CN118234059A - Wireless industrial control method, device, electronic equipment and storage medium - Google Patents

Abstract

The present application provides a wireless industrial control method, device, electronic device and storage medium, wherein the method includes sending a protocol data unit PDU transmission request, the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier; receiving a PDU transmission response, the PDU transmission response is a response of the slave control device to the PDU transmission request when the PDU identifier indicates the transmission of configuration data; according to the PDU transmission response, a wireless link is established between the master control device and the slave control device, and the wireless link is used to transmit relevant data for wireless industrial control, and the relevant data includes configuration data. The wireless industrial control method provided in the embodiment of the present application solves the problem of how to control industrial production in a wireless scenario.

Description

Wireless industrial control method, device, electronic equipment and storage medium

Technical Field

The present application relates to the technical field of industrial Internet of Things, and in particular to a wireless industrial control method, device, electronic device and storage medium.

Background technique

Distributed Control System (DCS) is a new generation of instrument control system based on microprocessors, which adopts the design principles of decentralized control functions, centralized display operations, and a combination of separate autonomy and comprehensive coordination. It is used to realize the automatic control process of industrial production.

At present, DSC realizes communication between controller and input/output devices (I/O devices) through wired methods such as fieldbus and industrial Ethernet. However, with the development of wireless technology, wireless technology with the characteristics of low cost, easy deployment and mobility plays an increasingly important role in industrial production scenarios. Therefore, how to control industrial production in wireless scenarios (for example, how to transmit configuration data of DSC in wireless scenarios) has become an urgent problem to be solved.

Summary of the invention

The embodiments of the present application provide a wireless industrial control method, device, electronic device and storage medium, which solve the problem of how to control industrial production in a wireless scenario.

To achieve the above objectives, in a first aspect, an embodiment of the present application provides a wireless industrial control method, which is applied to a main control device, including:

Send a protocol data unit (PDU) transmission request, where the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier;

receiving a PDU transmission response, where the PDU transmission response is a response of the slave control device to the PDU transmission request when the PDU identifier indicates transmission of configuration data;

According to the PDU transmission response, a wireless link is established between the master control device and the slave control device, wherein the wireless link is used to transmit relevant data for wireless industrial control, wherein the relevant data includes the configuration data.

In a second aspect, an embodiment of the present application provides a wireless industrial control method, which is applied to a slave control device, including:

receiving a protocol data unit (PDU) transmission request, wherein the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier;

In a case where the PDU transmission request identifier indicates transmission of configuration data, a PDU transmission response to the PDU transmission request is sent.

In a third aspect, an embodiment of the present application provides a wireless industrial control device, including:

A first sending module, configured to send a protocol data unit (PDU) transmission request, wherein the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier;

A first receiving module, configured to receive a PDU transmission response, where the PDU transmission response is a response of the slave control device to the PDU transmission request when the PDU identifier indicates transmission of configuration data;

An establishing module is used to establish a wireless link between the master control device and the slave control device according to the PDU transmission response, wherein the wireless link is used to transmit relevant data for wireless industrial control, and the relevant data includes the configuration data.

In a fourth aspect, an embodiment of the present application provides a wireless industrial control device, including:

A second receiving module is used to receive a protocol data unit PDU transmission request, where the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier;

The second sending module is used to send a PDU transmission response to the PDU transmission request when the PDU transmission request identifier indicates transmission of configuration data.

In a fifth aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps in the wireless industrial control method as described in the first aspect to the second aspect are implemented.

In a sixth aspect, an embodiment of the present application provides a readable storage medium, on which a program is stored. When the program is executed by a processor, the steps in the wireless industrial control method described in the first aspect to the second aspect are implemented.

In the embodiment of the present application, a PDU transmission request carrying a PDU transmission request identifier is sent, and a PDU transmission response to the PDU transmission request is received from the slave control device when the PDU identifier indicates transmission of configuration data, and a wireless link is established between the master control device and the slave control device according to the PDU transmission response. In this way, the wireless link can be used to transmit relevant data for wireless industrial control, thereby solving the problem of how to control industrial production in a wireless scenario.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following description is given to the drawings of the specification. Obviously, the following drawings are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the listed drawings without paying creative work.

FIG1 is a schematic diagram of the structure of a distributed control system in the prior art;

FIG2 is one of the structural diagrams of the wireless industrial control system applicable to the embodiment of the present application;

FIG3 is a second schematic diagram of the structure of a wireless industrial control system applicable to an embodiment of the present application;

FIG4 is a flow chart of a wireless industrial control method according to an embodiment of the present application;

FIG5 is a polling table provided in an embodiment of the present application;

FIG6 is a second flow chart of the wireless industrial control method provided in an embodiment of the present application;

FIG7 is a third flow chart of the wireless industrial control method provided in an embodiment of the present application;

FIG8 is a schematic diagram of a structure of a wireless industrial control device provided in an embodiment of the present application;

FIG9 is a second schematic diagram of the structure of a wireless industrial control device provided in an embodiment of the present application;

FIG. 10 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

Detailed ways

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

The terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and/or" in the specification and claims represents at least one of the connected objects, and the character "/" generally indicates that the objects associated with each other are in an "or" relationship.

To facilitate understanding, the following is a brief introduction to the background knowledge related to the embodiments of the present application.

Distributed Control System (DCS) is a new generation of instrument control system based on microprocessors, which adopts the design principles of decentralized control functions, centralized display operations, and taking into account the design principles of decentralized autonomy and comprehensive coordination. It is used to realize the automatic control process of industrial production. Distributed control systems connect several devices (including operating devices, control devices and monitoring devices) distributed in industrial sites, so that all devices can work together to complete the operation, control and measurement of industrial production processes.

Please refer to Figure 1. In the prior art, the distributed control system realizes communication between the controller (i.e., the production control system, production monitoring system, safety management system, programmable logic controller (PLC) in Figure 1) and the input/output device (i.e., device 1 to device n, n is a positive integer) through wired methods such as field bus and industrial Ethernet. The wired method is also the basic connection method of the current industrial field network.

With the development of wireless technology, wireless technology with the characteristics of low cost, easy deployment and mobility plays an increasingly important role in industrial production scenarios. Therefore, how to control industrial production in wireless scenarios (for example, how to transmit configuration data of DSC in wireless scenarios) has become an urgent problem to be solved.

To solve this problem, an embodiment of the present application provides a wireless industrial control method. The wireless industrial control method provided by the embodiment of the present application is described in detail below through specific embodiments in conjunction with the accompanying drawings.

Please refer to Figure 2, which is one of the structural schematic diagrams of the wireless industrial control system applicable to the embodiment of the present application. As shown in Figure 2, the wireless industrial control system includes a master control device and N slave control devices, where N is a positive integer greater than 1. The master control device and each of the N slave control devices are connected wirelessly (such as a short-range wireless communication network connection).

The short-range wireless communication network connection method can be a wireless micro-domain networking method, in which multiple wireless micro-domain networks form a communication network of the wireless industrial control system. Each of the multiple wireless micro-domain networks establishes a communication connection with other wireless micro-domain networks in the multiple wireless micro-domain networks through a coordinator, a bridge, a separator, a connector, a gateway, etc.

The main control device may include a control device (also referred to as a control entity), a storage device (also referred to as a register) and a first wireless transceiver device (G node). In specific implementation, the main control device may be a host computer with a configuration management unit, a PLC, a supervisory control and data acquisition system (SCADA), an edge computing server, a computing box, etc.

The slave control device may include a control device (also called a function block), a storage device (also called a register) and a second wireless transceiver device (T-node). In specific implementation, the slave control device may be a device located at an industrial site with a configuration function block application process unit, such as a transmitter, an actuator, a switch, a data collector, a field controller, etc.

Please refer to Figure 3, which is the second structural diagram of the wireless industrial control system applicable to the embodiment of the present application. The wireless industrial control system includes a master control device and n slave control devices, where n is a positive integer. The master control device includes a control entity, a register and a G node, and each of the n slave control devices includes a function block, a register and a T node. The G node and each of the n T nodes communicate through a wireless micro-area network. A function block application process is a configuration event. For example, the function block application process 2 is a configuration event for moving object A to B, which requires slave control device 1 and slave control device 2 to jointly complete the configuration event. A configuration event can be understood as a complete industrial control process for achieving a certain control purpose. For example, a configuration event can be for maintaining a production line or for monitoring a certain park. A configuration event can be completed by one or more slave control devices.

The method provided in the embodiment of the present application can be applied to industrial control scenarios. The wireless industrial control method provided in the embodiment of the present application is described in detail below.

Please refer to Figure 4, which is one of the flow charts of the wireless industrial control method provided in the embodiment of the present application. The wireless industrial control method shown in Figure 4 is executed by the main control device, and includes the following steps:

Step 101, sending a protocol data unit PDU transmission request, the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier;

The master device may be initialized based on pre-stored configuration data, and after initialization, send a PDU transmission request to the slave device.

It should be understood that there are three main types of PDU transmission requests sent by the master control device to the slave control device: control class, configuration class and acquisition class. Among them, the control class refers to the PDU transmission request used to transmit control information, the configuration class refers to the PDU transmission request used to transmit configuration data, and the acquisition class refers to the PDU transmission request used to transmit acquisition information.

The PDU transmission request identifier is used to indicate the type of the PDU transmission request. The slave device determines the type of the PDU transmission request according to the PDU transmission request identifier. In this embodiment, the slave device sends a PDU transmission response to the PDU transmission request when the PDU transmission request identifier indicates transmission configuration data.

In the scenario of wireless industrial control (wireless industrial control), the slave device is initialized based on the configuration data.

The configuration data includes at least one of the following:

Structural configuration information of slave control equipment;

Hardware configuration information of slave control devices;

Programming information of the function blocks of the slave device.

Among them, the structural configuration information of the slave control device includes the IP, station number, addressing identifier, network topology configuration, network neighbor relationship configuration, routing forwarding relationship, etc. of each network node (such as the slave control device); the hardware configuration information of the slave control device includes the status of the central processing unit (CPU) of the slave control device, the address of the input/output device of the slave control device, etc.; the programming information of the functional block of the slave control device includes PLC read and write logic, control strategy, structured text, etc.

Step 102, receiving a PDU transmission response, where the PDU transmission response is a response of the slave control device to the PDU transmission request when the PDU identifier indicates transmission of configuration data;

When the slave control device determines, according to the PDU transmission request identifier, that the PDU request is used to transmit configuration data, it sends a PDU transmission response to the PDU transmission request.

The PDU transmission response may carry information such as the status information of the slave device, which is helpful for establishing a wireless link between the master device and the slave device.

Step 102: Establish a wireless link between the master control device and the slave control device according to the PDU transmission response, wherein the wireless link is used to transmit relevant data for wireless industrial control, and the relevant data includes the configuration data.

Specifically, the master device establishes a wireless link between the G node and the T node of the master device according to the PDU transmission response. When the wireless link is successfully established, the relevant data of the wireless industrial control can be transmitted. For example, the configuration data is transmitted through the wireless link, and when the slave device receives the configuration data, it is initialized according to the configuration data (for example, the input/output device of the slave device is initialized).

In the embodiment of the present application, a PDU transmission request carrying a PDU transmission request identifier is sent, and a PDU transmission response to the PDU transmission request is received from the slave control device when the PDU identifier indicates transmission of configuration data, and a wireless link is established between the master control device and the slave control device according to the PDU transmission response. In this way, the wireless link can be used to transmit relevant data for wireless industrial control, thereby solving the problem of how to control industrial production in a wireless scenario.

In practical applications, different configuration events have different requirements for transmission delay and bandwidth, so the requirements for the performance of wireless links for transmitting different configuration events are also different. In order to make the established wireless link more in line with the actual requirements of the configuration event, in an optional embodiment, the identification information also includes a configuration event identifier, the PDU transmission response carries at least one of the transmission channel identifier and the status information of the slave device, the transmission channel identifier is the identifier of the logical channel corresponding to the PDU transmission request determined by the slave device according to the configuration event identifier, and the wireless link between the master device and the slave device is established according to the PDU transmission response, including:

Determine the transmission mode according to at least one of the transmission channel identifier and the status information through a mapping relationship between the status information indicated by the QOS index and the corresponding transmission channel identifier;

The wireless link is established according to the transmission mode.

In specific implementation, the main control device classifies the configuration events according to the business type of industrial control, and determines the configuration event identifiers of the configuration events of different categories.

Configuration event identifiers are used to indicate configuration data and configuration event data.

The above configuration event data is used to indicate relevant information of the configuration event. Optionally, the configuration event data includes at least one of the following:

Event number;

Event name;

Event type;

The order in which events are executed;

Variables used to execute events;

Event object identifier;

Synchronization object identifier;

A configuration event may include one or more sub-events, and the above event number is the number of the sub-event;

The above event name is the name of the sub-event;

The above event types are types of sub-events;

The order of execution of the above events is the execution order of each sub-event in a configuration event;

The variables of the above execution events are the relevant parameter variables when executing sub-events. For example, if the sub-event is to lift the robotic arm, the variable is the lifting height of 10 cm.

The event object identifier refers to the identifier of the slave control device that specifically executes the sub-event;

The synchronization object identifier refers to the identifiers of at least two slave control devices that need to synchronously execute at least two sub-events when a configuration event includes multiple sub-events, such as the identifiers of multiple slave control devices that execute the configuration event within a time jitter range.

The above-mentioned status information is used to indicate the status of the slave control device. Optionally, the status information includes at least one of the following:

Delay information;

Jitter information;

Packet loss rate information;

Signal to Interference and Noise Ratio SINR information;

Channel occupancy information.

In this embodiment, there are at least the following three implementation methods.

Method 1: The slave control device determines the transmission channel identifier of the logical channel corresponding to the PDU transmission request according to the configuration event identifier, carries the transmission channel identifier in the PDU transmission response, and sends it to the master control device. The master control device determines the transmission mode according to the transmission channel identifier, and establishes the wireless link according to the transmission mode.

Method 2: The slave control device determines the transmission channel identifier of the logical channel corresponding to the PDU transmission request according to the configuration event identifier, and determines the status information of the slave control device, and carries the transmission channel identifier and status information in the PDU transmission response, and sends it to the master control device. The master control device determines the transmission mode according to the transmission channel identifier and status information, and establishes the wireless link according to the transmission mode.

Method three: The slave device determines the status information of the slave device, carries the status information in the PDU transmission response, and sends it to the master device. The master device determines the transmission mode according to the status information, and establishes the wireless link according to the transmission mode.

In method 1, by allowing the slave control device to determine the transmission channel identifier of the logical channel corresponding to the PDU transmission request according to the configuration event identifier, the requirements of different configuration events for different wireless link performances can be taken into account, so that the established wireless link is more in line with the actual needs of the configuration event.

In the second method, not only the established wireless link is made more suitable for the actual needs of the configuration event, but also the established wireless link is made more suitable for the actual situation of the slave control device by feeding back the status information of the slave control device.

In the third mode, by feeding back the status information of the slave control device, the established wireless link is made more suitable for the actual situation of the slave control device.

The transmission mode can be any of the following.

1. Coding _mode = 1. Node G fragments the service message, generates link data PDU segments, and places the PDU in the maintenance window into the cache for transmission. Coding _mode is the identifier of the transmission mode.

2. Coding _mode = 2. Node G adjusts the hybrid automatic repeat request HARQ according to the QOS indication. HARQ, or Hybrid Automatic Repeat reQuest (HARQ), is a technical parameter configuration that combines forward error correction coding (FEC) and automatic repeat request (ARQ), including: synchronous HARQ mode, asynchronous HARQ_CC mode, asynchronous HARQ_IR mode, and synchronous and asynchronous HARQ mixed mode.

3. Coding _mode = 3. The G node demultiplexes the bearer data according to the MAC PDU structure and transparently transmits the sub-SDU to the link control entity corresponding to the logical transmission channel identifier.

A transmission mode is determined according to at least one of the transmission channel identifier and the state information.

Specifically, the G node of the main control device can determine the transmission resource reservation method (such as QOS mechanism) based on at least one of the transmission channel identifier and the status information, the first mapping relationship between the transmission channel identifier and the transmission resource reservation method, and the second mapping relationship between the status information and the transmission resource reservation method, and then determine different transmission modes according to the transmission resource reservation method.

Wireless communication resources are allocated to the wireless link according to the transmission mode, such as coding block resources CBG0~CBGn or framing resources RBG0~RBGn, and a wireless link is established between the G node and the T node. The QOS mechanism determines the competitive access and non-competitive access methods based on the number of slave control devices and the priority of the configuration event. For different types of configuration events, the QOS mechanism schedules PDU session channel resources of different transmission types; different slave control devices transmit the received PDU session requests in different modes on their respective network session channels, avoiding conflicts in the scheduling resources of the wireless links used by different slave control devices.

In addition, in this embodiment, the configuration event identifier is also used to indicate configuration data. By making the PDU transmission request carry the configuration event identifier, after the wireless link is established, the configuration data corresponding to the configuration event can be determined according to the configuration event identifier, thereby selectively transmitting the configuration data corresponding to the configuration event without transmitting all the configuration data, thereby reducing the amount of data transmitted and shortening the transmission time.

In one embodiment, the identification information further includes at least one of the following:

Wireless link indicator.

As mentioned above, the master control device includes a control entity, a register and a G node, and the control entity, the register and the G node also need to communicate with each other. The wireless link indicator is used to indicate the transmission channel inside the master control device (i.e., the transmission channel between the control entity, the register and the G node). In this way, the wireless link indicator can be used to indicate how information is transmitted inside the master control device.

In one embodiment, the identification information is carried in at least one of the following ways:

Carrying the identification information through an air interface high-level protocol;

The identification information is carried via an access layer protocol.

In specific implementation, method 4: the identification information (such as configuration event identification) can be indicated through the air interface high-level protocol (layer 3), and the link layer or network layer framing resources can be reserved and scheduled through the media control layer QoS or IP QoS transmission strategy to achieve reliable transmission of configuration data between master and slave devices.

Method 5: Indicate identification information (such as configuration event identification) through access layer protocol (layer 2), and reserve and schedule access time slot resources or coding blocks of physical layer bit stream through QoS transmission strategy. The difference from method 4 is that layer 3 in method 5 does not have the protocol adaptation capability for identification information, and needs to be delivered (transparently transmitted) to the media access layer through high-level signaling for protocol adaptation.

In mode 5, the G node receives the PDU transmission response fed back by the T node, and sends it to the media access layer through high-level signaling GlinkDataResourceConfArray or TlinkDataResourceConfArray for protocol adaptation, and obtains the session identifier carried by the MAC layer frame header of the T node. For example, the current state measurement value of the T node includes: information indicating the number of coding blocks, information on the number of information bits of each coding block, coding mode information RS code or Polar code, modulation mode information (QPSK, 16QAM, 64QAM, 256QAM, 1024QAM), etc. The different access time slot resources (or different transmission channel coding modes) of the T node or the scheduling coding blocks are determined through the QOS mechanism, and different types of transmission modes (data information transmission modulation coding modes) are determined for transmission. Each coding block performs channel coding and uses its own physical resources for data transmission.

As mentioned above, the wireless industrial control system includes a master control device and N slave control devices, and the master control device and each of the N slave control devices need to establish a wireless link to transmit the relevant data of the wireless industrial control. In order to make the establishment of the wireless link between the master control device and the N slave control devices proceed in an orderly manner, in one embodiment, before sending the PDU transmission request, the method further includes:

According to the N address information of the N slave control devices acquired in advance, a polling table is established, wherein the polling table includes the N address information arranged in a preset order, where N is a positive integer;

The sending of the PDU transmission request comprises:

The PDU transmission request is sent to the N slave control devices in sequence according to the arrangement order of the N address information in the polling table.

In specific implementation, the master device establishes (specifically, it can be established by the G node) a polling table as shown in FIG5 , and establishes an address chain A1 to An (ie, a polling table) of N slave devices according to the order of addresses. A1 to An are the addresses of each slave device.

The master control device (specifically, a G node) polls N slave control devices (specifically, T nodes) in sequence according to the arrangement order of the address chain in the polling table.

During the i-th polling process, i is a positive integer, the master device sends a PDU transmission request to one of the slave devices, receives a PDU transmission response from the slave device, and establishes a wireless link between the master device and the slave device according to the PDU transmission response. During the i+1-th polling process, the master device sends a PDU transmission request to the next slave device according to the arrangement order of the address chain of the polling table, receives a PDU transmission response from the slave device, and establishes a wireless link between the master device and the slave device according to the PDU transmission response.

That is, during each polling process, the master device sends a PDU transmission request to one of the slave devices, receives a PDU transmission response from the slave device, and establishes a wireless link between the master device and the slave device based on the PDU transmission response.

In one embodiment, after establishing the wireless link between the master device and the slave device, the method further includes:

Sending configuration data corresponding to the configuration event identifier.

In a specific implementation, the slave control device receives configuration data corresponding to the configuration event identifier, and completes the initialization configuration of the configuration event according to the configuration data.

In this embodiment, the configuration event identifier is also used to indicate configuration data. By making the PDU transmission request carry the configuration event identifier, after the wireless link is established, the configuration data corresponding to the configuration event can be determined according to the configuration event identifier, thereby selectively transmitting the configuration data corresponding to the configuration event without transmitting all the configuration data, thereby reducing the amount of data transmitted and shortening the transmission time.

In one embodiment, the related data further includes the configuration event data, and after the sending of the configuration data corresponding to the configuration event identifier, the method further includes:

Receiving first notification information, where the first notification information is used to notify that the reception of the configuration data has been completed;

Sending configuration event data corresponding to the configuration event identifier.

In a specific implementation, the slave control device sends first notification information when the reception of the configuration data is completed, where the first notification information is used to notify that the reception of the configuration data is completed.

In this embodiment, after the transmission of the configuration data is completed, the configuration event data is sent, thereby avoiding mixing different types of data and causing unnecessary interference.

In one embodiment, after sending the configuration event data corresponding to the configuration event identifier, the method further includes:

In case of receiving second notification information, the wireless link is released, where the second notification information is used to notify that the reception of the configuration event data has been completed.

In a specific implementation, the control device receives configuration event data corresponding to the configuration event identifier, sends a second notification message when the reception of the configuration event data is completed, and performs industrial control management based on the configuration event data, wherein the second notification message is used to notify that the reception of the configuration event data has been completed.

It should be understood that after receiving the configuration event data, it is no longer necessary to use the wireless link for data transmission. In this embodiment, by releasing the wireless link after receiving the configuration event data, it is possible to avoid occupying communication resources and causing a waste of communication resources.

In one embodiment, the master control device includes a control device (control entity) and a wireless transceiver (G node), and before sending a protocol data unit PDU transmission request, the method further includes:

Determining configuration related information by the control device, the configuration related information including at least one of configuration event data, a configuration event identifier corresponding to the configuration event data, and slave control device domain information, the slave control device domain information including N address information of N slave control devices, where N is a positive integer;

Sending the configuration related information to the wireless transceiver device through the control device;

The sending of the PDU transmission request comprises:

Sending the PDU transmission request through the wireless transceiver;

The receiving PDU transmission response includes:

receiving a PDU transmission response via the wireless transceiver;

The step of establishing a wireless link between the master control device and the slave control device according to the PDU transmission response includes:

The wireless transceiver device transmits a response according to the PDU to establish a wireless link between the master control device and the slave control device.

In an optional embodiment 1, the master control device sequentially polls N slave control devices according to the arrangement order of the address chain in the polling table, and each polling process is as follows:

1. Determine whether the i-th slave control device corresponding to the address chain has data to transmit. If so, the G node initiates a PDU transmission request to the T node, and the PDU transmission request carries the PDU transmission request identifier and the configuration event identifier; if not, determine whether the i+1-th slave control device has data to transmit.

2. The T node determines whether the PUD transmission request identifier indicates the transmission configuration data based on the PUD transmission request identifier. If so, the transmission channel identifier of the logical channel corresponding to the PDU transmission request is determined based on the configuration event identifier, and the transmission channel identifier is added to the header of the PDU transmission response; the T node can also determine the status information of the slave control device and add the status information to the header of the PDU transmission response.

3. Node T sends a PDU transmission response to node G, carrying the transmission channel identifier and status information.

4. The G node determines a transmission mode according to the transmission channel identifier and at least one of the state information, and establishes the wireless link according to the transmission mode.

5. After receiving the information forwarded by the G node requesting to send wireless industrial control related data, the control entity of the master device sends the configuration data corresponding to the configuration event identifier to the T node. The slave device completes the initialization configuration according to the configuration data, such as I/O driver event initialization;

6. The T node sends a first notification message and a second notification message to the G node, notifying that the wireless industrial control related data transmission has been completed and the wireless link has been released.

Each time the G node receives the first notification information and the second notification information from the T node, it starts to poll the next slave device until all slave devices are polled. If the polling interval of the periodic service cannot be determined, the periodic service that responds can be repeated in a polling table to reduce the polling interval.

In one embodiment, the master control device is a cloud PLC, the slave control device is a wireless servo drive, the master control device includes a control entity, a register, a process channel and a wireless transceiver entity (G node), and the slave control device includes a functional block, a register, a process channel and a wireless transceiver entity (T node).

For ease of understanding, please refer to Figure 6, and the method provided in the embodiment of the present application is described below with a complete embodiment.

The control entity of the master device is initialized based on the pre-stored configuration data. After initialization, the configuration events are classified and identified, the configuration event identifier of each configuration event is determined, as well as the configuration configuration data and configuration event data corresponding to the configuration event identifier, and the address information of N slave devices is determined. Based on the above information, the configuration related information (including the address information and configuration event identifier of N slave devices) is determined and passed to the G node in the form of application layer protocol carrying parameters;

Node G establishes a polling table based on the address information of N slave devices;

The G node polls the N slave control devices in sequence according to the address arrangement order of the polling table. For the specific polling process, please refer to the first embodiment.

The embodiment of the present application further provides a wireless industrial control system, the system comprising a master control device and N slave control devices, N being a positive integer greater than 1, the master control device comprising a first wireless transceiver, each of the slave control devices comprising a second wireless transceiver, the first wireless transceiver and the second wireless transceiver being wirelessly connected;

Wherein, the first wireless transceiver is used for:

Send a protocol data unit PDU transmission request, the PDU transmission request carries identification information, and the identification information includes a PUD identification and a PUD transmission request identification;

receiving a PDU transmission response, where the PDU transmission response is a response of the slave control device to the PDU transmission request when the slave control device determines, based on the PDU identifier, that the bearer data of the PDU transmission request is configuration data;

Establishing a wireless link between the master control device and the slave control device according to the PDU transmission response, wherein the wireless link is used to transmit relevant data for wireless industrial control;

The second wireless transceiver is used for:

Receive a protocol data unit (PDU) transmission request, where the PDU transmission request carries identification information, and the identification information includes a PUD identification and a PUD transmission request identification;

When it is determined according to the PDU identifier that the data carried by the PDU transmission request is configuration data, a PDU transmission response to the PDU transmission request is sent.

The above-mentioned wireless industrial control system can be used to implement the wireless industrial control method provided in the embodiment of the present application.

In this embodiment, the wireless industrial control system is wirelessly connected via the first wireless transceiver and the second wireless transceiver, thereby solving the problem of how to control industrial production in a wireless scenario.

Referring to FIG. 7 , the present application further provides a wireless industrial control method, which is applied to a slave control device, including:

Step 201, receiving a protocol data unit (PDU) transmission request, wherein the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier;

Step 202: When the PDU transmission request identifier indicates transmission of configuration data, a PDU transmission response to the PDU transmission request is sent.

Optionally, the identification information further includes a configuration event identifier, the PDU transmission response carries a transmission channel identifier, and at least one item of status information, and after receiving the protocol data unit PDU transmission request and before sending the PDU transmission response to the PDU transmission request, the method further includes:

Determine, according to the configuration event identifier, a transmission channel identifier of a logical channel corresponding to the PDU transmission request;

and/or, determining status information of the slave control device;

The configuration event identifier is used to indicate the configuration data and configuration event data.

Optionally, the configuration event data includes at least one of the following:

Event number;

Event name;

Event type;

The order in which events are executed;

Variables used to execute events;

Event object identifier;

Synchronization object identifier;

The status information includes at least one of the following:

Delay information;

Jitter information;

Packet loss rate information;

Signal to Interference and Noise Ratio SINR information;

Channel occupancy information.

Optionally, after sending a PDU transmission response to the PDU transmission request, the method further includes:

Receiving configuration data corresponding to the configuration event identifier;

According to the configuration data, the initialization configuration of the configuration event is completed.

Optionally, after receiving the configuration data corresponding to the configuration event identifier, the method further includes:

When the reception of the configuration data is completed, first notification information is sent, where the first notification information is used to notify that the reception of the configuration data is completed.

Optionally, after sending the first notification information, the method further includes:

Receiving configuration event data corresponding to the configuration event identifier;

When the reception of the configuration event data is completed, second notification information is sent, and industrial control management is performed according to the configuration event data, wherein the second notification information is used to notify that the reception of the configuration event data has been completed.

It should be noted that this embodiment is an embodiment of a slave control device corresponding to the method embodiment of FIG4 , and therefore, reference may be made to the relevant description in the method embodiment of FIG4 , and the same beneficial effects may be achieved.

Referring to FIG. 8 , the embodiment of the present application further provides a wireless industrial control device 300, including:

The first sending module 301 is used to send a protocol data unit PDU transmission request, where the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier;

A first receiving module 302 is used to receive a PDU transmission response, where the PDU transmission response is a response of the slave control device to the PDU transmission request when the PDU identifier indicates transmission of configuration data;

Establishing module 303, used to establish a wireless link between the master control device and the slave control device according to the PDU transmission response, the wireless link is used to transmit relevant data for wireless industrial control, and the relevant data includes the configuration data.

Optionally, the identification information further includes a configuration event identifier, the PDU transmission response carries at least one of a transmission channel identifier and status information of the slave control device, the transmission channel identifier is an identifier of a logical channel corresponding to the PDU transmission request determined by the slave control device according to the configuration event identifier, and the establishment module 303 includes:

Determine a transmission mode according to at least one of the transmission channel identifier and the state information;

Establishing the wireless link according to the transmission mode;

The configuration event identifier is used to indicate the configuration data and configuration event data.

Optionally, the configuration event data includes at least one of the following:

Event number;

Event name;

Event type;

The order in which events are executed;

Variables used to execute events;

Event object identifier;

Synchronization object identifier;

The status information includes at least one of the following:

Delay information;

Jitter information;

Packet loss rate information;

Signal to Interference and Noise Ratio SINR information;

Channel occupancy information.

Optionally, the identification information further includes at least one of the following:

Wireless link indicator.

Optionally, the identification information is carried in at least one of the following ways:

Carrying the identification information through an air interface high-level protocol;

The identification information is carried via an access layer protocol.

Optionally, before the first sending module 301, the apparatus 300 further includes:

Establishing a polling table according to N address information of N slave control devices acquired in advance, wherein the polling table includes N address information arranged in a preset order, where N is a positive integer;

The sending of the PDU transmission request comprises:

The PDU transmission request is sent to the N slave control devices in sequence according to the arrangement order of the N address information in the polling table.

Optionally, after the establishment module 303, the apparatus 300 further includes:

Sending configuration data corresponding to the configuration event identifier.

Optionally, after the configuration data corresponding to the configuration event identifier is sent, the related data further includes the configuration event data, and the apparatus 300 further includes:

Receiving first notification information, where the first notification information is used to notify that the reception of the configuration data has been completed;

Sending configuration event data corresponding to the configuration event identifier.

Optionally, after sending the configuration event data corresponding to the configuration event identifier, the apparatus 300 further includes:

In case of receiving second notification information, the wireless link is released, where the second notification information is used to notify that the reception of the configuration event data has been completed.

The wireless industrial control device 300 provided in the embodiment of the present application can implement each process that can be implemented in the embodiment of the wireless industrial control method of the present application, and achieve the same beneficial effects. To avoid repetition, it will not be described here.

Referring to FIG. 9 , the embodiment of the present application further provides a wireless industrial control device 400, including:

The second receiving module 401 is used to receive a protocol data unit PDU transmission request, where the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier;

The second sending module 402 is configured to send a PDU transmission response to the PDU transmission request when the PDU transmission request identifier indicates transmission of configuration data.

Optionally, the identification information further includes a configuration event identifier, the PDU transmission response carries a transmission channel identifier, and at least one item of status information, and after receiving the protocol data unit PDU transmission request and before sending the PDU transmission response to the PDU transmission request, the device 400 further includes:

Determine, according to the configuration event identifier, a transmission channel identifier of a logical channel corresponding to the PDU transmission request;

and/or, determining status information of the slave control device;

The configuration event identifier is used to indicate the configuration data and configuration event data.

Optionally, the configuration event data includes at least one of the following:

Event number;

Event name;

Event type;

The order in which events are executed;

Variables used to execute events;

Event object identifier;

Synchronization object identifier;

The status information includes at least one of the following:

Delay information;

Jitter information;

Packet loss rate information;

Signal to Interference and Noise Ratio SINR information;

Channel occupancy information.

Optionally, after the second sending module 402, the apparatus 400 further includes:

Receiving configuration data corresponding to the configuration event identifier;

According to the configuration data, the initialization configuration of the configuration event is completed.

Optionally, after receiving the configuration data corresponding to the configuration event identifier, the apparatus 400 further includes:

When the reception of the configuration data is completed, first notification information is sent, where the first notification information is used to notify that the reception of the configuration data is completed.

Optionally, after sending the first notification information, the apparatus 400 further includes:

Receiving configuration event data corresponding to the configuration event identifier;

When the reception of the configuration event data is completed, second notification information is sent, and industrial control management is performed according to the configuration event data, wherein the second notification information is used to notify that the reception of the configuration event data has been completed.

The wireless industrial control device 400 provided in the embodiment of the present application can implement each process that can be implemented in the embodiment of the wireless industrial control method of the present application, and achieve the same beneficial effects. To avoid repetition, it will not be described here.

The embodiment of the present application provides an electronic device. As shown in FIG10 , the electronic device 500 includes: a processor 501, a memory 502, and a computer program stored in the memory 502 and executable on the processor, and the components in the electronic device 500 are coupled together via a bus system 503. It is understood that the bus system 503 is used to realize connection and communication between these components.

The processor 501 is used for:

Send a protocol data unit (PDU) transmission request, where the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier;

receiving a PDU transmission response, where the PDU transmission response is a response of the slave control device to the PDU transmission request when the PDU identifier indicates transmission of configuration data;

According to the PDU transmission response, a wireless link is established between the master control device and the slave control device, wherein the wireless link is used to transmit relevant data for wireless industrial control, wherein the relevant data includes the configuration data.

Optionally, the identification information further includes a configuration event identifier, the PDU transmission response carries at least one of a transmission channel identifier and status information of the slave control device, the transmission channel identifier is an identifier of a logical channel corresponding to the PDU transmission request determined by the slave control device according to the configuration event identifier, and the processor 501 is further used to:

Determine a transmission mode according to at least one of the transmission channel identifier and the state information;

Establishing the wireless link according to the transmission mode;

The configuration event identifier is used to indicate the configuration data and configuration event data.

Optionally, the configuration event data includes at least one of the following:

Event number;

Event name;

Event type;

The order in which events are executed;

Variables used to execute events;

Event object identifier;

Synchronization object identifier;

The status information includes at least one of the following:

Delay information;

Jitter information;

Packet loss rate information;

Signal to Interference and Noise Ratio SINR information;

Channel occupancy information.

Optionally, the identification information further includes at least one of the following:

Wireless link indicator.

Optionally, the identification information is carried in at least one of the following ways:

Carrying the identification information through an air interface high-level protocol;

The identification information is carried via an access layer protocol.

Optionally, the processor 501 is further configured to:

Establishing a polling table according to N address information of N slave control devices acquired in advance, wherein the polling table includes N address information arranged in a preset order, where N is a positive integer;

The sending of the PDU transmission request comprises:

The PDU transmission request is sent to the N slave control devices in sequence according to the arrangement order of the N address information in the polling table.

Optionally, the processor 501 is further configured to:

Sending configuration data corresponding to the configuration event identifier.

Optionally, the relevant data further includes the configuration event data, and the processor 501 is further configured to:

Receiving first notification information, where the first notification information is used to notify that the reception of the configuration data has been completed;

Sending configuration event data corresponding to the configuration event identifier.

Optionally, the processor 501 is further configured to:

In case of receiving second notification information, the wireless link is released, where the second notification information is used to notify that the reception of the configuration event data has been completed.

Alternatively, the processor 501 is configured to:

receiving a protocol data unit (PDU) transmission request, wherein the PDU transmission request carries identification information, and the identification information includes a PDU transmission request identifier;

In a case where the PDU transmission request identifier indicates transmission of configuration data, a PDU transmission response to the PDU transmission request is sent.

Optionally, the identification information further includes a configuration event identifier, the PDU transmission response carries a transmission channel identifier, and at least one item of the status information, and after receiving the protocol data unit PDU transmission request, the processor 501 is further used to:

Determine, according to the configuration event identifier, a transmission channel identifier of a logical channel corresponding to the PDU transmission request;

and/or, determining status information of the slave control device;

The configuration event identifier is used to indicate the configuration data and configuration event data.

Optionally, the configuration event data includes at least one of the following:

Event number;

Event name;

Event type;

The order in which events are executed;

Variables used to execute events;

Event object identifier;

Synchronization object identifier;

The status information includes at least one of the following:

Delay information;

Jitter information;

Packet loss rate information;

Signal to Interference and Noise Ratio SINR information;

Channel occupancy information.

Optionally, the processor 501 is further configured to:

Receiving configuration data corresponding to the configuration event identifier;

According to the configuration data, the initialization configuration of the configuration event is completed.

Optionally, the processor 501 is further configured to:

When the reception of the configuration data is completed, first notification information is sent, where the first notification information is used to notify that the reception of the configuration data is completed.

Optionally, the processor 501 is further configured to:

Receiving configuration event data corresponding to the configuration event identifier;

When the reception of the configuration event data is completed, second notification information is sent, and industrial control management is performed according to the configuration event data, wherein the second notification information is used to notify that the reception of the configuration event data has been completed.

The electronic device 500 provided in the embodiment of the present application can implement the various processes that can be implemented in the wireless industrial control method embodiment of the present application corresponding to Figure 4 or Figure 7, and achieve the same beneficial effects. To avoid repetition, it will not be repeated here.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the above-mentioned wireless industrial control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims (19)

1. The wireless industrial control method is characterized by being applied to a master control device and comprising the following steps of:

Transmitting a protocol data unit PDU transmission request, wherein the PDU transmission request carries identification information, and the identification information comprises a PUD transmission request identification;

receiving a PDU transmission response, wherein the PDU transmission response is a response to the PDU transmission request by the slave device under the condition that the PDU identification indicates transmission configuration data;

And establishing a wireless link between the master control equipment and the slave control equipment according to the PDU transmission response, wherein the wireless link is used for transmitting related data for wireless industrial control, and the related data comprises the configuration data.

2. The method according to claim 1, wherein the identification information further includes a configuration event identification, the PDU transmission response carries at least one of a transmission channel identification and status information of the slave device, the transmission channel identification is an identification of a logical channel corresponding to the PDU transmission request determined by the slave device according to the configuration event identification, and the establishing a wireless link between the master device and the slave device according to the PDU transmission response includes:

Determining a transmission mode according to at least one of the transmission channel identification and the state information;

establishing the wireless link according to the transmission mode;

The configuration event identifier is used for indicating the configuration data and the configuration event data.

3. The method of claim 2, wherein the configuration event data comprises at least one of:

event numbering;

an event name;

Event type;

The order in which the events are executed;

a variable for executing an event;

event object identification;

synchronizing the object identification;

the status information includes at least one of:

Time delay information;

Dithering information;

Packet loss rate information;

signal to interference plus noise ratio SINR information;

Channel occupancy information.

4. The method of claim 1, wherein the identification information further comprises at least one of:

The radio link indicates the identity.

5. The method according to any one of claims 1 to 4, wherein the carrying manner of the identification information includes at least one of:

carrying the identification information through an air interface high-layer protocol;

And carrying the identification information through an access layer protocol.

6. The method of claim 1, wherein prior to the sending the PDU transmission request, the method further comprises:

According to N address information of N slave control devices obtained in advance, a polling list is established, wherein the polling list comprises N address information arranged according to a preset sequence, and N is a positive integer;

the sending a PDU transmission request includes:

and sequentially sending the PDU transmission requests to the N slave control devices according to the arrangement sequence of the N pieces of address information in the polling list.

7. A method according to claim 2 or 3, wherein after the establishment of the wireless link between the master device and the slave device, the method further comprises:

And sending configuration data corresponding to the configuration event identifier.

8. The method of claim 7, wherein the related data further comprises configuration event data, and wherein after the transmitting the configuration data corresponding to the configuration event identification, the method further comprises:

Receiving first notification information, wherein the first notification information is used for notifying that the configuration data is received;

and sending configuration event data corresponding to the configuration event identification.

9. The method of claim 8, wherein after the sending the configuration event data corresponding to the configuration event identification, the method further comprises:

and releasing the wireless link under the condition that second notification information is received, wherein the second notification information is used for notifying that the receiving of the configuration event data is completed.

10. A wireless industrial control method, which is applied to a slave device, comprising:

Receiving a protocol data unit PDU transmission request, wherein the PDU transmission request carries identification information, and the identification information comprises a PUD transmission request identification;

and sending a PDU transmission response to the PDU transmission request under the condition that the PUD transmission request identification indicates transmission configuration data.

11. The method of claim 10, wherein the identification information further comprises a configuration event identification, wherein the PDU transmission response carries at least one of a transmission channel identification, and status information, wherein after the receiving a PDU transmission request, the method further comprises, prior to the sending the PDU transmission response to the PDU transmission request:

Determining a transmission channel identifier of a logic channel corresponding to the PDU transmission request according to the configuration event identifier;

And/or determining state information of the slave device;

The configuration event identifier is used for indicating the configuration data and the configuration event data.

12. The method of claim 11, wherein the configuration event data comprises at least one of:

event numbering;

an event name;

Event type;

The order in which the events are executed;

a variable for executing an event;

event object identification;

synchronizing the object identification;

the status information includes at least one of:

Time delay information;

Dithering information;

Packet loss rate information;

signal to interference plus noise ratio SINR information;

Channel occupancy information.

13. The method of claim 11, wherein after said sending a PDU transmission response to said PDU transmission request, said method further comprises:

Receiving configuration data corresponding to the configuration event identifier;

and finishing initialization configuration of the configuration event according to the configuration data.

14. The method of claim 13, wherein after receiving the configuration data corresponding to the configuration event identification, the method further comprises:

and sending first notification information when the receiving of the configuration data is completed, wherein the first notification information is used for notifying that the receiving of the configuration data is completed.

15. The method of claim 14, wherein after the sending the first notification information, the method further comprises:

receiving configuration event data corresponding to the configuration event identification;

and under the condition that the receiving of the configuration event data is completed, sending second notification information, and carrying out industrial control management according to the configuration event data, wherein the second notification information is used for notifying that the receiving of the configuration event data is completed.

16. A wireless industrial control device, comprising:

The device comprises a first sending module, a second sending module and a second sending module, wherein the first sending module is used for sending a protocol data unit PDU transmission request, the PDU transmission request carries identification information, and the identification information comprises a PUD transmission request identification;

A first receiving module, configured to receive a PDU transmission response, where the PDU transmission response is a response to the PDU transmission request by the slave device when the PDU identifier indicates transmission configuration data;

the establishing module is used for establishing a wireless link between the master control equipment and the slave control equipment according to the PDU transmission response, wherein the wireless link is used for transmitting related data for wireless industrial control, and the related data comprises the configuration data.

17. A wireless industrial control device, comprising:

The second receiving module is used for receiving a protocol data unit PDU transmission request, wherein the PDU transmission request carries identification information, and the identification information comprises a PUD transmission request identification;

And the second sending module is used for sending a PDU transmission response to the PDU transmission request under the condition that the PUD transmission request identification indicates transmission configuration data.

18. An electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, which when executed by the processor performs the steps in the wireless industrial control method of any one of claims 1 to 15.

19. A readable storage medium, characterized in that it has stored thereon a program, which when executed by a processor, implements the steps of the wireless industrial control method according to any of claims 1 to 15.