CN114327628B - Hierarchical control method, system, terminal device and storage medium - Google Patents

Abstract

The invention discloses a layering control method which is applied to a layering control system comprising a plurality of field layering, wherein the field layering comprises a communication layer and an execution layer, and the method comprises the following steps: the control instruction input by a user at the programmable terminal is acquired through the communication layer and forwarded to the execution layer; executing the control instruction by using an execution layer to determine a target layering corresponding to the control instruction; determining a control object according to the control instruction, and calling a target control component from the target hierarchy to generate control information; and controlling the control object according to the control information. The invention also discloses a hierarchical control system, terminal equipment and a storage medium. According to the invention, the control system is divided into a plurality of field layers, so that a user can flexibly call the control components in each field layer according to the input control instruction, thereby realizing the control of various hardware devices, improving the flexibility and the intelligent level of the control, and meeting the diversified control demands of the user.

Description

Hierarchical control method, system, terminal device and storage medium

Technical Field

The present invention relates to the field of industrial automation control, and in particular to a hierarchical control method, system, terminal equipment and storage medium.

Background Art

With the rapid development of industrial automation technology, the complexity of user requirements for control systems is increasing, while the existing control system structure is relatively simple, generally divided into three layers, from the bottom hardware, to the middle layer of parallel actuators, data areas and program areas, and then to the top layer bus network. Among them, the bottom hardware is used to carry the control system software, the actuator is used to execute the control program, and the data storage area is used to partition and store different types of data. With the development of control technology and the diversification of user needs, in order to achieve corresponding control functions to meet user needs, the data types that the control system needs to process and the types of hardware devices that need to be controlled are becoming more and more complex. Therefore, the existing control system lacks flexibility and intelligence in terms of multi-language support and expansion, processing of complex data types, and control of multiple hardware devices, which limits the flexibility and intelligence of the control methods generated based on the existing control system.

Summary of the invention

The main purpose of the present invention is to provide a hierarchical control method, system, terminal device and storage medium, aiming to solve the technical problem of insufficient flexibility and intelligence level of control methods based on existing control systems.

In addition, to achieve the above object, the present invention also provides a hierarchical control method, which is applied to a hierarchical control system, wherein the hierarchical control system includes multiple domain layers, wherein the domain layers include a communication layer and an execution layer, and the hierarchical control method includes the following steps:

Acquire control instructions input by a user at a programmable terminal through the communication layer, and forward the control instructions to the execution layer;

Executing the control instruction using the execution layer to determine a target layer corresponding to the control instruction;

Determine the control object according to the control instruction, and call the target control component from the target layer to generate control information;

The control object is controlled according to the control information.

Optionally, the domain layering further includes a process application layer, a language layer, and an algorithm layer, wherein:

The language layer is used to compile multiple programming languages;

The process application layer includes a plurality of process program packages written in a programming language compilable by the language layer, and the algorithm layer includes a plurality of process algorithms written in a programming language compilable by the language layer;

When the target layering includes the process application layer and/or the algorithm layer, the target control component includes a target process program package in the process application layer and/or a target process algorithm in the algorithm layer.

Optionally, the step of calling a target control component from the target hierarchy to generate control information includes:

Compiling the control instructions into a target programming language using the language layer;

Calling a target process program package corresponding to the target programming language from the process application layer, and/or calling a target process algorithm corresponding to the target programming language from the algorithm layer;

Control information is generated based on the target process package and/or the target process algorithm.

Optionally, the domain hierarchy further includes a resource abstraction layer, wherein the resource abstraction layer includes a plurality of abstracted control objects, and the step of controlling the control objects according to the control information includes:

Determine address information corresponding to the control object from the resource abstraction layer;

According to the address information, the control information is forwarded to the control object through the communication layer to control the control object.

Optionally, the domain layer further includes an operating system layer and a hardware layer, and the step of forwarding the control information to the control object through the communication layer includes:

forwarding the control information to the resource abstraction layer through the communication layer;

Based on the operating system layer and the hardware layer, the control information is forwarded from the resource abstraction layer to the control object through the communication layer.

Optionally, the step of executing the control instruction by using the execution layer to determine the target layer corresponding to the control instruction includes:

Executing the control instruction using the execution layer, and extracting keyword information from the control instruction;

Determine the target control component called by the control instruction according to the keyword information;

According to the domain layer where the target control component is located, the target layer corresponding to the control instruction is determined from each domain layer of the hierarchical control system.

In addition, to achieve the above object, the present invention further provides a hierarchical control system, the hierarchical control system comprising:

The communication layer is used to obtain the control instructions input by the user on the programmable terminal and forward the control instructions to the execution layer;

An execution layer, used to receive and execute the control instruction forwarded by the communication layer to determine the target layer corresponding to the control instruction;

The process application layer and the algorithm layer include a plurality of control components, so that the execution layer can call the target control component from the target layer to generate control information when executing the control instruction;

The resource abstraction layer includes a plurality of abstracted control objects, and is used to determine the control object according to the control instruction, so that the execution layer can control the control object according to the control information.

In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal device, which includes: a memory, a processor, and a hierarchical control program stored in the memory and executable on the processor, and the hierarchical control program implements the steps of the hierarchical control method as described above when executed by the processor.

In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a hierarchical control program is stored, and when the hierarchical control program is executed by a processor, the steps of the hierarchical control method as described above are implemented.

In addition, to achieve the above-mentioned purpose, the present invention also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the hierarchical control method as described above are implemented.

A hierarchical control method, system, terminal device and storage medium proposed in an embodiment of the present invention. In the prior art, due to the simple structure of the control system, it is difficult to process complex data types. In terms of multi-language support and expansion, as well as the control of various hardware devices, the flexibility and intelligence level are insufficient, which limits the flexibility and intelligence level of the control method generated based on the control system and cannot meet the diverse needs of users. In an embodiment of the present invention, the hierarchical control method is applied to a hierarchical control system, wherein the hierarchical control system includes multiple domain layers, and the domain layers include a communication layer and an execution layer. The control instructions input by the user in the programmable terminal are obtained through the communication layer, and the control instructions are forwarded to the execution layer; the control instructions are executed by the execution layer to determine the target layer corresponding to the control instructions; the control object is determined according to the control instruction, and the target control component is called from the target layer to generate control information; and the control object is controlled according to the control information. By dividing the control system into multiple domain layers, the user can flexibly call the control components in each domain layer according to the input control instructions, thereby improving the flexibility of control. At the same time, through domain division, the system can be supported and expanded in multiple languages, so that the system can support multiple language types and process complex data types, thereby realizing the control of various hardware devices and improving the intelligence level of the control system. This improves the flexibility and intelligence level of the control method based on the control system and can meet the diverse control needs of users.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a hardware structure of a terminal device according to an embodiment of the present invention;

FIG2 is a schematic flow chart of a first embodiment of a hierarchical control method according to the present invention;

3 is a schematic diagram of the structure of a hierarchical control system according to a second embodiment of the hierarchical control method of the present invention;

FIG4 is a schematic diagram of the system structure of an embodiment of a hierarchical control system of the present invention;

FIG. 5 is another schematic diagram of the system structure of an embodiment of the hierarchical control system of the present invention.

The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings.

DETAILED DESCRIPTION

It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

The hierarchical control terminal (also called terminal, device or terminal equipment) in the embodiment of the present invention can be a PC, or a mobile terminal equipment with communication and data processing functions such as a smart phone, a tablet computer and a portable computer.

As shown in Figure 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

Optionally, the terminal may also include a camera, an RF (Radio Frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Among them, sensors include light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display screen according to the brightness of the ambient light, and the proximity sensor may turn off the display screen and/or backlight when the mobile terminal is moved to the ear. As a type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that identify the posture of the mobile terminal (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; of course, the mobile terminal may also be equipped with other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., which will not be repeated here.

Those skilled in the art will appreciate that the terminal structure shown in FIG. 1 does not limit the terminal and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

As shown in FIG. 1 , the memory 1005 as a computer-readable storage medium may include an operating system, a network communication module, a user interface module, and a hierarchical control program.

In the terminal shown in Figure 1, the network interface 1004 is mainly used to connect to the background server and communicate data with the background server; the user interface 1003 is mainly used to connect to the client (user end) and communicate data with the client; and the processor 1001 can be used to call the hierarchical control program stored in the memory 1005. When the hierarchical control program is executed by the processor, the operations in the hierarchical control method provided in the following embodiments are implemented.

Based on the hardware structure of the above-mentioned device, various embodiments of the hierarchical control method of the present invention are proposed. It should be noted that the hierarchical control method of the present invention is applied to a hierarchical control system, which includes multiple domain hierarchies. In the prior art, the control system structure is relatively simple, generally divided into a bottom hardware layer, an intermediate layer of actuators, data areas and program areas, and a top bus network layer. With the development of control technology and the diversification of user needs, the types of languages that the control system actuators need to execute are gradually becoming more diversified, and the control system needs to control more and more objects. However, the existing control system cannot abstract the control object, so it cannot support the control of multiple hardware. In addition, the actuators in the control system use an interpreted language with a low execution speed. At the same time, it is not easy to expand the language and functions, and it cannot meet the diversified needs of users and the requirements for the processing speed of the control system. For the data stored in the data area, the address information of fixed length is generally represented by encoding, which cannot meet the control system's requirements for processing complex data types, resulting in insufficient control flexibility and intelligence level of the control system, and also limiting the flexibility and intelligence level of the control method generated based on the control system.

Based on this, the present invention proposes a hierarchical control method applied to a hierarchical control system (hereinafter referred to as the system). The system is a control system structure based on domain hierarchy. Therefore, the system structure includes multiple domain hierarchies, which can not only solve the problems of multi-language support and expansion, but also complex data type processing and multiple hardware execution problems, thereby improving the flexibility and intelligence level of the control system, thereby improving the flexibility and intelligence level of the control method.

Specifically, referring to FIG. 2 , FIG. 2 is a flow chart of a first embodiment of a hierarchical control method of the present invention. In the first embodiment of the hierarchical control method of the present invention, the hierarchical control method includes:

Step S10, obtaining a control instruction input by a user at a programmable terminal through the communication layer, and forwarding the control instruction to the execution layer;

In this embodiment, the hierarchical control method is applied to a hierarchical control system, which includes multiple domain layers, wherein the domain layers include at least a communication layer, a process application layer, a language layer, an algorithm layer, a resource abstraction layer, an execution layer, an operating system layer, and a hardware layer. The hierarchical control method is generated based on the hierarchical control system. First, the user's control instruction is obtained through the communication layer. The control instruction can be an instruction input by the user through a programmable terminal, or it can be a coordinated control instruction automatically triggered when the user controls other control objects. Among them, the automatically triggered coordinated control instruction is, for example, when the user wants to implement a certain function and issues an instruction to control device 1, if the complete control function is to be implemented, device 1 may need to call device 2 to coordinate and complete. Therefore, in the process of controlling device 1, the control instruction to device 2 may be automatically triggered, so that device 2 is called to realize the coordinated control of device 1. After obtaining the control instruction input by the user in the programmable terminal through the communication layer, the control instruction is forwarded to the execution layer, and the execution layer is used to execute the control instruction and realize the corresponding control function.

Step S20, executing the control instruction using the execution layer to determine the target layer corresponding to the control instruction;

When implementing the corresponding control function, specifically, the execution layer is first used to execute the control instruction, so as to determine the target layer to be called from the multiple domain layers of the system according to the acquired control instruction, and the target layer at least includes the process application layer and/or the algorithm layer. It can be understood that the same domain layer can be subdivided according to the preset standard, and the same domain layer can be divided into multiple layers, that is, the process application layer and the algorithm layer can have one or more layers. For example, the process application layer is divided into multiple layers according to different process equipment and/or different process processes, and the target layer to be called is determined according to the user's control instruction.

In this embodiment, the domain layering in the system includes a communication layer and an execution layer. When obtaining a control instruction, the communication layer is used to obtain the control instruction input by the user in the programmable terminal. The control instruction can be an instruction directly input by the user, or an indirect control instruction triggered based on the instruction input by the user. The control instruction obtained through the communication layer is forwarded to the execution layer, and then the executor (Runtime system) in the execution layer is used to run the control instruction, so as to determine the target layer corresponding to the control instruction. Among them, the programmable terminal for the user to input instructions can be a terminal device such as a PC or a personal computer that is connected to the system for communication. Taking a PC as an example, the PC is provided with a system configuration programming software. The user can input the control instruction by clicking or calling the command through the configuration programming software. When the control instruction is executed, the preset control components in the field layers such as the process application layer and the algorithm layer can be called and the corresponding control information can be generated.

Furthermore, the refinement of step S20 further includes:

Step A1, executing the control instruction by using the execution layer, and extracting keyword information from the control instruction;

Step A2, determining the target control component called by the control instruction according to the keyword information;

Step A3, according to the domain layer where the target control component is located, determining the target layer corresponding to the control instruction from each domain layer of the hierarchical control system.

When determining the target layer corresponding to the control instruction, the execution layer is used to execute the control instruction, thereby extracting keyword information from the control instruction. Specifically, after the system obtains the control instruction through the communication layer, the control instruction is forwarded to the execution layer. The execution layer executes the control instruction and extracts keyword information from the control instruction. The keyword information includes the control component set in the domain layer called in the control instruction. Based on the extracted keyword information, the target control component that needs to be called by the control instruction is determined, and then the target layer corresponding to the control instruction is determined according to the domain layer where the called target control component is located.

Step S30, determining a control object according to the control instruction, and calling a target control component from the target hierarchy to generate control information;

Furthermore, the control object is determined according to the acquired control instruction. Specifically, a resource abstraction layer is provided in the system to abstract the specific control objects, so as to facilitate the control and optimization of the algorithm, such as shafts, encoders, frequency converters, boilers, steam turbines, etc. The resource arrangement of the resource abstraction layer is based on the address automatically allocated to the memory when the written process package is compiled. When the control instruction is executed to determine the control object, the variable name of the control object is determined according to the extracted keyword information, and the addressing is performed according to the variable name to determine the control object, which can well organize complex data types. It should be noted that there is no strict order restriction for determining the control object and determining the target layer. It can be carried out sequentially or simultaneously. When it is carried out sequentially, the order of precedence can be ignored. When determining the control object, it is also determined based on the keyword information extracted from the control instruction.

After determining the target layer corresponding to the control instruction, the target control component is called from the target layer. It can be understood that the target layer includes a process application layer and/or an algorithm layer. The control component in the process application layer includes a process program package written in different programming languages. The process program package is a process program developed in different programming languages for specific process application objects, including control algorithms used in controllers of different equipment or processes, such as shearing, rotary cutting, and temperature control in PLC, assembly, spraying, following, and stacking in robots, boiler temperature control in process technology, cutting, milling, and laser cutting in machine tools, and life warning, predictive maintenance, process optimization, and knowledge decision-making combined with AI and edge computing. The control component in the algorithm layer includes a general resource interface library, a public algorithm library, and a function library, which include different process algorithms, such as motion control algorithms, process control algorithms, robot algorithms, machine tool algorithms, laser control algorithms, etc. Therefore, the target control component called according to the control instruction includes the target process program package in the process application layer and/or the target process algorithm in the algorithm layer. After the system calls the control component through the execution layer, the execution layer runs the called control component to generate control information, which can be used to control the control object.

Specifically, the refinement of step S30 includes:

Step S301, compiling the control instruction into a target programming language using the language layer;

Step S302, calling the target process package corresponding to the target programming language from the process application layer, and/or calling the target process algorithm corresponding to the target programming language from the algorithm layer;

Step S303: generating control information based on the target process package and/or the target process algorithm.

It can be seen that the domain layering of the system includes a process application layer, a language layer, and an algorithm layer, wherein the language layer is used to compile multiple programming languages, and can realize multi-language mixed programming. The process application layer includes multiple process program packages written in programming languages that can be compiled by the language layer, and the algorithm layer includes multiple process algorithms written in programming languages that can be compiled by the language layer. When the target layer corresponding to the control instruction includes the process application layer and/or the algorithm layer, the target control component called by the system includes the target process program package in the process application layer, and/or the target process algorithm in the algorithm layer. Among them, the same process control algorithm can have one or more process program packages in the process application layer. When the same process control algorithm has multiple process program packages, the multiple process program packages correspond to different programming languages that can be compiled by the language layer. Similarly, the same process algorithm can have one or more interfaces in the algorithm layer. When there are multiple interfaces, they correspond to different programming languages that can be compiled by the language layer. Specifically, when the language layer compiles multiple programming languages, it can compile different programming languages into the same one, or compile different programming languages separately. It can be understood that the control instructions input by the user are mostly call instructions written based on the call of the control component in the system, and the same control instruction can contain one or more call instructions. When writing call instructions, users can use one or more languages to write different call instructions in the same control instruction based on the programming language they are familiar with. The language layer compiles based on the control instructions input by the user, and the target programming language obtained after compilation can be one or more. According to the target programming language compiled by the language layer, the control components are called from the process application layer and the algorithm layer respectively to generate control information.

Furthermore, when generating control information, the control instructions are first compiled into a target programming language using the language layer, and the target programming language includes one or more. As mentioned above, in actual applications, users can use multiple programming languages to write control instructions in the configuration programming software at the same time to achieve coordinated control of different devices. When the target layer includes a process application layer and/or an algorithm layer, the target process program package corresponding to the target programming language is called from the process application layer, and/or the target process algorithm corresponding to the target programming language is called from the algorithm layer, wherein the programming languages corresponding to the target process program package and the target process algorithm can be the same or different, and are not specifically limited here. Control information is generated based on the called target process program package and/or target process algorithm, and the system runs the called target control components such as the target process program package and/or the target process algorithm through the execution layer, and generates control information based on the running results of the target control components. Among them, the process application layer and the algorithm layer both include multiple control components, each control component corresponds to one or more interfaces. Specifically, when the language layer compiles different programming languages into the same one, each control component corresponds to an interface, and the programming language corresponding to the interface is the same as the language compiled by the language layer, so as to be called by control instructions written in different programming languages; when the language layer compiles different compiled languages separately, each control component includes multiple interfaces, and different interfaces of the same control component correspond to different programming languages respectively, so as to be called by control instructions written in different programming languages. For example, when calling a control component, if the target programming language includes multiple languages, the target process package is called from the process application layer through the interfaces corresponding to different languages in the target programming language, and/or the target process algorithm is called from the algorithm layer through the interfaces corresponding to different languages in the target programming language. The called control components such as the target process package and/or the target process algorithm are forwarded to the execution layer, and the called control components are executed by the execution layer to generate control information.

Step S40: controlling the control object according to the control information.

Furthermore, the system controls the control object according to the generated control information. Specifically, the system writes the acquired data such as control information to the resource abstraction layer through the communication layer, and reads the required data such as the address information of the control object from the resource abstraction layer, and sends the acquired data to the peripheral device node (i.e., the control object) to realize the control of the peripheral device. The data interaction between the system and the peripheral device is realized based on the communication layer, the operating system layer, and the hardware layer.

Further, the refinement of step S40 includes:

Step S401, determining address information corresponding to the control object from the resource abstraction layer;

Step S402: forwarding the control information to the control object through the communication layer according to the address information, and controlling the control object.

When the control object is controlled according to the generated control information, the control information is sent to the control object (i.e., the peripheral device node corresponding to the control instruction). Specifically, the domain layering of the system includes a resource abstraction layer, which includes multiple abstracted control objects. The control object is a plurality of peripheral devices connected to the system communication. The address information of the control object is determined from the resource abstraction layer. The address information is the communication address of the control object, such as an IP address or a device identification code, etc. According to the address information, the control information is sent to the control object through the communication layer, and the controller in the control object runs the control information, thereby realizing the control of the control object.

Further, the refinement of step S402 includes:

Step B1, forwarding the control information to the resource abstraction layer through the communication layer;

Step B2: Based on the operating system layer and the hardware layer, forward the control information from the resource abstraction layer to the control object through the communication layer.

Furthermore, when the control information is sent to the controlled object through the communication layer, specifically, the domain layer of the system is also provided with an operating system layer and a hardware layer. The system implements data interaction with peripheral devices based on the communication layer, the operating system layer and the hardware layer. The data interaction includes obtaining the user's control instructions, obtaining the device data of the peripheral device corresponding to the controlled object, and sending the control information to the peripheral device. Among them, the operating system layer and the hardware layer specifically include the operating system type and hardware architecture deployed on the terminal for data interaction between the system and the peripheral device, and the system interacts with the terminal based on the communication layer. Furthermore, the programmable terminal for obtaining the user's control instructions and the terminal for data interaction between the system and the peripheral device can be the same or different, and is not limited here.

When forwarding control information to the controlled object, the control information is written into the resource abstraction layer through the communication layer. The resource abstraction layer is an abstraction of peripheral devices. Data is exchanged with the peripheral devices based on the communication layer, the operating system layer and the hardware layer. According to the address information of the control object abstracted in the resource abstraction layer, based on the operating system layer and the hardware layer, the control information forwarded to the resource abstraction layer is sent to the peripheral device node corresponding to the control object through the communication layer, thereby realizing control of the control object.

In this embodiment, the hierarchical control method is applied to a hierarchical control system including multiple domain hierarchies, wherein the domain hierarchies include a communication layer and an execution layer, wherein the control instruction input by the user in the programmable terminal is obtained through the communication layer, and the control instruction is forwarded to the execution layer; the control instruction is executed by the execution layer to determine the target hierarchy corresponding to the control instruction; the control object is determined according to the control instruction, and the target control component is called from the target hierarchy to generate control information; the control object is controlled according to the control information. By dividing the control system into multiple domain hierarchies, the user can flexibly call the control component in each domain hierarchy according to the input control instruction, thereby improving the flexibility of control. At the same time, through domain division, the system can be supported and expanded in multiple languages, so that the system can support multiple language types and process complex data types, thereby realizing the control of multiple hardware devices, improving the intelligence level of the control system, thereby improving the flexibility and intelligence level of the control method implemented based on the control system, and meeting the diverse control needs of users.

Further, based on the above-mentioned embodiment of the present invention, a second embodiment of the hierarchical control method of the present invention is proposed, referring to FIG. 3 , which is a schematic diagram of the structure of the hierarchical control system in this embodiment.

As shown in Figure 3, the hierarchical control system (hereinafter also referred to as the system) includes at least a communication layer, a process application layer, a language layer, an algorithm layer, a resource abstraction layer, an execution layer, an operating system layer and a hardware layer. The role or function of each layer in the system will be described in detail below.

Communication layer: The communication layer includes various buses based on different communication protocols such as Modbus, Ethernet/IP, Profinet, OPC-UA, MQTT, etc., which can communicate with automation equipment based on different communication protocols.

Language layer: The language layer is used to compile a variety of different programming languages, including IEC61131-3, C/C++, Python, G-code, Robot-code, etc. Different control objects require control instructions to be written based on different communication protocols and/or programming languages. It supports mixed programming in multiple languages, including languages that comply with the IEC 61131-3 standard, C/C++, Python, G-code that complies with the ISO6983 standard, and robot programming languages.

Process application layer: The process application layer includes multiple process packages applied to different process or process equipment. The process packages are written in different programming languages that can be compiled by the language layer, including PLC process, robot process, process process, machine tool process, artificial intelligence + edge computing and other algorithm packages. PLC process algorithms include chasing shearing, rotary cutting, temperature control, etc., robot process algorithms include assembly, spraying, following and palletizing, etc., process process algorithms include boiler temperature control, etc., machine tool process algorithms include cutting, milling, laser, etc., artificial intelligence + edge computing includes life warning, predictive maintenance, process optimization, knowledge decision-making, etc.

Algorithm layer: The algorithm layer mainly includes some general resource interface libraries, public algorithm libraries and function libraries, such as motion control algorithms, process control algorithms, robot algorithms, machine tool algorithms, laser control algorithms, etc. The general resource interface libraries, public algorithm libraries and function libraries are written in different programming languages that can be compiled by the language layer.

Resource abstraction layer: The resource abstraction layer abstracts specific control objects (i.e. peripheral devices), such as axes, encoders, frequency converters, boilers, steam turbines, etc., abstracts peripheral devices into control abstractions, arranges them according to the addresses automatically allocated by memory when the written process package is compiled, and addresses the variable names of the peripheral devices that the user needs to control when executing the user's control instructions, thereby determining the control object. It can well organize complex data types and realize the control of various hardware devices.

The execution layer, also known as the executor layer, is used to execute and interpret the codes of the language layer, algorithm layer and process application layer, and operate the abstract resources of the resource abstraction layer. When the execution layer executes the user's control instructions, it can call the control components of the algorithm layer and/or process application layer and generate control information, and then write the control information to the resource abstraction layer, operate the control objects in the resource abstraction layer, and realize the control of peripheral devices.

The operating system layer, the real-time operating system, can implement priority-based preemptive task scheduling. At the same time, for the real-time bus based on Ethernet, it can perform Ethernet real-time driver transformation and bus protocol stack real-time scheduling. A hardware abstraction layer is established in the operating system to facilitate the porting of the operating system to different hardware.

The hardware layer, the basic hardware platform, can support different hardware architectures such as MCU, ARM, and X86.

The system implements data interaction with peripheral devices based on the communication layer, operating system layer and hardware layer. The algorithm layer and process application layer can be subdivided into multiple layers according to preset standards. For example, the process program package in the process application layer and the process algorithm in the algorithm layer can be subdivided into multiple layers according to the different process equipment and/or process applied. Based on this, when implementing the control of peripheral devices, specifically:

The user writes control instructions through the preset configuration programming software in the programmable terminal such as the PC. The communication layer obtains the control instructions input by the user and forwards them to the execution layer. At the same time, it sends the instruction to start execution to the execution layer. The control instruction contains the control components such as the process package and/or process algorithm that need to be called, as well as the control object and other information.

After receiving the instruction to start execution and the user's control instruction, the execution layer executes the control instruction. When it is necessary to obtain data from peripheral devices, the peripheral device data is obtained based on the communication layer, the operating system layer and the hardware layer, and then the target control components in which domain layers need to be called are determined, that is, the target layer is determined. Then, according to the target control component that needs to be called by the control instruction, the target control component is called from the target layer corresponding to the control instruction. When the target layer includes the process application layer and/or the algorithm layer, the execution layer calls the target process package in the process application layer and executes it. During the execution process, the abstract resources of the resource abstraction layer are continuously accessed to determine the control object, and/or the target process algorithm in the algorithm layer is called. After the execution is completed, control information is generated. According to the determined control object, the generated control information is sent to the control object to control the control object.

Furthermore, when determining the target hierarchy, specifically, when the execution layer executes the control instruction, it extracts keyword information from the control instruction, and the keyword information includes the variable name of the control object and the name information of the called target control component, etc., and determines the target hierarchy according to the domain hierarchy where the called target control component is located.

When determining the control object, the execution layer operates the abstract resources of the resource abstraction layer according to the variable name of the control object extracted from the control instruction, and determines the control object through variable name addressing. When controlling the control object, the control information is sent to the address of the control object based on the communication layer, operating system layer and hardware layer according to the address information of the control object.

Furthermore, based on the communication layer, the operating system layer and the hardware layer, when the control information is sent to the address where the control object is located, specifically, the execution layer sends the control information to the communication layer, and the communication layer writes the obtained control information into the resource abstraction layer, and at the same time reads the required data from the resource abstraction layer, such as the address information of the control object, and sends the control information to the address where the control object is located through the operating system layer and the hardware layer.

It should be noted that users can add, delete and modify data in different domain layers of the system. When a new peripheral device that needs to be controlled is added, the communication layer reads the peripheral device data and writes it to the resource abstraction layer. The resource abstraction layer abstracts the newly added device and adds a new control object. Similarly, users can write new process packages and process algorithms to add to the process application layer and algorithm layer, and can also add new communication protocols to the communication layer to expand the system and improve the scalability and flexibility of the system. At the same time, users can use different programming to write control instructions on the programmable terminal according to their needs, and based on the written control instructions, flexibly select the control components that need to be called from different domain layers to achieve control of the system peripherals and improve control flexibility.

In addition, referring to FIG. 4 , an embodiment of the present invention further proposes a hierarchical control system, the hierarchical control system comprising:

The communication layer 10 is used to obtain the control instructions input by the user on the programmable terminal and forward the control instructions to the execution layer 20;

The execution layer 20 is used to receive and execute the control instruction forwarded by the communication layer 10 to determine the target layer corresponding to the control instruction;

The process application layer 30 and the algorithm layer 40 include a plurality of control components, so that the execution layer 20 can call the target control component from the target layer to generate control information when executing the control instruction;

The resource abstraction layer 50 includes a plurality of abstracted control objects, and is used to determine the control object according to the control instruction, so that the execution layer 20 can control the control object according to the control information.

Optionally, referring to FIG. 5 , the hierarchical control system further includes:

The language layer 60 is used to compile multiple programming languages, wherein the control components in the process application layer 30 include multiple process program packages written in the programming language compilable by the language layer 60, and the control components in the algorithm layer 40 include multiple process algorithms written in the programming language compilable by the language layer 60;

The operating system layer 70 and the hardware layer 80 , the communication layer 10 performs data exchange with external devices based on the operating system layer 70 and the hardware layer 80 .

Optionally, the process application layer 30 includes a plurality of process program packages written in a programming language compilable by the language layer 60, and the algorithm layer 40 includes a plurality of process algorithms written in a programming language compilable by the language layer 60;

When the target layer includes the process application layer 30 and/or the algorithm layer 40 , the target control component includes the target process program package in the process application layer 30 and/or the target process algorithm in the algorithm layer 40 .

Optionally, the language layer 60 is further used for:

Compiling the control instructions into a target programming language;

The execution layer 20 is also used for:

Calling a target process package corresponding to the target programming language from the process application layer 30, and/or calling a target process algorithm corresponding to the target programming language from the algorithm layer 40;

Control information is generated based on the target process package and/or the target process algorithm.

Optionally, the resource abstraction layer 50 is further used to determine address information corresponding to the control object;

The execution layer 20 is further configured to forward the control information to the control object through the communication layer 10 according to the address information, so as to control the control object.

Optionally, the execution layer 20 is further configured to forward the control information to the resource abstraction layer 50 through the communication layer 10;

Based on the operating system layer 70 and the hardware layer 80 , the control information is forwarded from the resource abstraction layer 50 to the control object.

Optionally, the execution layer 20 is further used for:

executing the control instruction and extracting keyword information from the control instruction;

Determine the target control component called by the control instruction according to the keyword information;

According to the domain layer where the target control component is located, the target layer corresponding to the control instruction is determined from each domain layer of the hierarchical control system.

In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a hierarchical control program is stored. When the hierarchical control program is executed by a processor, the operations in the hierarchical control method provided in the above embodiment are implemented.

In addition, an embodiment of the present invention further provides a computer program product, including a computer program, which implements the operations in the hierarchical control method provided in the above embodiment when executed by a processor.

The various embodiments of the device, computer program product, and computer-readable storage medium of the present invention may all refer to the various embodiments of the hierarchical control method of the present invention, and will not be described in detail here.

It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity/operation/object from another entity/operation/object, and do not necessarily require or imply any such actual relationship or order between these entities/operations/objects; the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

As for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The system embodiment described above is only illustrative, and the units described as separate components may or may not be physically separated. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the present invention. Ordinary technicians in this field can understand and implement it without paying creative work.

The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, including a number of instructions for a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the hierarchical control method described in each embodiment of the present invention.

The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims (7)

1. A hierarchical control method applied to a hierarchical control system, wherein the hierarchical control system comprises a plurality of domain hierarchies, the domain hierarchies comprise a communication layer and an execution layer, the domain hierarchies further comprise a process application layer, a language layer, an algorithm layer and a resource abstraction layer, the resource abstraction layer comprises a plurality of abstracted control objects, and the hierarchical control method comprises the following steps:

the control instruction input by a user at the programmable terminal is acquired through the communication layer, and the control instruction is forwarded to the execution layer;

executing the control instruction by using the execution layer, and extracting keyword information from the control instruction;

determining a target control component called by the control instruction according to the keyword information;

Determining a target layering corresponding to the control instruction from all the field layering of the layering control system according to the field layering of the target control component;

Determining a control object according to the control instruction, and compiling the control instruction into a target programming language by utilizing the language layer;

Calling a target process program package corresponding to the target programming language from the process application layer and/or calling a target process algorithm corresponding to the target programming language from the algorithm layer;

generating control information based on the target process package and/or the target process algorithm;

determining address information corresponding to the control object from the resource abstraction layer;

And forwarding the control information to the control object through the communication layer according to the address information, and controlling the control object.

2. The hierarchical control method according to claim 1, wherein said language layer is used for compiling a plurality of programming languages;

the process application layer comprises a plurality of process program packages written by using a programming language which can be compiled by the language layer, and the algorithm layer comprises a plurality of process algorithms written by using the programming language which can be compiled by the language layer;

when the target hierarchy includes the process application layer and/or the algorithm layer, the target control component includes a target process package in the process application layer and/or a target process algorithm in the algorithm layer.

3. The hierarchical control method according to claim 1, wherein said domain hierarchy further includes an operating system layer and a hardware layer, said step of forwarding said control information to said control object through said communication layer includes:

Forwarding the control information to the resource abstraction layer through the communication layer;

Based on the operating system layer and the hardware layer, the control information is forwarded from the resource abstraction layer to the control object through the communication layer.

4. A hierarchical control system, the hierarchical control system comprising:

The communication layer is used for acquiring a control instruction input by a user at the programmable terminal and forwarding the control instruction to the execution layer;

The execution layer is used for receiving and executing the control instruction forwarded by the communication layer and extracting key word information from the control instruction; determining a target control component called by the control instruction according to the keyword information; determining a target layering corresponding to the control instruction from all the field layering of the layering control system according to the field layering of the target control component;

The process application layer and the algorithm layer comprise a plurality of control components, and when the execution layer executes the control instructions, the execution layer invokes target process program packages corresponding to target programming languages from the process application layer and/or invokes target process algorithms corresponding to the target programming languages from the algorithm layer; generating control information based on the target process package and/or the target process algorithm;

The resource abstraction layer comprises a plurality of abstracted control objects and is used for determining the control objects according to the control instructions so that the execution layer can determine address information corresponding to the control objects from the resource abstraction layer; and forwarding the control information to the control object through the communication layer according to the address information, and controlling the control object.

5. The hierarchical control system according to claim 4, wherein said hierarchical control system comprises a plurality of domain hierarchies, said domain hierarchies further comprising:

A language layer for compiling a plurality of programming languages, wherein the control component in the process application layer comprises a plurality of process program packages written by the programming languages which can be compiled by the language layer, the control component in the algorithm layer comprises a plurality of process algorithms written by using a programming language which can be compiled by the language layer; compiling the control instruction into a target programming language;

The communication layer is used for carrying out data interaction with external equipment based on the operating system layer and the hardware layer.

6. A terminal device, characterized in that the terminal device comprises: a memory, a processor and a hierarchical control program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the hierarchical control method as claimed in any one of claims 1 to 3.

7. A computer-readable storage medium, on which a hierarchical control program is stored, which when executed by a processor implements the steps of the hierarchical control method according to any one of claims 1 to 3.