CN119806492B - A software-defined edge controller integrated design system supporting synchronous development, combining sensing, computing, and control. - Google Patents

Abstract

This invention discloses a software-defined edge controller integrated design system supporting synchronous development, relating to the industrial field. It comprises two parts: a configuration programming platform and a runtime environment. The configuration programming platform is characterized by web-based and modular features, mainly consisting of an IDE component library and IDE building modules, deployed on a server. It is easily expandable, customizable, supports simultaneous development using text-based and graphical programming languages, and includes interface debugging capabilities. The runtime environment is characterized by virtualization, featuring decoupling of functional modules, rapid reconfigurability based on process requirements, and dynamic updates. Based on this integrated configuration platform, this invention can effectively improve development efficiency, system availability and stability, and reduce reconfiguration workload.

Description

Software-defined edge controller sensing, calculating and controlling integrated design system supporting synchronous development

Technical Field

The invention relates to the field of industry, in particular to a software defined edge controller sensing and controlling integrated design system supporting synchronous development.

Background

With the rapid development of global economy and technological advancement, industry transformation is vigorously promoted in the industry, and the deep fusion of new generation information technology (Information Technology, IT) and industrial operation technology (Operation Technology, OT) becomes an important feature of advanced industrial production system architecture. However, how to further apply artificial intelligence technology, big data technology, etc. to the production process, to intelligent reform the perception-calculation-control loop, reduce the new application landing time, improve the production efficiency, is the key problem that each big industry manufacturer is still exploring. In the research and development aspect of the sensing and computing control program, engineers or manufacturers with different professional backgrounds are often required, different software is used for developing the sensing and computing control program respectively for different equipment, a special research and development mode of the special machine is required to formulate a complex unified interface, the environment configuration and the assembly debugging during integration are required to be large in workload, the interface variation cost is large in the later period of project research and development, programs, applications and equipment of different manufacturers are tightly bound, data are difficult to directly interact, information exchange of multi-procedure and multi-production line matching in an intelligent factory is blocked easily, and production flexibility is severely limited. In the aspect of the operation of a sensing and control program, the conventional industrial controller which is widely used at present cannot process unstructured data, high-performance sensing and calculating tasks represented by image processing and deep learning are required to be operated on additional special equipment, the execution delay of a control loop is increased, the production stability and safety are reduced, and the application of an intelligent algorithm in production is limited. In order to solve the problems, a high-performance industrial edge controller is gradually introduced into a production field, but the integrated research, the debugging and the execution schemes of a sensing calculation control program are still lacking, so that the problems of low development efficiency, high configuration cost, complex maintenance and support, incapability of rapidly adapting to process demand change and the like are caused.

The industrial edge control comprises a configuration programming platform and a controller operation environment, wherein a user firstly compiles programs corresponding to a production process by using a text or a graphic language through the configuration programming platform, then transmits the programs to the operation environment carried by the edge controller hardware, acquires input information from a sensing device through a hardware interface, further analyzes the input information in a computing device, sends a result to a control device for control calculation, obtains a control signal and outputs the control signal to an execution device, and finishes the sensing, calculation and control processes. Recently, software definition has been greatly successful in the fields of network communication, automobile production and the like, and the core idea is to break a special architecture, virtualize basic hardware, provide standardized basic functions, control the basic functions by software and endow hardware with different capabilities. In order to improve the development efficiency and flexibility of intelligent manufacturing, the system provides a more open and efficient management and control capability, is based on software definition, provides a sensing and calculation control integrated system design method of an industrial edge controller, and has important significance in promoting the deep fusion of IT and OT and industrial intelligent transformation.

Through search and investigation, the domestic patent application number 202011356569.3 entitled "an industrial intelligent control system based on software definition" describes a software-defined edge computing platform at a software level and a software-defined edge intelligent controller at a hardware level, supports real-time industrial control tasks and non-real-time edge intelligent computing tasks based on container technology, does not have a unified development architecture of a configuration programming platform, does not consider unified management of sensing, computing and control equipment and a communication configuration method between containers, and does not consider a development efficiency improving method and a quick reconstruction capability of a program; the patent with the name of 201711098557.3 is a software defined control system and a control method, a configuration platform is designed based on a modularized thought, a controller operating system of different types of CPUs is formed by utilizing a core module of a reconfigurable and portable controller operating system, however, the traditional programmable logic controller is oriented to the fact that the traditional programmable logic controller cannot adapt to the computing requirements of modern industrial production environments, meanwhile, the rapid adaptation method when the process changes is not considered, the patent with the name of 202410491659.5 is a software defined industrial control system architecture and a task unloading method, the control system architecture and a cloud server architecture are defined, the software and hardware decoupling is realized based on a virtualization technology, however, the flexible expansion of development components of the configuration programming platform is not considered when the application requirements and development scenes are oriented, and the rapid reconstruction of the process and the program cannot be realized when the application requirements change, the patent with the name of 202210737702.2 is a software defined process control system and a method for industrial process factories, the resource separation and the dynamic property changing condition of the software and hardware platform are realized based on the virtualization and container technology, but the problems of development efficiency, reconstruction efficiency, backup and recovery of the program are not considered.

Accordingly, those skilled in the art have focused their efforts on developing a system that is efficient and highly reliable.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention is directed to improving reliability and efficiency.

The invention provides a software defined edge controller sensing and controlling integrated design system supporting synchronous development, which is characterized by comprising a configuration programming platform and an operating environment, wherein the configuration programming platform is characterized by being web-based and modularized, mainly comprises an IDE component library and an IDE construction module, is deployed in a server, has the functions of easy expansion, customizable development, supporting synchronous development of a textualized programming language and a graphical programming language and interface debugging, and has the functions of decoupling a functional module, rapid reconfiguration of process requirements and dynamic updating by virtualization.

Further, in the early stage of project development, a user can select a function component required by project development in the IDE component library to generate an integrated development environment only comprising functions required by the project, the integrated development environment is instantiated in a server, a part of storage space is opened for storing code files and resource files, the storage space is bound in an IDE resource manager, a default project creation user is an administrator, after the IDE instantiation is completed, a unique URL is generated, a plurality of users can access an internal network by using any operating system terminal, the same project is accessed through the URL, the user can operate the same program file in the project, different program files can be respectively operated, and the user name and the operating position which are being operated can be displayed through a synchronous tool.

Further, the functional components mainly comprise source code editor components, compiler components, interpreter components, performance test components, document viewing components, resource management components and the like of different programming languages, are deployed into a server in a modularized mode, and support embedding and removing in a web development framework;

The arbitrary operating system terminals comprise desktop-level operating systems such as Windows, linux, mobile-level operating systems Android, IOS and other terminals supporting browser application programs;

the internal network refers to a network under the same local area network with the server, and all devices accessed to the internal network should have the same network segment IP address;

The program file comprises two types of a texting program and a patterning program, the texting program and the patterning program are mapped and converted into unified intermediate data in the background of the server, and the text content or the graphic content is modified and the intermediate data are correspondingly changed;

when the synchronous tool is accessed by multiple users, an intermediate data copy is created for each user, the user name, the operation position and the operation content are recorded and fed back to the source file in real time, and content conflict or data inconsistency of multi-user modification is prevented through an optimistic lock or pessimistic lock mechanism.

Further, defining a plain text data format intermediate file, for the textualized programming language, recording information such as programming language type, source code and the like in the intermediate file, for the graphical programming language, recording information such as programming language type, position, connection relation, input and output, identifier and the like, and synchronizing by using the intermediate file as a source file by the synchronizing tool, and rendering all modifications to the source file to a user program file;

The text programming languages comprise high-level languages such as python, C/C++, and the like, and also comprise ST and IL languages specified in IEC 61131-3;

the graphical programming language comprises LD, FBD, SFC language specified in IEC 61131-3 and also comprises any graphical configuration language consisting of elements and connecting lines;

In the programming process, all available sensing, calculating and controlling equipment can be seen in the equipment tree, a basic operation interface is provided, unified management and test are carried out, and correct configuration of input and output of the program is facilitated;

The device tree is a device list registered through a device discovery component, all devices accessed to the edge controller in the invention comprise the edge controller itself which needs to define a device information model, the registered device information is actively registered to the device discovery component deployed on a server after the device discovery component is started and maintained for a long time, the device discovery component periodically sends a heartbeat detection signal to confirm the online state of the device, inquires the device information model of basic information such as the name, address, online state and the like of the device, renders the basic information in the device tree, and provides a basic operation method calling interface defined in the device information model.

Further, after the application development is finished, the containerized packaging module is used for packaging programs with different functions into a sensing container, a computing container and a control container respectively, and the sensing container, the computing container and the control container are stored in a server;

The sensing container receives the input of a physical sensor and comprises the functions of collecting, storing, converting, cleaning and preprocessing input signals;

the computing container can perform functions of feature extraction, data fusion, identification, analysis, prediction and the like on input information;

the control container performs control law calculation, performance optimization, safety, abnormal alarm and other functions according to the input information, and needs to output control signals to the executor;

the information of filling the data structure of the container fingerprint when the containerized packaging is carried out, including category, function, performance, input, output, connection physical equipment identifier and the like, and all container fingerprint information is collected through the containerized packaging module.

Further, in the container fingerprint data structure, category information comprises three types of sensing, calculating and controlling, function information comprises data acquisition, data analysis, control signal generation and the like, performance information comprises algorithm key parameters, processing delay, throughput, resource utilization rate and the like, input and output information comprises input data format, output data format, interface type, communication protocol and the like, and a physical equipment identifier is defined in an equipment information model and comprises equipment name, address and the like.

Further, after development and packaging of different types of programs are completed, a user draws a process flow chart in the configuration programming platform, all edge controllers needing to execute the process are selected in the equipment tree to issue in batches, after the edge controllers receive the process flow chart, node analysis is conducted by a process analysis service to obtain all needed container nodes, node connection relations in the process flow chart are analyzed, hardware connection relations between the sensing container and the control container are extracted, then the hardware connection relations are sent to a container management service, container nodes in a mirror image warehouse are matched, containers corresponding to the associated nodes in the process flow chart are pulled to the edge controllers, and meanwhile, a communication configuration file and a hardware access script between the containers are automatically generated according to container fingerprints, the node connection relations and the hardware connection relations.

Further, in the process flow diagram, each node represents a container or physical hardware device, the connection lines between the nodes represent data flow directions, and the node has at least one connection line in the process flow diagram;

When the process demand changes, a user updates a process flow chart in the configuration programming platform, judges the container information needing to be changed currently and the new container matching information through a container management service, pulls the new container from a server to all the edge controllers needing to be changed under the condition of no shutdown, adaptively modifies corresponding communication configuration parameters and hardware access configuration, removes the containers needing to be changed, generates a new communication configuration file and a hardware access script, and completes the complete update of the program corresponding to the new process flow.

Furthermore, in the application development process, the access of the program file needs identification codes, which are divided into read-only and writable, and defined by the creator of the program file, wherein the creator is an administrator of the program file, when no setting is performed, all users can read and write by default, other users can see all the directly accessible program files and encrypted program file identifications in a program tree, and the encrypted program file is read or modified by inputting identification codes with different authorities, and simultaneously, the user name and the operation are synchronized to other user terminals, so that the cooperative security is improved;

The functions of the same program file and different program files are subjected to test information interaction through the interface debugging component, and the temporary storage of the return value of the upstream program is supported, so that the downstream program uses the true value for testing.

Further, the interface debugging component is required to bind and store the variable returned by the upstream program and the variable called by the downstream program, when the returned variable is empty, a user can create a test value of the calling variable through the component, when the returned variable is not empty, the user has two choices, namely, the first choice can use the created test value of the calling variable to carry out type consistency comparison and structure consistency comparison and peer-to-peer check interface consistency, the second choice can directly use the real returned variable value to carry out the functional test of the downstream program, and log generation service record historical data is provided;

The function block is taken as the minimum backup unit, when a user modifies the function block, the interface debugging component is used for testing the correctness of the function block as an interface of an upstream program and a downstream program, the operation correctness of the function block of a given interface is further tested, if both the function block and the function block can pass through the interface debugging component, the modification is backed up, otherwise, the name of the function is marked red, when a program error occurs, a program recovery option is provided, a version rollback strategy for modifying the minimum function quantity is generated based on the backup units of all the functions, the operation success is taken as the target, and the selected function is rolled back to the content of the last successful backup

In the technical advantage aspect, the intelligent control application is developed based on the sensing and control integrated configuration platform, a user does not need to pay attention to the compatibility of different platforms and programming environments in the development process, the workload of early-stage planning and later-stage testing is effectively reduced, a textualized program and a graphical program are updated in real time in the multi-user development process, the test can be performed after other users do not need to submit codes, static programming is changed into dynamic programming, the functions of the integrated development environment can be customized according to different projects, unnecessary redundancy is reduced, the loading speed is improved, the available equipment list is displayed in real time in the development process, the attribute such as states and addresses and the basic operation method calling interface are provided, the interactive mode of planning and equipment in advance in the process of writing the sensing and control program by the user is facilitated, the correct configuration of input and output is facilitated, and the development efficiency is effectively improved.

In the aspect of performance indexes, the invention decouples the functional modules through a virtualization technology, thereby greatly improving the flexibility, the expandability and the maintainability of the system. Through the process flow chart and the container fingerprint data structure, a user can quickly construct a program with new process requirements, the development period is shortened, the capability of synchronous development of textualized and graphical programs is ensured, real-time updating in the development process is avoided, complicated steps which can be tested after other users submit codes are avoided, the dynamic updating mechanism not only improves the stability of the system, greatly reduces the reconfiguration workload, but also reduces the influence on other irrelevant functions when the program is retracted by a fine-grained backup mechanism of the system, ensures the high efficiency and safety of the retraction process, and further improves the overall system performance.

In the aspect of production implementation, the sensing and control integrated design based on the invention can effectively support various complex production scenes. For example, in automated line control, conventional line control systems often face compatibility problems and difficult coordination between different platforms, with long development cycles. The configuration programming platform provided by the invention can support the same platform programming of a texting and patterning program, multiple users can select the familiar language to synchronously develop, and simultaneously can display the available equipment information in real time, so that the interface debugging, equipment interaction and configuration processes are simplified, the user can directly adjust the control program in the development process, the bottleneck that the test can be performed after waiting for integration is avoided, the development efficiency of an automation system of a production line can be greatly improved, and the production period of a product is shortened. Along with the wide application of industrial automation and intelligent control systems, the demand for intelligent modification of a perception-calculation-control loop is continuously increased, the landing time of new application is reduced, the production efficiency is improved, and the intelligent control system is a problem which needs to be solved by various industrial manufacturers.

The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.

Drawings

FIG. 1 is a schematic diagram of a software-defined edge controller-sensing and control integrated system architecture in accordance with a preferred embodiment of the present invention;

FIG. 2 is a diagram of a synchronous development module architecture diagram of a preferred embodiment of the present invention;

FIG. 3 is a diagram of a device discovery service architecture in accordance with a preferred embodiment of the present invention;

FIG. 4 is a diagram of an interface debug component architecture in accordance with a preferred embodiment of the present invention;

FIG. 5 is a schematic diagram of a material defect sorting control system according to a preferred embodiment of the present invention;

FIG. 6 is a flow chart of a single stream sorting process according to a preferred embodiment of the present invention;

FIG. 7 is a flow chart of a dual stream sorting process in accordance with a preferred embodiment of the present invention;

Fig. 8 is a flow chart of a double stream sorting process with security assurance according to a preferred embodiment of the present invention.

Detailed Description

The following description of the preferred embodiments of the present invention refers to the accompanying drawings, which make the technical contents thereof more clear and easy to understand. The present invention may be embodied in many different forms of embodiments and the scope of the present invention is not limited to only the embodiments described herein.

In the drawings, like structural elements are referred to by like reference numerals and components having similar structure or function are referred to by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the present invention is not limited to the dimensions and thickness of each component. The thickness of the components is exaggerated in some places in the drawings for clarity of illustration.

The invention provides a software-defined edge controller sensing, calculating and controlling integrated design supporting synchronous development, which can be divided into a configuration programming platform and an operating environment. The configuration programming platform has the characteristics of web and modularity, has the functions of easy expansion, customizable development, supporting synchronous development of a text programming language and a graphical programming language, interface debugging and the like, and has the functions of decoupling function modules, rapid and reconfigurable process requirements, dynamic updating and the like by virtualization in an operating environment.

The software definition is embodied in a configuration programming platform, a user can select, expand and modify functional components according to requirements at will, a configuration programming platform integrated development environment oriented to a specific field and project is generated based on a basic development environment frame, and the software definition is embodied in an operation environment, and the software definition realizes the flexible and changeable functions of hardware according to different user-defined functional containers and process flow charts without any change of the hardware. The sensing, calculation and control integrated method is characterized in that the sensing, calculation and control integrated method is embodied in a configuration programming platform as synchronous development of the sensing algorithm, the calculation algorithm and the control algorithm on the same platform, and unified registration and display of equipment trees on sensing equipment, calculation equipment and control equipment, and is embodied in an operation environment as unified access of the sensing equipment, the calculation equipment and the control equipment based on an information model, and is based on sensing, calculation and control equipment and container self-adaption association of a process analysis service and a container management service.

In order that those skilled in the art will better understand the present invention, the following description of the present invention will be taken with reference to the accompanying drawings and detailed description. Fig. 1-4 depict the overall architecture and key component architecture of the present invention, and fig. 5-8 depict implementation details of one simulation case. Wherein, fig. 1 is a software defined edge controller sensing and controlling integrated design architecture diagram supporting synchronous development, fig. 2 is a synchronous development module architecture diagram, fig. 3 is a device discovery service architecture diagram, fig. 4 is an interface debugging component architecture diagram, fig. 5 is a material defect sorting control system application case schematic diagram, fig. 6 is a single material flow sorting process flow diagram, fig. 7 is a double material flow sorting process flow diagram, and fig. 8 is a double material flow sorting process flow diagram with safety assurance. The following steps describe the main steps of project development under the scheme of the present invention.

In the first step, in the initial stage of project development, a user can freely select necessary development functional components in an IDE component library, mainly comprising a source code editor component, a compiler component, an interpreter component, a performance test component, a document reading component, a resource management component and the like of different programming languages, an integrated development environment only comprising functions required by a project is generated through an IDE construction module, a project URL is generated, and a default project creation user is an administrator.

And secondly, accessing engineering collaborative development by a plurality of users through project URLs by using any operating system terminal.

When the multi-user access is performed, the synchronous development module creates an intermediate data copy for each user, records the user name, the operation position and the operation content, feeds back the intermediate data copy to the source file in real time, and prevents content conflict or data inconsistency of multi-user modification through an optimistic lock or pessimistic lock mechanism, as shown in fig. 2. The program files can be divided into two types of texting programs and graphical programs, wherein the texting programs are high-level language programs such as python, C/C++, and the like, and also comprise ST and IL language programs specified in IEC 61131-3, and the graphical programming languages comprise LD, FBD, SFC languages specified in IEC 61131-3 and also comprise any graphical configuration language consisting of elements and connecting lines, such as a process flow chart consisting of nodes and edges. For synchronization, the two types of language programs are uniformly converted into a text data format intermediate file, and information such as programming language type, position, input and output, identifier and the like is recorded. The access of each program file needs an identification code which is divided into a read-only type and a writable type, the identification codes are defined by creators of the program files, the creators are administrators of the program files, when no setting is carried out, all users can be defaulted to read and write, other users can see all the directly accessible program files and encrypted program file identifications in a program tree, the program files are read or modified by inputting identification codes with different authorities to the encrypted files, users in the same field can acquire the operation authorities of the same program files through the identification codes, and users in different fields can respectively access the program files with different functions, thereby having high efficiency and safety.

The invention describes an edge controller with the characteristic of integration of sensing, computing and controlling, relates to three types of equipment, and in order to enable a user to know information such as available equipment types, quantity, states, addresses and the like when developing programs, all the equipment accessed to the edge controller in the invention comprises the edge controller itself, which needs to define an equipment information model, is uniformly managed by equipment registration service, actively registers with an equipment discovery component deployed on a server after being started, the registered device information can be maintained for a long time, the device discovery component can periodically send a heartbeat detection signal to confirm the online state of the device, inquire the device information model of basic information such as the name, address, online state and the like of the device, render the basic information in a device tree, provide a basic operation method call interface defined in the device information model, and enable a user to click a delete button on the interface to remove the device from the local discovery server when the device is offline.

Third, in the project development process, the user can verify the grammar correctness, logic correctness and interface correctness through a compiler, an interpreter, a debugger and an interface debugging component. The interface debugging component needs to bind and store the variable returned by the upstream program and the variable called by the downstream program, when the returned variable is empty, the user can create the test value of the calling variable through the service, when the returned variable is not empty, the user has two choices, the first can use the created test value of the calling variable to carry out type consistency comparison and structure consistency comparison and peer service to check the interface consistency, the second can directly use the real returned variable value to carry out the functional test of the downstream program, and log generation service record historical data is provided, as shown in figure 4.

And fourthly, after the project development is completed, the perception, calculation and control application is packaged into mirror images through a containerized packaging module and stored in a server. Each container needs to be filled with a container fingerprint data structure when being generated, wherein the container fingerprint data structure comprises sensing, calculating and controlling category information, data acquisition, data analysis, control signal generation and other functional information, algorithm key parameters, processing delay, throughput, resource utilization rate and other performance information, and input and output information such as input data format, output data format, interface type, communication protocol and the like, and additionally comprises a physical equipment identifier, namely equipment name, address and other contents defined in an equipment information model. For generating inter-container communication configurations and hardware access scripts to enable access to hardware.

And fifthly, drawing a process flow chart in a configuration programming platform, for all registered and online edge controllers, selecting all edge controllers needing to execute the process in a device tree by a user for batch issuing, after the edge controllers receive the process flow chart, carrying out node analysis by a process analysis service to obtain all needed container nodes, analyzing the node connection relation in the process flow chart, extracting the hardware connection relation between a sensing container and a control container, then sending the hardware connection relation to a container management service, matching the container nodes in a mirror image warehouse, pulling containers corresponding to the associated nodes in the process flow chart into the edge controllers, and simultaneously automatically generating a communication configuration file and a hardware access script between the containers according to the container fingerprints, the node connection relation and the hardware connection relation. After the above operation is completed, the container service is automatically started, and the execution of the project code is started.

And sixthly, if new functions are needed, writing new code files by a user according to the steps two to four, containerizing and packaging, updating a process flow chart in a configuration development platform, issuing, analyzing through a process analysis and container management service, comparing with the running process flow, judging the position of a container to be changed, selecting a container meeting the new process requirements based on global container fingerprint information, unloading the new container from a server to all edge controllers to be changed under the condition of no shutdown, modifying corresponding communication configuration parameters and hardware access scripts after unloading is completed, removing the container to be changed, starting the new container, and completing program increment update or full update corresponding to the process flow.

Taking the defect sorting control system shown in fig. 5 as an example, the configuration programming platform is deployed in a server and is provided with an edge controller, three industrial cameras, two photoelectric sensors and two conveyor belts are connected to be used as sensing equipment, one mechanical arm is used as executing equipment, and the edge controller is used as computing equipment and control equipment. The conveyor belt transports materials, the camera judges the defect type of the materials, the photoelectric sensor detects whether the materials reach the grabbing position of the mechanical arm, and the mechanical arm sorts and places according to the defect type. Fig. 6-8 are process flow diagrams of three different requirements, consisting of nodes and edges.

Assuming that only one material flow is needed in the current working condition, namely only the motion of the conveyor belt 1, the camera 1, the photoelectric sensor 1 and the mechanical arm, the sorting procedure can be divided into 4 parts of image preprocessing, defect detection, conveyor belt control and mechanical arm control, development and encapsulation are carried out according to the methods from the first step to the fourth step, and the materials are respectively encapsulated into a sensing container, a calculating container and two control containers and stored in a server. And fifthly, drawing a process flow chart shown in fig. 6, issuing the process flow chart to an edge controller, pulling a corresponding container from a server after analysis, generating communication configuration and a hardware access script, and starting the container to realize the process flow.

When the process requirement changes, two material flows are needed, namely, the conveyor belt 2, the camera 2 and the photoelectric sensor 2 also participate in the action, the sorting program newly adds the conveyor belt control 2, the image preprocessing control 2 and the defect detection 2, and the program logic is the same as that of the conveyor belt control 1, the image preprocessing control 1 and the defect detection 1, so that only the hardware access script and the communication configuration file of the newly added container are needed to be changed, and the process flow chart is redrawn, as shown in fig. 7, wherein the grabbing scheduling container is a newly added calculation container according to the steps two to four, and because only one mechanical arm is provided, when the materials of the two conveyor belts all need to be grabbed at a certain moment, the mechanical arm acts according to the grabbing scheduling rule. After the process flow chart shown in fig. 7 is issued to the edge controller, the process analysis service and the container management service pull the container from the mirror image warehouse and generate new communication configuration and hardware access scripts, the original processes of the new container, the pulling container and the communication configuration do not need to be stopped, and the container is started to realize a new process flow after the execution is completed.

Similarly, when the process requirement changes again, namely, the camera 3 is required to be used for gesture recognition, after the safety officer is detected to make a specified gesture, the production process is considered to be dangerous, and the actions of all execution devices are stopped immediately, so that the process flow under the safety assurance is realized. In the proposed system, only a computing container for realizing gesture recognition is needed to be added in a configuration programming platform, a process flow chart shown in fig. 8 is redrawn, communication configuration and hardware access scripts are modified, after the communication configuration and the hardware access scripts are issued, incremental updating of functions is performed in a self-adaptive manner, shutdown is not needed, and quick development and deployment of the software-defined sensing and control integrated application are realized.

The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention without requiring creative effort by one of ordinary skill in the art. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.

Claims (7)

1. The system is characterized by comprising a configuration programming platform and an operating environment, wherein the configuration programming platform is characterized by being web-shaped and modularized, mainly comprises an IDE component library and an IDE construction module, is deployed in a server, has the functions of easy expansion, customizable development, supporting synchronous development of a text programming language and a graphical programming language and interface debugging, and has the functions of decoupling a functional module, rapid reconfiguration of process requirements and dynamic update by virtualization;

after the application development is finished, using a containerized packaging module to respectively package programs with different functions into a sensing container, a computing container and a control container, and storing the sensing container, the computing container and the control container into a server;

the sensing container receives the input of a physical sensor, including input signal acquisition, storage, conversion, data cleaning and preprocessing;

The computing container can perform feature extraction, data fusion, identification, analysis and prediction on the input information;

the control container performs control law calculation, performance optimization, safety and abnormality alarm according to the input information, and needs to output a control signal to the actuator;

Filling information of a 'container fingerprint' data structure when the container packaging is carried out, wherein the information comprises category, function, performance, input, output and connection physical equipment identifiers, and collecting all container fingerprint information through a container packaging module;

After the development and packaging of different types of programs are finished, a user draws a process flow chart in the configuration programming platform, all edge controllers needing to execute the process are selected in the equipment tree to issue in batches, after the edge controllers receive the process flow chart, node analysis is carried out by a process analysis service to obtain all needed container nodes, node connection relations in the process flow chart are analyzed, hardware connection relations between the sensing container and the control container are extracted, then the hardware connection relations are sent to a container management service, container nodes in a mirror image warehouse are matched, containers corresponding to the associated nodes in the process flow chart are pulled into the edge controllers, and meanwhile, a communication configuration file and a hardware access script between the containers are automatically generated according to container fingerprints, the node connection relations and the hardware connection relations;

in the process flow diagram, each node represents a container or physical hardware equipment, the connection lines between the nodes represent data flow directions, and the nodes have at least one connection line in the process flow diagram;

When the process demand changes, a user updates a process flow chart in the configuration programming platform, judges the container information needing to be changed currently and the new container matching information through a container management service, pulls the new container from a server to all the edge controllers needing to be changed under the condition of no shutdown, adaptively modifies corresponding communication configuration parameters and hardware access configuration, removes the containers needing to be changed, generates a new communication configuration file and a hardware access script, and completes the complete update of the program corresponding to the new process flow.

2. The integrated design system for controlling and sensing software defined edge controller supporting synchronous development as set forth in claim 1, wherein at the beginning of development of project, user can select functional components needed for development of project in said IDE component library to generate integrated development environment containing only functions needed by project, instantiate into server, open up partial storage space for storing code file and resource file, bind said storage space in IDE resource manager, default project creating user as administrator, after IDE instantiation is completed, generate unique URL, multiple users can access internal network by using any operating system terminal, access same project by using URL, user can operate same program file in project, or operate different said program files respectively, display operating user name and operating position by synchronizing tool.

3. The integrated design system for software defined edge controller sensing and controlling supporting synchronous development according to claim 2, wherein the functional components mainly comprise source code editor components, compiler components, interpreter components, performance test components, document viewing components, resource management components of different programming languages, which are deployed to the server in a modularized manner to support embedding and removing in the web development framework;

The arbitrary operating system terminal comprises a desktop level operating system such as Windows, linux, and terminals of mobile level operating systems such as Android and IOS supporting browser application programs;

the internal network refers to a network under the same local area network with the server, and all devices accessed to the internal network should have the same network segment IP address;

The program file comprises two types of a texting program and a patterning program, the texting program and the patterning program are mapped and converted into unified intermediate data in the background of the server, and the text content or the graphic content is modified and the intermediate data are correspondingly changed;

when the synchronous tool is accessed by multiple users, an intermediate data copy is created for each user, the user name, the operation position and the operation content are recorded and fed back to the source file in real time, and content conflict or data inconsistency of multi-user modification is prevented through an optimistic lock or pessimistic lock mechanism.

4. A software defined edge controller sensory and control integrated design system supporting synchronous development as set forth in claim 3, wherein a plain text data format intermediate file is defined, for said textual programming language, programming language type and source code information are recorded in said intermediate file, for said graphical programming language, programming language type, location, connection relationship, input and output, and identifier information are recorded, said synchronization tool synchronizes with said intermediate file as a source file and renders all modifications to said source file to a user program file;

the text programming language comprises python, C/C++ high-level language and ST and IL languages specified in IEC 61131-3;

the graphical programming language comprises LD, FBD, SFC language specified in IEC 61131-3 and also comprises any graphical configuration language consisting of elements and connecting lines;

In the programming process, all available sensing, calculating and controlling equipment can be seen in the equipment tree, a basic operation interface is provided, unified management and test are carried out, and correct configuration of input and output of the program is facilitated;

The device tree is a device list registered through a device discovery component, all devices accessed to the edge controller in the invention comprise the edge controller itself which needs to define a device information model, the registered device information is actively registered to the device discovery component deployed on a server after the device discovery component is started and maintained for a long time, the device discovery component periodically sends a heartbeat detection signal to confirm the online state of the device, inquires the device name, address and the basic information of the online state from the device information model, renders the basic information in the device tree, and provides a basic operation method calling interface defined in the device information model.

5. The integrated design system for sensing and controlling software defined edge controller supporting synchronous development according to claim 4, wherein the category information in the container fingerprint data structure comprises three types of sensing, calculating and controlling, the function information comprises data acquisition, data analysis and control signal generation, the performance information comprises algorithm key parameters, processing delay, throughput and resource utilization, the input and output information comprises input data format, output data format, interface type and communication protocol, and the physical device identifier is a device name and address defined in a device information model.

6. The integrated design system for sensing and controlling software defined edge controller supporting synchronous development according to claim 5, wherein in the application development process, the access of the program files needs identification codes, which are divided into read-only and writable, and defined by the creator of the program files, the default creator is the administrator of the program files, when no setting is performed, all users can be read and written by default, other users can see all the directly accessible program files and encrypted program file identifications in a program tree, the program files are read or modified by inputting identification codes with different authorities to the encrypted program files, and simultaneously the user names and operations are synchronized to other user terminals, so that the collaboration security is improved;

The functions of the same program file and different program files are subjected to test information interaction through the interface debugging component, and the temporary storage of the return value of the upstream program is supported, so that the downstream program uses the true value for testing.

7. The integrated design system for software defined edge controller sensing and controlling supporting synchronous development according to claim 6, wherein the interface debugging component needs to bind and store the variable returned by the upstream program and the variable called by the downstream program, and when the returned variable is empty, the user can create the test value of the calling variable through the component; when the return variable is not empty, the user has two choices, the first can use the created call variable test value to carry out type consistency comparison and structure consistency comparison, the second can directly use the real return variable value to carry out the functional test of the downstream program, and provide log generation service record historical data;

And when the function block is modified by a user, testing the correctness of the function block as an interface of an upstream program and a downstream program through the interface debugging component, further testing the operation correctness of the function block of a given interface, if both the function block and the interface can pass through the interface debugging component, backing up the modification, otherwise marking the name of the function as red, when a program error occurs, providing a program recovery option, generating a version back strategy for modifying the quantity of the least functions based on the backup units of all the functions, aiming at successful operation, and backing back the selected functions to the content of the last successful backup.