and the main control PLC is used as a field control core for integrating field processing information and environment sensing information.
The operation auxiliary system mainly comprises a material management system, an AGV system and a monitoring system. The material management system digitizes the material information of the production site through seamless integration with resources such as factory logistics, storage, production line and the like. The AGV system carries out unified management through carrying out to AGV, contains to the material upper scheduling and fixes a position, environmental perception, path planning and guidance control two aspects to AGV. The monitoring system mainly comprises a front-end camera, network transmission equipment and a rear-end control display part, and realizes the visual perception of a target system or target processing equipment by continuously monitoring a workshop system. Currently, each operation related system cannot be directly associated with an operation system, and workers operate each operation related system in an auxiliary mode on site.
The 5G communication gateway is a field communication device, and the 5G communication capability of the gateway is used for realizing the access of workshop equipment to a 5G network environment. The acquisition and issuing application is deployed in the gateway, field computing power is provided at the edge of an operating system, services of acquiring information of a downstream operating system and issuing information of an upstream task are provided by communicating with the master control PLC, and the interconnection and intercommunication between the generator stator core laminated cooperative control application and the operating system are realized by converting protocols and data types.
The application makes full use of resources such as calculation, storage and network of the MEC node, encapsulates functions such as data acquisition, data conversion, data storage, log recording, network interaction and the like into an application program, and constructs unified interaction of each system.
The cross-workshop scheduling terminal is a client corresponding to the edge control platform, directly interacts with a user, and can realize comprehensive perception and remote assistance of the user on the processing process.
The system integrates all systems, and realizes three system functions of remote monitoring, remote control and closed-loop control based on edge calculation, and the control flow method is shown in a remote monitoring control block diagram in fig. 2 and a remote control and closed-loop control flow diagram in fig. 3.
(1) The system constructs a five-node remote monitoring chain consisting of a remote control terminal, an edge control platform, a 5G communication gateway, a field PLC (programmable logic controller) and a field camera, the chain is transmitted based on a 5G network, the monitoring data is processed nearby based on edge calculation, and the real-time monitoring delay and the production data safety are ensured. The remote monitoring process mainly includes two aspects of parametric monitoring of the production state and remote video monitoring of the production scene, as shown in fig. 2.
(2) The edge control platform calls collection services of 5G communication gateway application at intervals of 30ms at regular intervals based on an HTTP (hyper text transport protocol), the gateway application acquires the current states of all robots and the whole task execution state from all addresses of a master control PLC (programmable logic controller) through an industrial control protocol, formats all the addresses and parameters, packages the data into JSON (Java Server object notation) format data and responds the JSON format data to the edge control platform, and the data of a production field is mapped to a network space. The edge control platform analyzes the address parameters, a real-time mirror image of production data is built in the application, the real-time state is pushed to the remote control terminal through a WebSocket protocol, and related personnel can realize remote parametric monitoring of the production process by accessing an interface of the remote control terminal.
The edge control platform pulls the operation site monitoring video stream in real time according to the video stream address, and the video stream is transmitted back to the edge control platform through the 5G communication gateway. And the edge control platform encodes and transcodes the video, and converts the video stream slices into a plurality of small files for storage. The remote control terminal obtains the video file based on the HTTP and displays the video file in real time, and therefore remote video monitoring of the production scene is achieved.
In order to meet the control real-time performance of 1 millisecond or less and ensure the reliable work of the system, the system establishes a five-node remote control chain consisting of a remote control terminal, an edge control platform, a 5G communication gateway, a field PLC (programmable logic controller) and a stacked robot controller. The link carries out transmission based on a 5G network, and carries out the nearby processing of task data based on edge calculation. The remote control flow is shown in steps 1 to 5 of fig. 3.
The remote control terminal has the authority of setting a stacking task, controlling the loading and unloading of the field device, adjusting the processing state of the robot controller, emergency stop and the like. In an initial production state, after a worker edits a processing task at a remote control terminal, task data are issued to an edge control platform through an HTTP (hyper text transport protocol), the edge control platform checks task parameters, the task is automatically optimized by combining with a real-time production mirror on the premise of meeting the legality, and the shortest calculation time of all tasks is calculated on the premise of ensuring that the current task and the original task can be completely executed, so that the optimal mapping of stations and tasks is constructed, and the overall energy consumption minimum optimization is performed on the overall robot track after the task allocation calculation is completed. The edge control platform issues control parameters to a 5G gateway application through a 5G network according to an optimization result, the gateway application performs protocol and data type conversion and then sets parameters of a PLC (programmable logic controller) and a robot controller, namely the edge control platform is used for performing parameter optimization by stator core stacking cooperative control application every 50 milliseconds, the PLC performs state updating and control output of each device on site every 2 milliseconds, and the robot controller performs position closed-loop control every 0.5 milliseconds. When the stacking operation is carried out, the remote control terminal only has the authority of emergency stop and adjustment of the processing task.
In order to promote interconnection and intercommunication of all production related systems and reduce the influence of staff efficiency on production continuity, a closed-loop control chain of four system nodes including an operation system, an edge control platform, a material management system and an AGV system is constructed. The closed loop control flow is shown as steps 6-11 of fig. 3.
When production pause scenes such as material shortage, material returning and the like of materials at specified stations occur in the production process, the equipment control right is transferred to an edge control platform, the edge control platform performs multi-dimensional analysis and calculation on production images by using a multithreading technology, service continuity conditions and current task requirements are integrated, standard service continuity parameters are worked out, decision data are issued to a material management system, materials are integrated by the material management system, then the task parameters are issued to an AGV system in charge of material transportation, after the AGV system transports the materials to the specified stations of a stacking system, the material ready state is captured by the edge control platform, the stacking system is controlled by the edge control platform to perform loading or unloading operation, so that production continues to run, and the equipment control right is transferred to a field PLC (programmable logic controller) and a stacking robot controller again. The background calculation and system communication of the edge control platform replace the manual operation of staff on site, and the data island of the stacked system is effectively broken.
In addition to the above control flow, for the safety of the stacking operation, an automatic remote control switch is arranged on the site, a system administrator with a system control right sends an instruction to a site PLC controller through an edge control platform, meanwhile, a processing personnel sets a PLC input signal on the site to realize the switching between the site operation and the remote automatic control, the system administrator has a priority and must send a switching instruction, and the input signal of the site personnel is effective. Under the condition that the switch is turned on, closed-loop control and real-time control at a remote control terminal can be realized through application, and under the condition that the switch is turned off, the remote control is turned off and is controlled by a processing worker on site.
Claims (6)
1. The generator stator core stacking robot edge control system is characterized by comprising an operation system, an operation auxiliary system, a 5G communication gateway, a generator stator core stacking cooperative control application and a remote control terminal, wherein the generator stator core stacking cooperative control application is used as a system brain to establish unified effective connection.
The operating system, namely a stator core stacking procedure executing mechanism, is a core data source of the edge control system, the main body of the operating system consists of a stacking workbench, an industrial robot and various position, speed and pressure sensors, and a master control PLC (programmable logic controller) is used as a field control core and integrates field processing information and environment sensing information;
the operation auxiliary system mainly comprises a material management system, an AGV system and a monitoring system; the material management system digitalizes the material information of a production site by seamlessly integrating with resources such as factory logistics, storage, production lines and the like; the AGV system carries out unified management on the AGV and comprises two aspects of upper material dispatching, positioning of the AGV, environment perception, path planning and guidance control; the monitoring system mainly comprises a front-end camera, network transmission equipment and a rear-end control display part, and realizes the visual perception of a target system or target processing equipment by continuously monitoring a workshop system;
the 5G communication gateway is a field communication device, and by means of the 5G communication capability of the gateway, workshop equipment is accessed into a 5G network environment; the method comprises the steps that collection and issuing applications are deployed in a gateway, field computing power is provided at the edge of an operation system, services of collecting information of a downstream operation system and issuing information of an upstream task are provided through communication with a master control PLC, and interconnection and intercommunication of a generator stator core stacking cooperative control application and the operation system are achieved through conversion of protocols and data types;
the method comprises the following steps that a stator core stacking cooperative control application, hereinafter referred to as an edge control platform, is deployed on an MEC node server, and is used as a system core computing control center to construct unified interaction of each system based on a B/S (browser/server) architecture;
the cross-workshop scheduling terminal is a client corresponding to the edge control platform and directly interacts with a user, so that the user can comprehensively sense and remotely assist the machining process.
2. The method for controlling the generator stator core assembling robot edge control system of claim 1, comprising remote monitoring, remote control and closed-loop control.
The system constructs a five-node remote monitoring chain consisting of a remote control terminal, an edge control platform, a 5G communication gateway, a field PLC (programmable logic controller) and a field camera, the chain is transmitted based on a 5G network, and the monitoring data is processed nearby based on edge calculation;
the system establishes a five-node remote control chain consisting of a remote control terminal, an edge control platform, a 5G communication gateway, a field PLC (programmable logic controller) and a stacked robot controller, the chain is transmitted based on a 5G network, and the task data is processed nearby based on edge calculation;
the system constructs four system node closed-loop control chains of an operation system, an edge control platform, a material management system and an AGV system.
3. The method for controlling the generator stator core stacking robot edge control system according to claim 2, wherein the remote monitoring process comprises both parametric monitoring of the production state and remote video monitoring of the production scene:
(1) The edge control platform calls acquisition services of 5G communication gateway application at intervals of 30ms based on an HTTP (hyper text transport protocol), the gateway application acquires the current states of all robots and the integral task execution state from all addresses of a master control PLC (programmable logic controller) through an industrial control protocol, formats all the addresses and parameters, packages the addresses and the parameters into JSON (java server object notation) format data and responds the JSON format data to the edge control platform, and the data of a production field is mapped to a network space; the edge control platform analyzes the address parameters, a real-time mirror image of production data is built in the application, a real-time state is pushed to a remote control terminal through a WebSocket protocol, and related personnel can realize remote parametric monitoring of the production process by accessing an interface of the remote control terminal;
(2) The edge control platform pulls the operation site monitoring video stream in real time according to the video stream address, and the video stream is transmitted back to the edge control platform through the 5G communication gateway; the edge control platform encodes and transcodes the video, and converts the video stream slices into a plurality of small files for storage; the remote control terminal acquires the video file based on the HTTP protocol and displays the video file in real time, so that remote video monitoring of the production scene is achieved.
4. The method for controlling the generator stator core stacking robot edge control system according to claim 2, wherein the remote control process comprises the following steps:
the remote control terminal is provided with a function of setting a stacking task, controlling field equipment to feed and discharge, adjusting the processing state of the robot controller and an emergency stop authority; in an initial production state, after a worker edits a processing task at a remote control terminal, task data are issued to an edge control platform through an HTTP (hyper text transport protocol), the edge control platform checks task parameters, the task is automatically optimized by combining with a real-time production mirror on the premise of meeting the legality, and the shortest calculation time of all tasks is calculated on the premise of ensuring that the current task and the original task can be completely executed, so that the optimal mapping of stations and tasks is constructed, and the overall energy consumption minimum optimization is performed on the overall robot track after the task allocation calculation is completed; the edge control platform issues control parameters to a 5G gateway application through a 5G network according to an optimization result, the gateway application performs protocol and data type conversion and then sets parameters of a PLC (programmable logic controller) and a robot controller, namely the edge control platform is subjected to parameter optimization by stator core stacking cooperative control application every 50 milliseconds, the PLC performs state updating and control output of each device on site every 2 milliseconds, and the robot controller performs position closed-loop control every 0.5 milliseconds; when the stacking operation is carried out, the remote control terminal only has the authority of emergency stop and adjustment of the processing task.
5. The method for controlling the generator stator core stacking robot edge control system according to claim 2, wherein the closed-loop control process comprises the following steps:
when a scene of material shortage and material return production pause at a specified station occurs in the production process, the equipment control right is transferred to an edge control platform, the edge control platform performs multi-dimensional analysis and calculation on a production mirror image by using a multithreading technology, integrates service continuity conditions and current task requirements, works out standard service continuity parameters, issues the decision data to a material management system, integrates materials by the material management system, then issues the task parameters to an AGV (automatic guided vehicle) system in charge of material transportation, after the AGV system transports the materials to the specified station of the stacking system, the material ready state is captured by the edge control platform, the edge control platform controls the stacking system to perform material loading or tray unloading operation, so that the production continues to run, and the equipment control right is transferred to a field PLC (programmable logic controller) and a stacking robot controller again; and the field manual operation of the staff is replaced by the background computing and system communication of the edge control platform.
6. The control method of the generator stator core stacking robot edge control system according to claim 2, further comprising the steps of setting an automatic remote control switch on site, sending a command to a field PLC controller through an edge control platform by a system administrator with a system control right, setting PLC input signals on site by a processing personnel at the same time, and realizing switching between field operation and remote automatic control, wherein the system administrator has a priority and must send a switching command, and the input signals of the field personnel are effective; under the condition that the switch is turned on, closed-loop control and real-time control at a remote control terminal can be realized through application, and under the condition that the switch is turned off, the remote control is turned off and is controlled by a processing worker on site.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211649727.3A CN115903710A (en) | 2022-12-21 | 2022-12-21 | Generator stator core stacking robot edge control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211649727.3A CN115903710A (en) | 2022-12-21 | 2022-12-21 | Generator stator core stacking robot edge control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115903710A true CN115903710A (en) | 2023-04-04 |
Family
ID=86480779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211649727.3A Pending CN115903710A (en) | 2022-12-21 | 2022-12-21 | Generator stator core stacking robot edge control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115903710A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116500985A (en) * | 2023-04-23 | 2023-07-28 | 东方电气集团科学技术研究院有限公司 | Workshop collaborative scheduling method and system based on 5G edge gateway |
-
2022
- 2022-12-21 CN CN202211649727.3A patent/CN115903710A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116500985A (en) * | 2023-04-23 | 2023-07-28 | 东方电气集团科学技术研究院有限公司 | Workshop collaborative scheduling method and system based on 5G edge gateway |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR102255744B1 (en) | Intelligent industrial internet of things system using bidirectional channel-like neural network architecture | |
| CN112073461B (en) | Industrial Internet system based on cloud edge cooperation | |
| EP3907641A1 (en) | Intelligent management method and system based on edge computing | |
| CN109995546B (en) | Intelligent factory automation system with edge computing and cloud computing cooperating | |
| CN113612820A (en) | Cloud edge device platform control architecture and method based on Superedge and edgeXFioutry | |
| WO2021197353A1 (en) | Data distribution method and apparatus, and device and medium | |
| CN115903710A (en) | Generator stator core stacking robot edge control system and control method | |
| CN110658759A (en) | Industrial intelligent controller capable of dynamically deploying AI model | |
| AU2011313837A1 (en) | Remote monitoring apparatus, wind turbine generator system, and method of controlling remote monitoring apparatus | |
| CN204287908U (en) | Flow computer | |
| Wang | Cyber manufacturing: research and applications | |
| CN107317529A (en) | Closed-loop stepper motor servo-control system based on EtherCAT | |
| CN114013923A (en) | Belt deviation rectifying method, device and system and computer readable storage medium | |
| CN203732959U (en) | Bus-type centralized-control metal soldering/welding control system | |
| CN203588039U (en) | A numerical control machine tool robot automatic diagnosis and restoration system | |
| CN117527846A (en) | Internet edge control equipment and method for tire industry | |
| CN202583811U (en) | Multi-shaft synchronous-motion control system based on Ether CAT bus technology | |
| CN111665802A (en) | Intelligent system applied to intelligent factory, implementation method and application thereof | |
| CN115065702B (en) | New energy data access system and method suitable for new generation scheduling master station | |
| CN111431954B (en) | Remote fault solving system and method for production equipment | |
| US20240019852A1 (en) | Cloud edge network process automation control | |
| TWM591741U (en) | Intelligent industrial IoT system using bidirectional channel neural network architecture | |
| TW202011346A (en) | Truck dispatching system | |
| CN209707951U (en) | The control system of intelligent automatic thread trimmer | |
| CN114227719A (en) | Mobile robot remote control system, method and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |