CN117938644A - A self-organizing communication electric roller controller conveying system - Google Patents

Abstract

The invention provides a self-organizing communication electric roller controller conveying system, which comprises a master station device and a plurality of slave station devices, wherein one end of the master station device is connected with an upstream controller through a communication interface, the other end of the master station device is connected with an initial slave station device through a communication interface, each slave station device is sequentially connected with a downstream slave station device through a communication interface, the master station device and the slave station devices are respectively provided with a driver, the left end and the right end of each driver are respectively connected with a photoelectric sensor through a photoelectric sensor interface, and after the system is started up and self-inspected, the system enters an initialization or running state according to commands received by a station. The invention has the self-organizing communication function, can realize automatic networking and addressing of the conveying line without additional configuration after hardware connection, automatically completes parameter configuration, has logic and realizes the zero-pressure power-up function of the conveying line. In addition, the invention has the function of monitoring the equipment state in real time, and can quickly locate the fault point and automatically restore the parameters when the station fails.

Description

A self-organizing communication electric roller controller conveying system

Technical Field

The present invention relates to the field of communication control technology, and in particular to a self-organizing communication electric roller controller conveying system.

Background technique

The electric roller is an automated actuator with a built-in motor for a conveyor line. Multiple electric rollers work together on the conveyor line to complete product transportation. In logistics sorting or flexible production lines, the number and frequency of items on the conveyor line may be random. The conveyor line needs to ensure that the items do not squeeze each other during transportation, that is, it needs to realize its zero-pressure accumulation function. Conventional electric roller controllers are of two types: independent and with bus communication. Independent roller controllers usually only have motor drive and error alarm functions. The speed regulation and pressure accumulation functions of the rollers need to be realized under the control of PLC. Automatic configuration and addressing cannot be realized. When the system fails, it cannot quickly and automatically locate the fault site and automatically restore the parameters, which brings inconvenience to users.

In view of this, the applicant filed this application after studying the existing technology.

Summary of the invention

The present invention aims to provide a self-organizing communication electric roller controller conveying system, which can realize automatic address allocation of each station in the system without additional manual configuration. It adopts the self-learning method of the conveyor line to automatically learn relevant parameters and realize the zero-pressure accumulation function. When the system fails, it can quickly and automatically locate the faulty station and automatically restore the parameters.

In order to solve the above technical problems, the present invention is implemented through the following technical solutions:

A self-organizing communication electric roller controller conveying system, comprising a master station device and a plurality of slave station devices, one end of the master station device is connected to an upstream controller via a communication interface, and the other end is connected to an initial slave station device via a communication interface, each slave station device is sequentially connected to a downstream slave station device via a communication interface, and the master station device and the slave station device are respectively provided with a driver; wherein,

After the master station device enters the preparatory operation state after the power-on self-test, it is used to receive external commands, enter the initialization state or the operation state, and send relevant command frames to each slave station device until the last slave station device, that is, the tail station device;

After the slave device enters the preparatory operation state after the power-on self-test, it is used to receive the command of the master device, enter the initialization state or the operation state, and send relevant command frames to the downstream slave devices until the tail station device;

The tail station device is used to reply a relevant command confirmation frame to the master station device after receiving the relevant command frame of the upstream slave station device, until the master station device.

Preferably, each driver is respectively provided with a photoelectric sensor interface at the left and right ends, the first photoelectric sensor interface is connected to the first photoelectric sensor, and the second photoelectric sensor interface is connected to the second photoelectric sensor; each driver is provided with at least one motor drive interface, which is connected to the motor through the motor drive interface, and each driver is provided with a jumper switch device, which controls the on and off of the station where the driver is located.

Preferably, the master station device enters the preparatory operation state by performing a power-on self-check by reading the state parameters of the driver stored on the master station device. If the state parameter is a fault code, the fault handling state is entered, otherwise the preparatory operation state is entered.

Preferably, the slave device performs a power-on self-check and enters a preparatory operation state by reading a status parameter of a driver stored on the slave device. If the status parameter is a fault code, the device enters a fault handling state, otherwise the device enters a preparatory operation state.

Preferably, the external command includes a command generated by a key input on the master station device or a command issued by the upstream controller.

Preferably, the specific operation of the master station device entering the initialization state is:

By sending an "addressing" command frame to address the adjacent slave device, it enters the addressing state;

After receiving the "addressing confirmation" frame replied by the adjacent slave device, it enters the teaching mode. Each station device detects the entry and exit time of the transported items through the connected photoelectric sensor, and estimates the relative position of the transported items according to the set running speed of the items on the conveyor line;

After receiving the "teaching completion confirmation" frame replied by the adjacent slave device, it enters the "waiting for the slave device to receive the system clock" mode, and sends a "system clock" frame to the downstream slave device. The "system clock" frame contains the system clock of the processor of the master device at the current moment;

After receiving the "system clock confirmation" frame replied by the adjacent slave station device, the time of receiving the "system clock confirmation" frame is compared with the time of sending the "system clock" frame before, and the time difference value is obtained. The time difference value is the time for the data frame to be transmitted back and forth in the network, and a "calibration clock" frame is sent to the downstream slave station device, and the "calibration clock" frame includes the time difference value;

After receiving the "calibration clock confirmation" frame replied by the adjacent slave device, initialization is completed and waits for receiving external commands to enter the next state.

Preferably, the specific operation of the slave device entering the initialization state is:

After receiving the "addressing" command from the master station, the first slave station device adds 1 to the address in the "addressing" command and forwards it to the next slave station device until the last slave station device, i.e., the last station device;

After receiving the "addressing confirmation" frame from the tail station device, the slave station device enters the teaching state and continues to forward the "addressing confirmation" frame to the master station device until the master station device;

The slave device detects the entry and exit time of the transported items through the photoelectric sensors connected to both ends of the driver, and estimates the relative position of the transported items based on the running speed of the items on the conveyor line;

After receiving the "teaching completion confirmation" frame from the tail station device, the slave station device enters the system clock mode and continues to forward the "teaching completion confirmation" frame until it reaches the master station device;

After receiving the "system clock" frame from the master station, the first slave station device extracts the clock data and stores it, and forwards it backward to the tail station device;

After receiving the "system clock confirmation" frame of the tail station device, the slave station device enters the "waiting for calibration clock" state and forwards it to the master station device;

After receiving the "calibrate clock" frame from the master station, the first slave station device extracts the time difference value and forwards it backward to the tail station device;

After receiving the "calibration clock confirmation" from the tail station device, the slave station device enters the "initialization completed" state and forwards it to the master station device.

Preferably, the specific operation of the tail station device entering the initialization state is:

After receiving the "addressing" command from the upstream slave device, the tail station device replies with an "addressing confirmation" frame to the master station device;

When the last photoelectric sensor of the tail station device detects the tail of the article passing by, the tail station device sends a "teaching completion confirmation" frame to the upstream slave station device;

After receiving the "system clock" frame from the upstream slave device, the tail station device extracts the clock data for storage and replies with a "system clock confirmation" frame to the master station device.

After receiving the "calibration clock" frame from the upstream slave device, the tail station device extracts the time difference value, replies with a "calibration clock confirmation" frame to the master station device, and enters the "initialization completed" state.

Preferably, after the master station device, the slave station device and the tail station device enter the running state, the switching of the running sub-state of each station is determined by the relative relationship between the photoelectric sensor of the station and the conveyed object. Each station sends information to the surrounding stations at a constant period. It is assumed that the station where the conveyed object is located is the current station and the conveying speed of the conveyed object is constant. The steps are as follows:

When the conveyed object enters the sensing range of the first photoelectric sensor of the current station, the signal of the first photoelectric sensor jumps upward and records the current system time;

Estimate the real-time position of the front edge of the conveyed item based on the constant conveying speed of the conveyed item and the recorded system time;

According to the information received from the previous station and the estimated real-time position of the front of the conveyed items, the operation status of the current station is updated. The operation status P of the current station is determined by a logical expression. When P is 1, it means that the motor of the current station is running. When P is 0, it means that the motor of the current station is stopped. The logical expression is:

Among them, A represents an intermediate variable, which indicates whether each station operation sub-state is running or not, and takes a value of 1 or 0. 1 indicates that the current station is in the pre-operation state, and 0 indicates that the current station is in the operation state;

L represents the distance between the front position of the conveyed item and the second photoelectric sensor at the current station, and TL is the set distance threshold;

B is an intermediate variable, indicating whether the distance between the front position of the conveyed item and the second photoelectric sensor of the current station reaches the set distance threshold. When L>TL, B is L>TL, otherwise it is 0;

C is the information sent from the next station. The value of C is 1 or 0. When C is 1, it means that the motor of the next station is still running. When C is 0, it means that the motor of the next station has stopped. The tail station equipment is the last station on the conveyor line. The C it receives is sent by the upstream controller or the master station equipment.

Preferably, each site sends information to surrounding sites at a constant period to determine whether the site is faulty. When it is confirmed that the current site has not received information from the previous site, the current site automatically exits the running state and enters the fault state, and transmits the fault code to the adjacent site until it reaches the master site device, so that the entire system is in a fault processing state, wherein the fault code contains information about the faulty site, and the master site device determines the site where the fault occurred and the cause of the fault through the received information.

In summary, compared with the prior art, the present invention has the following beneficial effects:

(1) The conveyor line system of the present invention comprises a master station device and a plurality of slave station devices, one end of the master station device is connected to an upstream controller, and the other end is connected to a starting slave station device, each slave station device is connected to a downstream slave station device in turn, and the master station device and the slave station device are respectively provided with a driver. The present invention has a self-organizing communication function, which only requires physical connection of each station device, without additional programming and configuration. After initialization, the station address can be automatically assigned to each driver station, so that the roller driver on the conveyor can be connected to the network and communicate.

(2) The present invention detects the entry and exit time of the transported items through the photoelectric sensors connected to the two ends of the driver, estimates the relative position of the transported items according to the constant running speed set for the items on the conveyor line, and determines the switching of the operating status of each station through the relative relationship between the photoelectric sensors at the station and the transported items, thereby adjusting the status of each station and realizing the zero-pressure accumulation function without the need for control by an upstream controller.

(3) The present invention does not require manual configuration and adopts a self-learning method of the conveyor line to automatically learn relevant parameters.

(4) The present invention adopts a method of transmitting the system clock and the calibration clock between the master station device and each slave station device to compensate for the delay error of the communication transmission, so that the object delivery position can be estimated more accurately.

(5) Each station of the present invention sends information to surrounding stations at a constant period, and determines whether the station is faulty by whether each station can receive information from the previous station, thereby automatically locating the faulty station. Moreover, a new station can be replaced without additional configuration, and parameters can be automatically restored.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

FIG1 is a structural diagram of a self-organizing communication electric roller controller conveying system provided by the first embodiment of the present invention.

FIG2 is a state diagram of a master station device of a self-organizing communication electric roller controller conveying system provided by the first embodiment of the present invention.

FIG3 is a state diagram of a slave device of a self-organizing communication electric roller controller conveying system provided by the first embodiment of the present invention.

FIG4 is a schematic diagram of the initialization state flow of a master station device of a self-organizing communication electric roller controller conveying system provided by the first embodiment of the present invention.

FIG5 is a schematic diagram of the initialization state flow of a slave device of a self-organizing communication electric roller controller conveying system provided by the first embodiment of the present invention.

FIG6 is a schematic diagram of the initialization state flow of the tail station equipment of the self-organizing communication electric roller controller conveying system provided by the first embodiment of the present invention.

FIG7 is a schematic diagram of the operating state switching of a self-organizing communication electric roller controller conveying system provided by the first embodiment of the present invention.

FIG8 is a schematic diagram of the operating status of a self-organizing communication electric roller controller conveying system provided by the first embodiment of the present invention.

The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

Embodiment 1

As shown in FIG1 , the first embodiment of the present invention provides a self-organizing communication electric roller controller conveying system, including a master station device and multiple slave station devices, one end of the master station device is connected to the upstream controller through a communication interface, and the other end is connected to the starting slave station device through a communication interface, and each slave station device is connected to the downstream slave station device through a communication interface in turn, and the master station device and the slave station device are respectively provided with a driver; wherein,

After the master station device enters the preparatory running state after the power-on self-test, it is used to receive external commands, enter the initialization state or the running state, and send relevant command frames to each slave station device until the last slave station device, that is, the tail station device;

After the slave device enters the preparatory operation state after the power-on self-test, it is used to receive the command of the master device, enter the initialization state or the operation state, and send relevant command frames to the downstream slave devices until the tail station device;

The tail station device is used to reply a relevant command confirmation frame to the master station device after receiving the relevant command frame of the upstream slave station device, until the master station device.

In this embodiment, the physical layer of the communication interface adopts RS-232 and RS-422 serial communication interfaces. The entire conveyor line system is connected together through point-to-point communication. The slave device is in the middle, and its left and right communication interfaces are connected to adjacent drivers.

In this embodiment, each driver is provided with a photoelectric sensor interface at the left and right ends respectively, the first photoelectric sensor interface is connected to the first photoelectric sensor (i.e., photoelectric sensor 1 in Figure 1), and the second photoelectric sensor interface is connected to the second photoelectric sensor (i.e., photoelectric sensor 2 in Figure 1).

In this embodiment, each driver is provided with at least one motor drive interface, which is connected to the motor through the motor drive interface, and each driver is provided with a jumper switch device, which controls the on and off of the station where the driver is located.

In this embodiment, the jumper switch device includes a jumper and a DIP switch. When the system is powered on, the driver will detect the jumper switch device and select to enter the master mode, slave mode or tail mode.

As shown in FIG. 2 , the master station device enters the preparatory operation state by performing a power-on self-test by reading the state parameters of the driver stored on the master station device. If the state parameters are fault codes, the fault handling state is entered, otherwise the preparatory operation state is entered.

As shown in FIG3 , the slave device enters the preparatory operation state after power-on self-test by reading the state parameters of the driver stored on the slave device. If the state parameters are fault codes, the fault handling state is entered; otherwise, the preparatory operation state is entered.

In this embodiment, the motors include BLDC and PMSM, and each driver can drive one or more BLDC and PMSM motors, thereby driving and controlling the electric roller.

In this embodiment, the external command includes a command generated by a key input on the master station device or a command issued by the upstream controller.

The entire conveying system can be controlled by the upstream controller as a ModBusRTU device.

As shown in FIG4 , after the master station device receives the initialization command, the master station device enters the initialization operation, specifically:

By sending an "addressing" command frame to address the adjacent slave device, it enters the addressing state;

After receiving the "addressing confirmation" frame replied by the adjacent slave device, it enters the teaching mode. Each station device detects the entry and exit time of the transported items through the connected photoelectric sensor, and estimates the relative position of the transported items according to the set running speed of the items on the conveyor line;

After receiving the "teaching completion confirmation" frame replied by the adjacent slave device, it enters the "waiting for the slave device to receive the system clock" mode, and sends a "system clock" frame to the downstream slave device. The "system clock" frame contains the system clock of the processor of the master device at the current moment;

After receiving the "system clock confirmation" frame replied by the adjacent slave station device, the time of receiving the "system clock confirmation" frame is compared with the time of sending the "system clock" frame before, and the time difference value is obtained. The time difference value is the time for the data frame to be transmitted back and forth in the network, and a "calibration clock" frame is sent to the downstream slave station device, and the "calibration clock" frame includes the time difference value;

After receiving the "calibration clock confirmation" frame replied by the adjacent slave device, initialization is completed and waits for receiving external commands to enter the next state.

As shown in FIG5 , after the slave device receives the master device initialization command, the slave device enters the initialization operation, specifically:

After receiving the "addressing" command from the master station, the first slave station device adds 1 to the address in the "addressing" command and forwards it to the next slave station device until the last slave station device, i.e., the last station device;

After receiving the "addressing confirmation" frame from the tail station device, the slave station device enters the teaching state and continues to forward the "addressing confirmation" frame to the master station device until the master station device;

The slave device detects the entry and exit time of the transported items through the photoelectric sensors connected to both ends of the driver, and estimates the relative position of the transported items based on the running speed of the items on the conveyor line;

After receiving the "teaching completion confirmation" frame from the tail station device, the slave station device enters the system clock mode and continues to forward the "teaching completion confirmation" frame until it reaches the master station device;

After receiving the "system clock" frame from the master station, the first slave station device extracts the clock data and stores it, and forwards it backward to the tail station device;

After receiving the "system clock confirmation" frame of the tail station device, the slave station device enters the "waiting for calibration clock" state and forwards it to the master station device;

After receiving the "calibrate clock" frame from the master station, the first slave station device extracts the time difference value and forwards it backward to the tail station device;

After receiving the "calibration clock confirmation" from the tail station device, the slave station device enters the "initialization completed" state and forwards it to the master station device.

As shown in FIG6 , after the tail station device receives the initialization command from the upstream slave station device, the tail station device enters the initialization operation, which is specifically:

After receiving the "addressing" command from the upstream slave device, the tail station device replies with an "addressing confirmation" frame to the master station device;

When the last photoelectric sensor of the tail station device detects the tail of the article passing by, the tail station device sends a "teaching completion confirmation" frame to the upstream slave station device;

After receiving the "system clock" frame from the upstream slave device, the tail station device extracts the clock data for storage and replies with a "system clock confirmation" frame to the master station device.

After receiving the "calibration clock" frame from the upstream slave device, the tail station device extracts the time difference value, replies with a "calibration clock confirmation" frame to the master station device, and enters the "initialization completed" state.

As shown in FIG7 and FIG8, after the master station device, the slave station device and the tail station device enter the running state, the switching of the running sub-state of each station is determined by the relative relationship between the photoelectric sensor of the station and the conveyed object. Each station sends information to the surrounding stations at a constant period. Assuming that the station where the conveyed object is located is the current station and the conveying speed of the conveyed object is constant, the steps are as follows:

When the conveyed object enters the sensing range of the first photoelectric sensor of the current station, the signal of the first photoelectric sensor jumps upward and records the current system time;

Estimate the real-time position of the front edge of the conveyed item based on the constant conveying speed of the conveyed item and the recorded system time;

According to the information received from the previous station and the estimated real-time position of the front of the conveyed items, the operation status of the current station is updated. The operation status P of the current station is determined by a logical expression. When P is 1, it means that the motor of the current station is running. When P is 0, it means that the motor of the current station is stopped. The logical expression is:

As shown in Table 1, A represents an intermediate variable, which is a variable indicating whether each station operation sub-state is running or not, and takes a value of 1 or 0, 1 indicates that the current station is in the pre-operation state, and 0 indicates that the current station is in the operation state;

L represents the distance between the front position of the conveyed item and the second photoelectric sensor at the current station, and TL is the set distance threshold;

B is an intermediate variable, indicating whether the distance between the front position of the conveyed item and the second photoelectric sensor of the current station reaches the set distance threshold. When L>TL, B is L>TL, otherwise it is 0;

C is the information sent from the next station. The value of C is 1 or 0. When C is 1, it means that the motor of the next station is still running. When C is 0, it means that the motor of the next station has stopped. The tail station equipment is the last station on the conveyor line. The C it receives is sent by the upstream controller or the master station equipment.

Table 1

Running status sub-state Intermediate variable A Intermediate variable B Running substate 1 0 L>TL Running substate 2 0 L>TL Running substate 3 0 0 Running substate 4 1 L>TL Running substate 5 0 0 Running substate 6 0 0 Running substate 7 0 0 Running substate 8 0 L>TL Running substate 9 0 0

In addition, in another preferred embodiment of the present embodiment, each station will periodically receive information from adjacent stations when in operation. Each station sends information to surrounding stations at a constant period to determine whether the station is faulty. When it is confirmed that the current station has not received information from the previous station, the current station automatically exits the operation state and enters the fault state, and transmits the fault code to the adjacent station until it reaches the master station device, so that the entire system is in a fault processing state, wherein the fault code includes information about the faulty station, and the master station device determines the station where the fault occurs and the cause of the fault through the received information.

For serious faults, if a site needs to be replaced, the new driver can be set as a slave device to directly replace the connection. According to the slave device status diagram in Figure 3, the slave device will report the current status to the master device as soon as it is powered on. Since the master device and the slave device are in the fault handling state, the master device will immediately identify the new slave device, command it to enter the fault handling state, and restore the saved parameters to the slave device, thereby restoring the entire system.

In summary, compared with the prior art, the present invention has the following beneficial effects:

(1) The conveyor line system formed by the present invention has a self-organizing communication function, including a master station device and multiple slave station devices. One end of the master station device is connected to the upstream controller, and the other end is connected to the starting slave station device. Each slave station device is connected to the downstream slave station device in turn. The master station device and the slave station device are respectively provided with a driver. Only the physical connection of each station device is required. No additional programming and configuration are required. After initialization, the station address can be automatically assigned to each driver station, so that the roller drive on the conveyor can be connected to the network and communicate.

(2) The present invention detects the entry and exit time of the transported items through the photoelectric sensors connected to the two ends of the driver, estimates the relative position of the transported items according to the constant running speed set for the items on the conveyor line, and determines the switching of the operating status of each station through the relative relationship between the photoelectric sensors at the station and the transported items, thereby adjusting the status of each station and realizing the zero-pressure accumulation function without the need for control by an upstream controller.

(3) The present invention does not require manual configuration and adopts a self-learning method of the conveyor line to automatically learn relevant parameters.

(4) The present invention adopts a method of transmitting the system clock and the calibration clock between the master station device and each slave station device to compensate for the delay error of the communication transmission, so that the object delivery position can be estimated more accurately.

(5) Each station of the present invention sends information to surrounding stations at a constant period, and determines whether the station is faulty by whether each station can receive information from the previous station, thereby automatically locating the faulty station. Moreover, a new station can be replaced without additional configuration, and parameters can be automatically restored.

In several embodiments provided in the embodiments of the present invention, it should be understood that the disclosed apparatus and method can also be implemented in other ways. The apparatus and method embodiments described above are merely schematic. For example, the flowcharts in the accompanying drawings show the possible architecture, functions and operations of the apparatus, method and computer program product according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, program segment or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and/or flow chart, and the combination of boxes in the block diagram and/or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a disk or an optical disk. It should be noted that, in this article, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

It should be understood that the term "and/or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.

The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

The "first\second" mentioned in the embodiments is only to distinguish similar objects, and does not represent a specific order for the objects. It is understandable that the "first\second" can be interchanged with the specific order or sequence where permitted. It should be understood that the objects distinguished by "first\second" can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than those illustrated or described herein.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (10)

1. The electric roller controller conveying system for self-organizing communication is characterized by comprising a master station device and a plurality of slave station devices, wherein one end of the master station device is connected with an upstream controller through a communication interface, the other end of the master station device is connected with an initial slave station device through a communication interface, each slave station device is sequentially connected with a downstream slave station device through a communication interface, and the master station device and the slave station devices are respectively provided with a driver; wherein,

After the master station equipment is started and self-checked to enter a preparation running state, the master station equipment is used for receiving an external command, entering an initialization state or a running state, and transmitting a relevant command frame to each slave station equipment until the last slave station equipment, namely the tail station equipment;

after the slave station equipment is started up and self-checked to enter a preparation running state, the slave station equipment is used for receiving a command of the master station equipment, entering an initialization state or a running state, and transmitting a relevant command frame to downstream slave station equipment until the tail station equipment;

and the tail station equipment is used for replying the relevant command confirmation frame to the main station equipment direction until the main station equipment after receiving the relevant command frame of the upstream slave station equipment.

2. The motorized pulley controller conveying system according to claim 1, wherein each of the left and right ends of each of the drivers is provided with 1 photosensor interface, the first photosensor interface being connected to the first photosensor, the second photosensor interface being connected to the second photosensor; each driver is provided with at least one motor driving interface, and is connected with a motor through the motor driving interface; each driver is provided with a jumper switch device, and the on-off of the site where the driver is positioned is controlled through the jumper switch devices.

3. The motorized pulley controller delivery system of claim 1, wherein the master station device power-on self-test enters a ready-to-run state by reading a state parameter of a driver stored on the master station device, and entering a fault handling state if the state parameter is a fault code, and otherwise entering the ready-to-run state.

4. The motorized pulley controller transport system of claim 1, wherein the slave station device power-on self-test to a ready-to-run state is performed by reading a state parameter of a driver stored on the slave station device, and entering a fault handling state if the state parameter is a fault code, and otherwise entering the ready-to-run state.

5. The motorized roller controller delivery system of claim 1, wherein the external command comprises a command generated by a key input on the master device or a command issued by the upstream controller.

6. The motorized pulley controller delivery system of claim 2, wherein the specific operation of the master station device into the initialized state is:

addressing the adjacent slave station equipment by sending an addressing command frame, and entering an addressing state;

after receiving the address confirmation frame replied by the adjacent slave station equipment, entering a teaching mode, detecting the time of entering and exiting the transported article by each station equipment through the connected photoelectric sensor, and estimating the relative position of the transported article according to the set running speed of the article on the transport line;

After receiving a 'teaching completion confirmation' frame replied by adjacent slave station equipment, entering a mode of waiting for the slave station equipment to receive a system clock, and sending a 'system clock' frame to downstream slave station equipment, wherein the 'system clock' frame comprises a system clock of a processor of the master station equipment at the current moment;

After receiving a system clock acknowledgement frame replied by adjacent slave station equipment, comparing the time for receiving the system clock acknowledgement frame with the time for transmitting the system clock frame before, so as to obtain a time difference value, wherein the time difference value is the time for transmitting a data frame back and forth in a network, and transmitting a calibration clock frame to downstream slave station equipment, and the calibration clock frame comprises the time difference value;

After receiving the calibration clock confirmation frame replied by the adjacent slave station equipment, finishing initialization, and waiting for receiving an external command to enter the next state.

7. The motorized pulley controller transport system of claim 6, wherein the specific operation of the slave station apparatus into the initialized state is:

after receiving an addressing command of the master station device, the first slave station device adds 1 to the address in the addressing command and forwards the address to the next slave station device until the last slave station device, namely the tail station device;

After receiving the address confirmation frame of the tail station equipment, the slave station equipment enters a teaching state, and forwards the address confirmation frame to the direction of the master station equipment until the master station equipment;

the secondary station equipment detects the time of entering and exiting of the transported objects through photoelectric sensors connected with the two ends of the driver, and estimates the relative position of the transported objects according to the running speed of the objects on the conveying line;

After receiving the frame of 'teaching completion confirmation' of the tail station equipment, the slave station equipment enters a system clock mode, and forwards the frame of 'teaching completion confirmation' until the frame is transmitted to the master station equipment;

After receiving the 'system clock' frame of the master station equipment, the first slave station equipment extracts clock data of the master station equipment, saves the clock data and forwards the clock data backwards until the tail station equipment;

after receiving the frame of 'system clock confirmation' of the tail station equipment, the slave station equipment enters a state of 'waiting for calibrating a clock', and forwards the frame to the master station equipment;

After the first slave station equipment receives the calibration clock frame of the master station equipment, the time difference value is extracted and is forwarded backwards until the tail station equipment;

After receiving the calibration clock confirmation of the tail station equipment, the slave station equipment enters an initialization finishing state and forwards the state to the master station equipment.

8. The motorized pulley controller transport system of claim 7, wherein the specific operation of the tail station apparatus into the initialized state is:

After receiving an addressing command of the upstream slave station equipment, replying an addressing confirmation frame to the direction of the master station equipment;

When the last photoelectric sensor of the tail station equipment detects that the tail of the article passes, a teaching completion confirmation frame is sent to the upstream slave station equipment;

after receiving the 'system clock' frame of the upstream slave station equipment, extracting clock data for storage, and replying a 'system clock confirmation' frame to the direction of the master station equipment;

And after receiving the calibration clock frame of the upstream slave station equipment, extracting the time difference value, replying a calibration clock confirmation frame to the direction of the master station equipment, and entering an initialization completion state.

9. The system according to claim 8, wherein after the master station device, the slave station device and the tail station device enter the operation state, the switching of the operation sub-states of each station is determined by the relative relation between the photoelectric sensor of the station and the transported object, each station sends information to the surrounding stations in a constant period, and the station where the transported object is located is the current station and the transportation speed of the transported object is constant, and the steps are as follows:

When the conveyed article enters the sensing range of the first photoelectric sensor of the current station, the signal of the first photoelectric sensor jumps upwards, and the current system time is recorded;

Estimating the real-time position of the front edge of the conveyed article according to the constant conveying speed of the conveyed article and the recorded system time;

According to the information of the previous station received by the current station and the estimated real-time position of the front edge of the conveyed article, updating the running state of the current station, wherein the running state P of the current station is determined by a logic expression, when P is 1, the running state P of the current station is represented by the running of a motor of the current station, when P is 0, the running state P of the motor of the current station is represented by the logic expression:

wherein A represents an intermediate variable, represents a variable of whether each site operates in an operation sub-state, takes a value of 1 or 0,1 represents that the current site is in a preparation operation state, and 0 represents that the current site is in an operation state;

L represents the distance between the front edge position of the conveyed article and the second photoelectric sensor of the current station, and TL is a set distance threshold;

B is an intermediate variable, which indicates whether the distance between the front edge position of the conveyed article and the second photoelectric sensor of the current station reaches a set distance threshold, when L > TL, B is L > TL, otherwise, B is 0;

C is information sent by the next station, the value of C is 1 or 0, when C takes 1, the motor of the next station is still running, when C takes 0, the motor of the next station is stopped, the tail station equipment is the last station of the conveying line, and the received C is sent by the upstream controller or the main station equipment.

10. The motorized pulley controller delivery system of claim 9, wherein each station sends information to surrounding stations at a constant period to determine if a station fails, and when it is determined that the current station has not received information from a previous station, the current station automatically jumps out of operation, enters a failure state, and transmits a failure code to adjacent stations until the master station is reached, such that the entire system is in a failure handling state, wherein the failure code contains information from the failed station, and the master station determines the station and the cause of the failure from the received information.