A multi-channel collaborative metering method, system and device for granular propellant

Abstract

In order to solve the problem that the prior art has poor adaptability to the difference in feeding speed of each channel in the metering production of granular propellants for large-caliber ammunition, an embodiment of the present invention provides a multi-channel collaborative metering method, system and device for granular propellants, including: S1. Determine the preset value of the output to be counted of each channel according to the total number of single propellant particles to be metered and output; S2. Count the propellant particles output from each channel according to the preset value of the output to be counted of each channel, and obtain the actual count value of each channel; S3. Calculate the difference between the preset value of the output to be counted and the actual count value of each channel, and use a dynamic allocation algorithm to reset the preset value of the output to be counted of each channel to minimize the difference in the number of unoutput propellant particles between each channel and return to S2; S4. Determine whether all channels are turned off. If all channels are turned off, the metering is completed. The embodiment of the present invention realizes the dynamic allocation of propellant particles in each channel.

Description

Technical Field

[0001] The invention relates to a multi-channel cooperative metering method, system and device for granular propellant. Background Art

[0002] In the metering production of granular propellants for large-caliber ammunition such as artillery shells, the use of multi-channel collaborative joint metering can meet the rapid and accurate counting and metering production of a single large number of propellants. In order to achieve high-precision multi-channel joint metering and avoid the occurrence of drug jamming failures during the shutdown counting process, the method of independently controlling the shutdown of each channel based on the preset channel count value is an effective method.

[0003] In the algorithm for calculating and distributing the count set value of each channel according to the total count of a single propellant, the preset value distribution demand of multi-channel collaborative metering of granular propellant with zero deviation counting progress requirement can be met under the condition of uniform feeding.

[0004] However, this allocation method also has high requirements for the consistency of the feeding speed of each channel, and poor adaptability to the difference in the feeding speed of each channel. When the speed difference between each channel is large, it is easy to cause problems such as material accumulation and jamming in the counting channel. Summary of the invention

[0005] In order to solve the problem that the prior art has poor adaptability to the difference in feeding speed of each channel in the metering production of granular propellant for large-caliber ammunition, an embodiment of the present invention provides a multi-channel collaborative metering method, system and device for granular propellant.

[0006] The purpose of the embodiment of the present invention is achieved through the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a multi-channel collaborative metering method for granular propellant, comprising:

[0008] S1. Determine the preset value of each channel to be counted output according to the total number of single propellant particles to be measured and output;

[0009] S2. According to the preset values ​​to be counted outputted by each channel, the propellant particles outputted by each channel are counted to obtain the actual count value of each channel;

[0010] S3. Calculate the difference between the preset output value to be counted and the actual count value of each channel, and reset the preset output value to be counted of each channel using a dynamic allocation algorithm to minimize the difference in the number of unoutput propellant particles between each channel and return to S2;

[0011] S4. Determine whether all channels are turned off. If all channels are turned off, the measurement is completed.

[0012] Further, the S3 includes:

[0013] S31. Determine whether there is a channel in each channel whose output preset value to be counted is equal to the actual count value. If so, when the output preset value to be counted is equal to the actual count value, control the channel whose output preset value to be counted is equal to the actual count value to be turned off, and complete the count output of the channel;

[0014] S32. Calculate the difference between the preset value of the to-be-counted output and the actual count value of each channel, and determine whether there is a channel with a difference greater than zero among the channels. If so, reset the preset values ​​of the to-be-counted output of all the channels with a difference greater than zero to minimize the difference in the number of unoutputted propellant particles between all the channels with a difference greater than zero and return to S2.

[0015] Further, the S32 includes:

[0016] S321. Traverse and compare the differences of all channels to obtain the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference;

[0017] S322. If the difference between the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference is greater than or equal to 2, the preset value of the channel to be counted corresponding to the maximum difference -1 is set as the preset value of the channel to be counted corresponding to the maximum difference; the preset value of the channel to be counted corresponding to the minimum difference +1 is set as the preset value of the channel to be counted corresponding to the minimum difference and return to S321;

[0018] S323. If the difference in the number of unoutput propellant particles between the channels is the smallest, return to S2; otherwise, return to S321.

[0019] Further, the S31 includes:

[0020] When the preset value to be counted is equal to the actual count value, the channel whose preset value to be counted is equal to the actual count value is controlled to be turned off after a delay, thereby completing the count output of the channel.

[0021] In a second aspect, an embodiment of the present invention provides a multi-channel cooperative metering device for granular propellant for implementing the method, comprising: a plurality of metering channels;

[0022] Each metering channel includes:

[0023] A single-grain feeding mechanism, used to provide a material channel for conveying granular propellant and connected to a counting device; and

[0024] The counting device is arranged at the outlet of the material channel of the single-grain feeding mechanism and is used to count the propellant grains entering the counting device through the counting material channel.

[0025] Further, the counting device comprises:

[0026] A shut-off mechanism is provided at the inlet of the counting channel; and

[0027] A counting detection device is arranged in the counting channel and at the outlet of the counting channel;

[0028] The outlet of the counting channel is connected with the single-grain feeding mechanism.

[0029] In a third aspect, an embodiment of the present invention provides a multi-channel collaborative metering system for granular propellants, comprising:

[0030] A preset unit, used to determine the preset value to be counted output of each channel according to the total number of single propellant particles to be measured and output;

[0031] A counting and statistics unit, used for counting the propellant particles outputted from each channel respectively according to the preset values ​​to be counted outputted from each channel, so as to obtain the actual count value of each channel;

[0032] A dynamic allocation unit is used to calculate the difference between the preset output value to be counted and the actual count value of each channel, and reset the preset output value to be counted of each channel by using a dynamic allocation algorithm to minimize the difference in the number of unoutput propellant particles between each channel and return it to the counting and statistical unit;

[0033] The channel control unit is used to determine whether all channels are turned off and control the turning on and off of the channels.

[0034] Furthermore, the dynamic allocation unit also includes:

[0035] A channel judgment unit is used to judge whether there is a channel whose output preset value to be counted is equal to the actual count value among the channels, and if so, when the output preset value to be counted is equal to the actual count value, control the channel control unit to delay shutting down the channel whose output preset value to be counted is equal to the actual count value;

[0036] The channel difference calculation unit is used to calculate the difference between the preset value of the to-be-counted output of each channel and the actual count value, and to determine whether there is a channel with a difference greater than zero among the channels. If so, the preset values ​​of the to-be-counted output of all the channels with a difference greater than zero are reset to minimize the difference in the number of unoutputted propellant particles between all the channels with a difference greater than zero and return it to the counting and statistical unit.

[0037] Furthermore, the channel difference calculation unit further includes:

[0038] A traversal comparison unit, used for traversing and comparing the differences of all channels to obtain the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference;

[0039] A dynamic assignment unit is used for setting the preset value of the to-be-counted output of the channel corresponding to the maximum difference -1 as the preset value of the to-be-counted output of the channel corresponding to the maximum difference if the difference between the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference is greater than or equal to 2; setting the preset value of the to-be-counted output of the channel corresponding to the minimum difference +1 as the preset value of the to-be-counted output of the channel corresponding to the minimum difference and returning to the traversal comparison unit;

[0040] The difference comparison unit is used to compare the difference in the number of unoutputted propellant particles between each channel. If the difference in the number of unoutputted propellant particles between each channel is the smallest, it returns to the counting unit; otherwise, it returns to the traversal comparison unit.

[0041] In a fourth aspect, an embodiment of the present invention provides a multi-channel collaborative metering system for granular propellants, comprising a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the multi-channel collaborative metering method for granular propellants.

[0042] Compared with the prior art, the embodiments of the present invention have the following advantages and beneficial effects:

[0043] The embodiment of the present invention provides a multi-channel collaborative metering method, system and device for granular propellant. The preset value of the output to be counted of each channel is determined according to the total number of single propellant particles to be metered and output; the propellant particles output from each channel are counted according to the preset value of the output to be counted of each channel to obtain the actual count value of each channel; the difference between the preset value of the output to be counted and the actual count value of each channel is calculated, and the preset value of the output to be counted of each channel is reset by a dynamic allocation algorithm to minimize the difference in the number of unoutput propellant particles between each channel, thereby realizing the dynamic allocation of propellant particles in each channel to make the propellant particles in each channel more uniform, and completing the counting of all channels in a shorter time when the feeding of each channel is uneven. In addition, the embodiment of the present invention fundamentally avoids the occurrence of drug jamming failures during the shutdown counting process by delaying shutdown, thereby improving the reliability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 The figure is a flow chart of a multi-channel collaborative metering method for granular propellants.

[0046] Figure 2 The figure is a flow chart of another multi-channel collaborative metering method for granular propellants.

[0047] Figure 3 This is a schematic diagram of the principle structure of a multi-channel cooperative metering device for granular propellants.

[0048] Figure 4 It is a schematic diagram of the connection principle between the single-grain feeding mechanism and the counting channel.

[0049] Figure 5 Schematic diagram of the multi-channel collaborative metering system for granular propellants.

[0050] Marks and corresponding parts names in the attached drawings:

[0051] 1-single-grain feeding mechanism, 2-counting device, 11-first metering channel, 12-second metering channel, 13-Nth metering channel, 21-counting detection device, 22-shutoff mechanism, 23-counting channel. DETAILED DESCRIPTION

[0052] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0053] In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is apparent to one of ordinary skill in the art that these specific details are not necessarily employed to practice the present invention. In other embodiments, in order to avoid obscuring the present invention, well-known structures, circuits, materials, or methods are not specifically described.

[0054] Throughout the specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "one embodiment," "an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily all refer to the same embodiment or example. In addition, particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combination and / or sub-combination. In addition, it will be appreciated by those of ordinary skill in the art that the figures provided herein are for illustrative purposes and that the figures are not necessarily drawn to scale. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0055] In the description of the present invention, the directions or positional relationships indicated by terms such as “front”, “rear”, “left”, “right”, “up”, “down”, “vertical”, “horizontal”, “high”, “low”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the scope of protection of the present invention.

[0056] Example

[0057] The research and development scenario of the embodiment of the present invention is that when measuring granular propellant, each counting channel is allocated and preset with a preset output set value to be counted according to the total number of single propellant particles to be measured and output, and then each channel is independently counted and shut down controlled.

[0058] In order to solve the problem that the prior art has poor adaptability to the difference in feeding speed of each channel in the metering production of granular propellants for large-caliber ammunition, the embodiment of the present invention provides a multi-channel collaborative metering method, system and device for granular propellants. The following is an exemplary description using a server or a computer as the execution subject.

[0059] Specifically, in a first aspect, an embodiment of the present invention provides a multi-channel collaborative metering method for granular propellant, referring to Figure 1 and 2 As shown, including:

[0060] S1. Determine the preset value of each channel to be counted output according to the total number of single propellant particles to be measured and output;

[0061] S2. According to the preset values ​​to be counted outputted by each channel, the propellant particles outputted by each channel are counted to obtain the actual count value of each channel;

[0062] S3. Calculate the difference between the preset output value to be counted and the actual count value of each channel, and reset the preset output value to be counted of each channel using a dynamic allocation algorithm to minimize the difference in the number of unoutput propellant particles between each channel and return to S2;

[0063] S4. Determine whether all channels are turned off. If all channels are turned off, the measurement is completed.

[0064] Therefore, the embodiment of the present invention realizes the dynamic distribution of propellant particles in each channel, and can complete the counting of all channels in a shorter time when the feeding of each channel is uneven.

[0065] Further, the S3 includes:

[0066] S31. Determine whether there is a channel in each channel whose output preset value to be counted is equal to the actual count value. If so, when the output preset value to be counted is equal to the actual count value, control the channel whose output preset value to be counted is equal to the actual count value to be turned off, and complete the count output of the channel;

[0067] S32. Calculate the difference between the preset value of the to-be-counted output and the actual count value of each channel, and determine whether there is a channel with a difference greater than zero among the channels. If so, reset the preset values ​​of the to-be-counted output of all the channels with a difference greater than zero to minimize the difference in the number of unoutputted propellant particles between all the channels with a difference greater than zero and return to S2.

[0068] Further, the S31 includes:

[0069] When the preset value to be counted is equal to the actual count value, the channel whose preset value to be counted is equal to the actual count value is controlled to be turned off after a delay, thereby completing the count output of the channel.

[0070] The embodiment of the present invention fundamentally avoids the occurrence of drug jamming failure during the shutdown counting process by delaying shutdown, thereby improving the reliability of the device.

[0071] Optionally, the specific steps that can be executed by the computer in S3 are as follows:

[0072] ① According to the total number of single propellant particles to be measured and outputted, COUNT_SET, the preset output set values ​​to be counted for all N channels are COUNT_SET_1, COUNT_SET_1 to COUNT_SET_N;

[0073] ② When the actual count value COUNT_N of the counting channel N is equal to the preset count output set value COUNT_SET_N, after a delay of T_N milliseconds, the last particle flows out of the counting channel 2-3, and the shut-off mechanism 2-2 of the counting channel N extends out to shut off, completing the counting output of the channel;

[0074] ③ Calculate the difference E_N between the preset output setting value COUNT_SET_N to be counted and the actual count value COUNT_N of each channel, E_N = COUNT_SET_N-COUNT_N;

[0075] ④Redistribute the output set value COUNT_SET_N to be counted of each channel except the closed channel according to E_N, so that the difference between E_N of each channel is minimized.

[0076] ⑤ Repeat steps ② to ④ until all channels are counted, E_N (channel 1 to channel N) closes the channel, and the metering of the entire granular propellant is completed.

[0077] By dynamically allocating and iterating the preset value COUNT_SET_N of each channel, and dynamically adjusting the set value, the difference between each channel E_N is minimized, and finally the counting of all channels is ensured to be completed in the fastest time under the condition of uneven feeding of each channel. After the output set value COUNT_SET_N to be counted of all N channels is preset for the first time according to the number of single propellant particles COUNT_SET, each counting is compared with the current preset value COUNT_SET_N of each channel and the current count value COUNT_N, and the shutdown judgment and execution of each channel are performed, the preset output set value COUNT_SET_N to be counted of each channel of the non-shutdown channel is reset according to the difference E_N between the preset output set value COUNT_SET_N to be counted and the actual count value COUNT_N of each channel. And then the channel judgment is performed according to the new preset value, and the dynamic preset is realized, so that the difference between each channel E_N is minimized. Finally, the counting of all channels is ensured to be completed in the fastest time under the condition of uneven feeding of each channel.

[0078] The control cycle period of steps ① to ⑤ is no more than 50 microseconds, ensuring that the current output setting value to be counted COUNT_SET_N preset for each channel can be dynamically allocated in time and the on-off control of the channel can be performed.

[0079] Further, the S32 includes:

[0080] S321. Traverse and compare the differences of all channels to obtain the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference;

[0081] S322. If the difference between the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference is greater than or equal to 2, the preset value of the channel to be counted corresponding to the maximum difference -1 is set as the preset value of the channel to be counted corresponding to the maximum difference; the preset value of the channel to be counted corresponding to the minimum difference +1 is set as the preset value of the channel to be counted corresponding to the minimum difference and return to S321;

[0082] S323. If the difference in the number of unoutput propellant particles between the channels is the smallest, return to S2; otherwise, return to S321.

[0083] Optionally, the specific steps that can be executed by the computer in S32 are as follows:

[0084] ① Calculate the difference E_N between the current output setting value COUNT_SET_N preset for each channel and the actual count value COUNT_N, E_N = COUNT_SET_N-COUNT_N (N is all counting channels from 1 to N);

[0085] ② By comparing the difference E_N (from 1 to N), find the number of channels N corresponding to the maximum value of E_N ma The number of channels N corresponding to x and the minimum value (but greater than 0) min ;

[0086] ③E_N max -E_N min When it is greater than or equal to 2,

[0087] COUNT_SET_N max New value of COUNT_SET_N max_New Assign the old value COUNT_SET_N max -1;

[0088] COUNT_SET_N min New value of COUNT_SET_N min_New Assign the old value COUNT_SET_N min +1;

[0089] The setting values ​​of other channels COUNT_SET_N remain unchanged.

[0090] ④In other cases, the set value COUNT_SET_N of all channels remains unchanged.

[0091] When dynamically allocating the current output setting value COUNT_SET_N preset for each channel,

[0092] According to the difference E_N between the current output setting value COUNT_SET_N to be counted and the actual count value COUNT_N preset for each channel, the number of channels N corresponding to the maximum value of E_N is calculated in each control cycle. max The number of channels N corresponding to the minimum value min The next control cycle to be counted output set value COUNT_SET_N max and COUNT_SET_N min After multiple rapid cycles, the difference E_N of each channel is minimized.

[0093] The method steps have been successfully implemented in multi-channel collaborative metering production equipment for multiple sets of granular propellants. By adopting dynamic allocation, according to the detection feedback of each channel, the output set value COUNT_SET_N to be counted of each channel is timely and dynamically allocated and iterated, and the set value is dynamically adjusted to minimize the difference between E_N of each channel, and finally ensure that the counting of all channels is completed in the fastest time under the condition of uneven feeding of each channel.

[0094] In a second aspect, an embodiment of the present invention provides a multi-channel collaborative metering device for granular propellant to implement the method, referring to Figure 3 and 4 As shown, it includes multiple metering channels;

[0095] Each metering channel includes:

[0096] A single-grain feeding mechanism, used to provide a material channel for conveying granular propellant and connected to a counting device; and

[0097] The counting device is arranged at the outlet of the material channel of the single-grain feeding mechanism and is used to count the propellant grains entering the counting device through the counting material channel.

[0098] Further, the counting device comprises:

[0099] A shut-off mechanism is provided at the inlet of the counting channel; and

[0100] A counting detection device is arranged in the counting channel and at the outlet of the counting channel;

[0101] The outlet of the counting channel is connected with the single-grain feeding mechanism.

[0102] refer to Figure 3 and 4 As shown, the multi-channel cooperative metering device for granular propellant comprises a first metering channel 11, a second metering channel 12, ..., an Nth metering channel 13 arranged side by side and centrally; all metering channels adopt the same structure, and respectively include a single-grain feeding mechanism 1 and a counting device 2. The single-grain feeding mechanism 1 of each channel adopts an independent material channel, and the counting device 2 adopts independent detection and control. Optionally, the single-grain feeding mechanism 1 adopts a vibration conveying method to output the single-grain front-and-back arranged medicine grains to the counting device 2 in sequence.

[0103] The counting device 2 comprises a counting detection device 21, a shutoff mechanism 22 and a counting channel 23, and is used to count and output a fixed amount of medicine particles. The counting detection device 21 and the shutoff mechanism 22 are sequentially mounted on the counting channel 23 in a vertical direction.

[0104] The counting detection device 21 is used to detect the medicine pellets, and adopts a through-type detection method; the shut-off mechanism 21 is used to shut off the counting channel 23 after the counting is completed to prevent the excess medicine pellets from flowing out of the counting channel 23; the shut-off mechanism 21 adopts a telescopic shut-off method, driven by a cylinder, and can open the channel to allow the medicine pellets to flow out of the counting channel 23 when retracted, and shut off the counting channel to prevent excess medicine pellets from flowing out of the counting channel 23 when extended. The counting channel 23 is installed vertically with the single-grain feeding mechanism, and the entrance of the counting channel 23 is below the outlet of the single-grain feeding mechanism 1, serving as a channel for counting and flowing out medicine pellets.

[0105] In a third aspect, an embodiment of the present invention provides a multi-channel collaborative metering system for granular propellants, referring to Figure 5 As shown, including:

[0106] A preset unit, used to determine the preset value to be counted output of each channel according to the total number of single propellant particles to be measured and output;

[0107] A counting and statistics unit, used for counting the propellant particles outputted from each channel respectively according to the preset values ​​to be counted outputted from each channel, so as to obtain the actual count value of each channel;

[0108] A dynamic allocation unit is used to calculate the difference between the preset output value to be counted and the actual count value of each channel, and reset the preset output value to be counted of each channel by using a dynamic allocation algorithm to minimize the difference in the number of unoutput propellant particles between each channel and return it to the counting and statistical unit;

[0109] The channel control unit is used to determine whether all channels are turned off and control the turning on and off of the channels.

[0110] Furthermore, the dynamic allocation unit also includes:

[0111] A channel judgment unit is used to judge whether there is a channel whose output preset value to be counted is equal to the actual count value among the channels, and if so, when the output preset value to be counted is equal to the actual count value, control the channel control unit to delay shutting down the channel whose output preset value to be counted is equal to the actual count value;

[0112] The channel difference calculation unit is used to calculate the difference between the preset value of the to-be-counted output of each channel and the actual count value, and to determine whether there is a channel with a difference greater than zero among the channels. If so, the preset values ​​of the to-be-counted output of all the channels with a difference greater than zero are reset to minimize the difference in the number of unoutputted propellant particles between all the channels with a difference greater than zero and return it to the counting and statistical unit.

[0113] Furthermore, the channel difference calculation unit further includes:

[0114] A traversal comparison unit, used for traversing and comparing the differences of all channels to obtain the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference;

[0115] A dynamic assignment unit is used for setting the preset value of the to-be-counted output of the channel corresponding to the maximum difference -1 as the preset value of the to-be-counted output of the channel corresponding to the maximum difference if the difference between the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference is greater than or equal to 2; setting the preset value of the to-be-counted output of the channel corresponding to the minimum difference +1 as the preset value of the to-be-counted output of the channel corresponding to the minimum difference and returning to the traversal comparison unit;

[0116] The difference comparison unit is used to compare the difference in the number of unoutputted propellant particles between each channel. If the difference in the number of unoutputted propellant particles between each channel is the smallest, it returns to the counting unit; otherwise, it returns to the traversal comparison unit.

[0117] The principle is the same as the method, so I won’t go into details here.

[0118] In a fourth aspect, an embodiment of the present invention provides a multi-channel collaborative metering system for granular propellants, comprising a memory, a processor and a transceiver that are communicatively connected in sequence, wherein the memory is used to store computer programs, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the multi-channel collaborative metering method for granular propellants.

[0119] The principle is the same as the method, so I won’t go into details here.

[0120] Thus, the embodiment of the present invention determines the preset value of the output to be counted of each channel according to the total number of single propellant particles to be metered and output; counts the propellant particles output from each channel according to the preset value of the output to be counted of each channel to obtain the actual count value of each channel; calculates the difference between the preset value of the output to be counted and the actual count value of each channel, and uses a dynamic allocation algorithm to reset the preset value of the output to be counted of each channel to minimize the difference in the number of unoutput propellant particles between each channel, thereby achieving dynamic allocation of propellant particles in each channel to make the propellant particles in each channel more uniform, and can complete the counting of all channels in a shorter time when the feeding of each channel is uneven. In addition, the embodiment of the present invention fundamentally avoids the occurrence of drug jam failure during the shutdown counting process by delaying shutdown, thereby improving the reliability of the equipment.

[0121] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-channel collaborative metering method for granular propellants, characterized in that: include: S1. Determine the preset value of each channel to be counted output according to the total number of single propellant particles to be measured and output; S2. According to the preset values ​​to be counted outputted by each channel, the propellant particles outputted by each channel are counted to obtain the actual count value of each channel; S3. Calculate the difference between the preset output value to be counted and the actual count value of each channel, and reset the preset output value to be counted of each channel using a dynamic allocation algorithm to minimize the difference in the number of unoutput propellant particles between each channel and return to S2; S4. Determine whether all channels are turned off. If all channels are turned off, the measurement is completed; The S3 includes: S31. Determine whether there is a channel in each channel whose output preset value to be counted is equal to the actual count value. If so, when the output preset value to be counted is equal to the actual count value, control the channel whose output preset value to be counted is equal to the actual count value to be turned off, and complete the count output of the channel; S32. Calculate the difference between the preset value to be counted and the actual count value of each channel, and determine whether there is a channel with a difference greater than zero among the channels. If so, reset the preset values ​​to be counted of all channels with a difference greater than zero so that the difference in the number of unoutputted propellant particles between all channels with a difference greater than zero is minimized and return to S2; The S32 includes: S321. Traverse and compare the differences of all channels to obtain the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference; S322. If the difference between the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference is greater than or equal to 2, the preset value of the channel to be counted corresponding to the maximum difference -1 is set as the preset value of the channel to be counted corresponding to the maximum difference; the preset value of the channel to be counted corresponding to the minimum difference +1 is set as the preset value of the channel to be counted corresponding to the minimum difference and return to S321; S323. If the difference in the number of unoutput propellant particles between the channels is the smallest, return to S2; otherwise, return to S321.

2. The multi-channel collaborative metering method for granular propellant as claimed in claim 1, characterized in that: The step S31 includes: when the preset value to be counted and the actual count value are equal, controlling the channel whose preset value to be counted and the actual count value are equal to be turned off after a delay, so as to complete the count output of the channel.

3. A multi-channel cooperative metering device for granular propellant for implementing the method described in any one of claims 1 to 2, characterized in that: include: Multiple metering channels; Each metering channel includes: a single-grain feeding mechanism for providing a material path for conveying granular propellant and connected to a counting device; as well as The counting device is arranged at the outlet of the material channel of the single-grain feeding mechanism and is used to count the propellant grains entering the counting device through the counting material channel.

4. The multi-channel cooperative metering device for granular propellant as claimed in claim 3, characterized in that: The counting device comprises: A shut-off mechanism is provided at the inlet of the counting channel; and A counting detection device is arranged in the counting channel and at the outlet of the counting channel; The outlet of the counting channel is connected with the single-grain feeding mechanism.

5. A multi-channel collaborative metering system for granular propellants, characterized in that: include: A preset unit, used to determine the preset value to be counted output of each channel according to the total number of single propellant particles to be measured and output; A counting and statistics unit, used for counting the propellant particles outputted from each channel respectively according to the preset values ​​to be counted outputted from each channel, so as to obtain the actual count value of each channel; A dynamic allocation unit is used to calculate the difference between the preset output value to be counted and the actual count value of each channel, and reset the preset output value to be counted of each channel by using a dynamic allocation algorithm to minimize the difference in the number of unoutput propellant particles between each channel and return it to the counting and statistical unit; A channel control unit is used to determine whether all channels are shut down and control the shut down and opening of the channels; The dynamic allocation unit also includes: A channel judgment unit is used to judge whether there is a channel whose output preset value to be counted is equal to the actual count value among the channels, and if so, when the output preset value to be counted is equal to the actual count value, control the channel control unit to delay shutting down the channel whose output preset value to be counted is equal to the actual count value; A channel difference calculation unit is used to calculate the difference between the preset value to be counted and the actual count value of each channel, and determine whether there is a channel with a difference greater than zero among the channels. If so, reset the preset values ​​to be counted of all the channels with a difference greater than zero so that the difference in the number of unoutputted propellant particles between all the channels with a difference greater than zero is minimized and return the result to the counting unit; The channel difference calculation unit further includes: A traversal comparison unit, used for traversing and comparing the differences of all channels to obtain the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference; A dynamic assignment unit is used for setting the preset value of the to-be-counted output of the channel corresponding to the maximum difference -1 as the preset value of the to-be-counted output of the channel corresponding to the maximum difference if the difference between the number of channels corresponding to the maximum difference and the number of channels corresponding to the minimum difference is greater than or equal to 2; setting the preset value of the to-be-counted output of the channel corresponding to the minimum difference +1 as the preset value of the to-be-counted output of the channel corresponding to the minimum difference and returning to the traversal comparison unit; The difference comparison unit is used to compare the difference in the number of unoutputted propellant particles between each channel. If the difference in the number of unoutputted propellant particles between each channel is the smallest, it returns to the counting unit; otherwise, it returns to the traversal comparison unit.

6. A multi-channel collaborative metering system for granular propellants, characterized in that: It comprises a memory, a processor and a transceiver which are communicatively connected in sequence, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program to execute the multi-channel collaborative metering method for granular propellant as claimed in any one of claims 1-2.

Images