A wireless detonation control system and a clock synchronization method

Abstract

The present invention discloses a wireless detonation control system and a clock synchronization method, which includes a host computer, a control module and n detonating modules connected in parallel, where n≥1 and is a positive integer; the host computer is wirelessly connected to the n detonating modules through the control module, and each detonating module is correspondingly connected to an initiator. This system uses a wireless communication mode for signal transmission, reducing the difficulty of network deployment and saving costs; at the same time, the control module is small in volume and easy to carry; the detonating module adopts a double-layer structure, reducing the volume while integrating various modules and lowering costs; at the same time, the present invention synchronizes the clocks in different states of the control module and the detonating module by using the broadcast synchronization and individual synchronization modes, with low energy consumption and high synchronization efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent fire control, and particularly relates to a wireless detonation control system and a clock synchronization method. Background Art

[0002] In the application scenarios of initiators, due to the stability and reliability of wired networks, wired communication methods are often adopted. However, their network deployment is difficult and the cost is relatively high. Currently, the development of wireless communication technology is relatively fast. In the technical solutions of wireless detonation, the most critical technical index is the synchronization of detonation time. Therefore, it is of great significance to study the time synchronization of wireless detonation.

[0003] Currently, there are technical solutions for wireless communication clock synchronization such as the TPSN algorithm, RBS algorithm, DMTS algorithm, FTSP algorithm, and GPS time service, etc., but they all have their own defects. The TPSN algorithm performs synchronization through the two-way communication between the sender and the receiver, which can effectively eliminate the influence of message transmission delay. However, as the number of network levels increases, the communication energy consumption overhead becomes larger. The RBS algorithm performs synchronization through the communication between receivers and is often used in multi-hop network structures and is not applicable to single-hop star network structures. The DMTS algorithm is a one-way synchronization between the sender and the receiver, and the synchronization effect is poor. The FTSP algorithm is multiple one-way synchronizations between the sender and the receiver, with low energy consumption and good synchronization effect, but it is only applicable to reliable communication environments. GPS time service can obtain relatively accurate absolute time, but it increases the cost and has low integration. Summary of the Invention

[0004] Aiming at the problem of low clock synchronization efficiency of wireless detonation in the prior art, the present invention proposes a wireless detonation control system and a clock synchronization method, which realize the clock synchronization between the control module and the detonation module through a wireless communication mode, reduce the cost while improving the clock synchronization efficiency.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A wireless detonation control system includes a host computer, a control module, and n parallel detonation modules, where n≥1 and is a positive integer; the host computer is wirelessly connected to the control module and the n detonation modules respectively, and each detonation module is correspondingly connected to an initiator.

[0007] Preferably, the communication between the host computer and the control module adopts point-to-point communication based on RS485-Modbus; the communication between the control module and the detonation module adopts star network self-organizing communication based on the GFSK private protocol.

[0008] Preferably, the host computer is provided with: 1 AC input port for power supply and backup battery charging; 1 indicator light for status display; 2 USB interfaces for peripheral device connection and data extraction; 1 RS485 interface for connecting to the control module; 1 deprotection enable switch for operating the control module deprotection; 1 power on / off button.

[0009] Preferably, the control module includes a power circuit, an RS485 control module, a wireless communication chip and a first antenna; the first input end of the wireless communication chip is connected to the RS485 interface of the host computer through the RS485 control module; the second input end of the wireless communication chip is connected to the 5V external voltage through the power circuit; the wireless communication chip is physically connected to the deprotection enable switch of the host computer.

[0010] Preferably, the initiating module is used to receive the control instructions of the control module to perform corresponding status detection, boost charging, and ignition; the initiating module includes a control board and a discharge board, and the control board and the discharge board are connected by copper row pins, and the copper row pins play a role in connection fixation and signal connection.

[0011] Preferably, the control board is integrated with a power supply, an MCU, a second antenna and a boost circuit; the discharge board is integrated with an energy storage unit, a discharge switch, an internal resistance acquisition circuit, and a pressure relief circuit;

[0012] The second antenna is bidirectionally connected to the first input end of the MCU, the output end of the MCU is connected to the input end of the boost circuit, the output end of the boost circuit is connected to the input end of the energy storage unit, the output end of the energy storage unit is connected to the input end of the discharge switch, and the output end of the discharge switch is connected to the initiator;

[0013] The input end of the internal resistance acquisition circuit is connected to the initiator, and the output end of the internal resistance acquisition circuit is connected to the second input end of the MCU; the output end of the energy storage unit is also connected to the pressure relief circuit.

[0014] Preferably, the status detection of the initiating module includes safety, combat and ignition:

[0015] When the initiating module receives a safety instruction, the boost circuit and the discharge switch are disconnected, the energy storage unit discharges electrical energy through the pressure relief circuit, the status switches to safety, and a safety response is executed; when the initiating module receives a combat instruction, the energy storage unit is charged, the ignition delay time is set, the status switches to combat, and a combat response is executed, waiting for an ignition instruction. If the ignition instruction waiting time is greater than 30s, it exits the combat state and returns to the safety state; when the initiating module receives an ignition instruction, it starts counting down according to the ignition delay time. When the counting time is up, the charging of the energy storage unit is turned off, the ignition operation is completed, and the status switches to safety.

[0016] The present invention also provides a clock synchronization method for a wireless detonation control system, including a broadcast synchronization mode:

[0017] When the detonation module is in a safe state, the control module broadcasts and issues two clock synchronization frames T a1 、T a2 ,After the detonation module receives the synchronization frames T b1 、T b2 ,The detonation module calculates the link delay T 偏移1 between itself and the control module in the broadcast synchronization mode according to formula (1), and the control module sends a clock alignment frame T a3 to the detonation module, and the detonation module adjusts its own clock to align automatically with the control module clock according to formula (2) T b3’ ;

[0018]

[0019] T b3’ =T a3 +T 偏移1 (2)

[0020] In formulas (1) and (2), T 偏移1 represents the link delay between the detonation module and the control module in the broadcast synchronization mode; T a1 represents the first clock synchronization frame broadcast and issued by the control module; T a2 represents the second clock synchronization frame broadcast and issued by the control module; T b1 represents the first synchronization frame received by the detonation module through broadcast; T b2 represents the second synchronization frame received by the detonation module through broadcast; T b3’ represents the clock alignment moment between the detonation module and the control module; T a3 represents the clock alignment frame sent by the control module.

[0021] Preferably, it further includes an individual synchronization mode:

[0022] The control module sends a combat command at time T a4 ,The detonation module receives the combat command at time T b4 ,First, it judges whether the clocks of the detonation module and the control module are aligned, that is, whether formula (3) is satisfied; if so, the detonation module sends a combat response at time T b5’ and enters the combat state, waiting for the ignition command; if not, the detonation module sends a synchronization response at time T b5’ ,After the control module receives the synchronization response at time T a5 ,It sends a synchronization request frame to the detonation module at time T a6 ,After the detonation module receives the synchronization request frame at time T b6 ,At T b7Feedback the synchronization response frame to the control module at all times. The control module receives the synchronization response frame at time T b7 and calculates the link delay T in the individual synchronization mode according to formula (4). 偏移2 After that, the control module sends a clock alignment frame to the detonator module at time T a8 . The detonator module receives the clock alignment frame and aligns its own clock with the control module's clock according to formula (5). b8’ ;

[0023] T b4 = T a4 + T 偏移1 (3)

[0024]

[0025] T b8’ = T a8 + T 偏移2 (5)

[0026] In formulas (3), (4), and (5), T b4 represents the moment when the detonator module receives the combat instruction; T a4 represents the moment when the control module sends the combat instruction; T 偏移1 represents the link delay between the detonator module and the control module in the broadcast synchronization mode; T 偏移2 represents the link delay between the detonator module and the control module in the individual synchronization mode; T a6 represents the moment when the control module sends the synchronization request frame; T b6 represents the moment when the detonator module receives the synchronization request frame; T b7 represents the moment when the detonator module feeds back the synchronization response frame; T a7 represents the moment when the control module receives the synchronization response frame; T b8’ represents the synchronization moment between the detonator module and the control module; T a8 represents the moment when the control module sends the clock alignment frame.

[0027] In summary, due to the adoption of the above technical solutions, compared with the prior art, the present invention has at least the following beneficial effects:

[0028] The present system uses a wireless communication mode for signal transmission, reducing the difficulty of network deployment and saving costs; at the same time, the control module is small in size and easy to carry; the detonator module adopts a double-layer structure, reducing the volume while integrating various modules and reducing costs;

[0029] At the same time, the present invention uses broadcast synchronization and individual synchronization modes to synchronize the clocks of different states of the control module and the detonator module, with low energy consumption and high synchronization efficiency. Brief Description of the Drawings

[0030] Figure 1 Schematic diagram of a wireless detonation control system according to an exemplary embodiment of the present invention.

[0031] Figure 2 Schematic diagram of the principle of the control module according to an exemplary embodiment of the present invention.

[0032] Figure 3 Schematic diagram of the principle of the detonation module according to an exemplary embodiment of the present invention.

[0033] Figure 4 Schematic diagram of the clock broadcast synchronization mode according to an exemplary embodiment of the present invention.

[0034] Figure 5 Schematic diagram of the clock individual synchronization mode according to an exemplary embodiment of the present invention. Detailed implementation manners

[0035] The present invention will be further described in detail below in conjunction with embodiments and specific implementation manners. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments. Any technology implemented based on the content of the present invention belongs to the scope of the present invention.

[0036] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0037] As Figure 1 shown, the present invention provides a wireless detonation control system, including a host computer, a control module, and n (n≥1, and is a positive integer) parallel detonation modules; the host computer is wirelessly connected to the control module and n detonation modules respectively, and each detonation module is independently connected to an initiator. The host computer and the control module use point-to-point communication based on RS485-Modbus; the control module and the detonation modules use a star network self-organizing communication method based on the GFSK private protocol.

[0038] In this embodiment, the host computer has a human-computer interaction function and can interact with users. The host computer also has a backup power supply function and can work continuously for more than 3 hours.

[0039] In this embodiment, the host computer is provided with 1 AC input port for power supply and charging of the backup battery; 1 indicator light for status display; 2 USB interfaces for connecting peripheral devices and data extraction; 1 RS485 interface for connecting to the control module; 1 de-protection enable switch for operating the de-protection of the control module; and 1 power-on / off button.

[0040] In this embodiment, the control module receives power supply and commands from the host computer, forwards the control commands of the host computer, periodically queries the detonation module and its own status, and feeds back to the host computer.

[0041] As Figure 2 shown, the control module includes a power circuit (existing), an RS485 control module, a wireless communication chip, and a first antenna. The first input end of the wireless communication chip is connected to the RS485 interface of the host computer through the RS485 control module; the second input end of the wireless communication chip is connected to the 5V external voltage through the power circuit; the wireless communication chip is physically connected to the de-protection enable switch of the host computer.

[0042] In this embodiment, the detonation module is used to receive the control instructions of the control module to perform corresponding status detections (status includes safe, combat, and ignition), boost charging, ignition, etc. operations, and includes a control board and a discharge board. The control board and the discharge board are connected by copper row pins, and the copper row pins play the role of connection fixation and signal connection; the detonation module is installed on the housing by screws, and the final overall size is Φ23mm×18.5mm.

[0043] The control board is integrated with a power supply, an MCU, a second antenna, and a boost circuit; the discharge board is integrated with an energy storage unit, a discharge switch, an internal resistance acquisition circuit, a pressure relief circuit, etc.

[0044] As Figure 3 shown, the second antenna and the first input end of the MCU are bidirectionally connected, the power supply provides working voltage for each module, the output end of the MCU is connected to the input end of the boost circuit, the output end of the boost circuit is connected to the input end of the energy storage unit, the output end of the energy storage unit is connected to the input end of the discharge switch, and the output end of the discharge switch is connected to the initiator; at the same time, the input end of the internal resistance acquisition circuit is connected to the initiator to detect the internal resistance, and the output end of the internal resistance acquisition circuit is connected to the second input end of the MCU; the output end of the energy storage unit is also connected to the pressure relief circuit to release the electric energy stored in the energy storage unit.

[0045] The working principle is as follows: The second antenna receives the detonation instruction sent by the control module and sends it to the MCU. After receiving the detonation instruction, the MCU sends a signal to the boost circuit to boost the voltage. The discharge switch (which can use a MOS transistor) conducts (the excess electrical energy is stored in the energy storage unit, which can use a capacitor), and the pyrotechnic device is powered on. The internal resistance acquisition circuit is used to collect the internal resistance of the pyrotechnic device in real time and send it to the MCU, and finally send it to the upper computer for storage and analysis to realize real-time internal resistance detection.

[0046] In this embodiment, the status detection of the detonation module includes safety, combat, and ignition.

[0047] When the detonation module receives a safety instruction, the boost circuit and the discharge switch are disconnected, and the energy storage unit discharges the electrical energy through the pressure relief circuit (for example, complete the discharge within 100 ms), the status switches to safety, and a safety response is executed. When the detonation module receives a combat instruction, the energy storage unit is charged, the ignition delay time is set (for example, 500 ms), the status switches to combat, and a combat response is executed; wait for the ignition instruction. If the waiting time for the ignition instruction is greater than 30 s, it exits the combat state and returns to the safety state. When the detonation module receives an ignition instruction, it starts counting down according to the ignition delay time. When the counting time (for example, 65530 ms) arrives, the charging of the energy storage unit is turned off, the ignition operation is completed, and the status switches to safety.

[0048] In the wireless detonation control system, the ignition synchronization between detonation modules is one of the key indicators. Combining the advantages and disadvantages of the TPSN and FTSP algorithms, the present invention proposes a clock synchronization method for the wireless detonation control system, including the following steps:

[0049] As Figure 4 shown, for the broadcast synchronization mode: The detonation module is in the safety state, and the control module broadcasts and publishes 2 clock synchronization frames T a1 、T a2 . The detonation module receives the synchronization frames T b1 、T b2 . The detonation module calculates the link delay T 偏移1 between itself and the control module in the broadcast synchronization mode according to formula (1). The control module sends a clock alignment frame T a3 to the detonation module, and the detonation module adjusts its own clock to automatically align with the control module clock according to formula (2) T b3’ .

[0050]

[0051] T b3’ =T a3 +T 偏移1 (2)

[0052] In formulas (1) and (2), T 偏移1Indicates the link delay between the initiation module and the control module in the broadcast synchronization mode; T a1 Indicates the first clock synchronization frame broadcast and issued by the control module; T a2 Indicates the second clock synchronization frame broadcast and issued by the control module; T b1 Indicates the first synchronization frame broadcast and received by the initiation module; T b2 Indicates the second synchronization frame broadcast and received by the initiation module; T b3’ Indicates the clock alignment moment between the initiation module and the control module; T a3 Indicates the clock alignment frame sent by the control module.

[0053] As Figure 5 shown, in the individual synchronization mode: when the control module sends a combat instruction, it first checks whether the clocks of the control module and the initiation module are synchronized; if the clocks of both are synchronized, the initiation module enters the combat state and waits for the ignition instruction; otherwise, the initiation module does not enter the combat state and waits to enter the combat state after clock synchronization. The control module makes the clock of the initiation module align with its own through the individual synchronization method.

[0054] The control module sends a combat instruction at time T a4 , and the initiation module receives the combat instruction at time T b4 . First, it judges whether the clocks of the initiation module and the control module are aligned, that is, whether the formula (3) is satisfied; if so, the initiation module sends a combat response at time T b5’ and enters the combat state, waiting for the ignition instruction; if not, the initiation module sends a synchronization response at time T b5’ . After the control module receives the synchronization response at time T a5 , it sends a synchronization request frame to the initiation module at time T a6 . After the initiation module receives the synchronization request frame at time T b6 , it feeds back a synchronization response frame to the control module at time T b7 . The control module receives the synchronization response frame at time T b7 , calculates the link delay T 偏移2 in the individual synchronization mode according to formula (4), and then the control module sends a clock alignment frame to the initiation module at time T a8 . The initiation module receives the clock alignment frame and aligns its own clock with the control module's clock according to formula (5) T b8’ .

[0055] T b4 =T a4 +T 偏移1 (3)

[0056]

[0057] T b8’ =Ta8 +T 偏移2 (5)

[0058] In Formulas (3), (4), and (5), T b4 represents the moment when the detonation module receives the combat instruction; T a4 represents the moment when the control module sends the combat instruction; T 偏移1 represents the link delay between the detonation module and the control module in the broadcast synchronization mode; T 偏移2 represents the link delay between the detonation module and the control module in the individual synchronization mode; T a6 represents the moment when the control module sends the synchronization request frame; T b6 represents the moment when the detonation module receives the synchronization request frame; T b7 represents the moment when the detonation module sends the synchronization response frame; T a7 represents the moment when the control module receives the synchronization response frame; T b8’ represents the synchronization moment between the detonation module and the control module; T a8 represents the moment when the control module sends the clock alignment frame.

[0059] Those of ordinary skill in the art can understand that the above embodiments are specific examples for implementing the present invention, and in practical applications, various changes can be made in form and details without departing from the spirit and scope of the present invention.

Claims

1. A clock synchronization method for a wireless detonation control system, characterized in that, It includes a host computer, a control module, and n parallel detonating modules, where n≥1 and n is a positive integer; the host computer is wirelessly connected to the control module and the n detonating modules respectively, and each detonating module is correspondingly connected to an initiating explosive device; The detonating module is used to receive the control instructions from the control module to perform corresponding status detection, boost charging, and ignition; The status detection of the detonating module includes safety, combat, and ignition: When the detonating module receives a safety instruction, the boost circuit and the discharge switch are disconnected, the energy storage unit discharges the electrical energy through the pressure relief circuit, the status switches to safety, and a safety response is executed; when the detonating module receives a combat instruction, the energy storage unit is charged, the ignition delay time is set, the status switches to combat, and a combat response is executed, waiting for an ignition instruction. If the waiting time for the ignition instruction is greater than 30s, it exits the combat state and returns to the safety state; when the detonating module receives an ignition instruction, it starts counting down according to the ignition delay time. When the counting time is up, the charging of the energy storage unit is turned off, the ignition operation is completed, and the status switches to safety; It includes a broadcast synchronization mode: When the detonation module is in a safe state, the control module broadcasts and publishes two clock synchronization frames T a1 and T a2 . After receiving the synchronization frames T b1 and T b2 , the detonation module calculates the link delay T 偏移1 between itself and the control module in the broadcast synchronization mode according to formula (1). Then, the control module sends a clock alignment frame T a3 to the detonation module, and the detonation module adjusts its own clock to automatically align with the control module's clock according to formula (2)T b3’ ; T b3’ = T a3 + T 偏移1 (2) In Formulas (1) and (2), T 偏移1 represents the link delay between the initiation module and the control module in the broadcast synchronization mode; T a1 represents the first clock synchronization frame broadcast and issued by the control module; T a2 represents the second clock synchronization frame broadcast and issued by the control module; T b1 represents the first synchronization frame broadcast and received by the initiation module; T b2 represents the second synchronization frame broadcast and received by the initiation module; T b3’ represents the clock alignment moment between the initiation module and the control module; T a3 represents the clock alignment frame sent by the control module.

2. The clock synchronization method according to claim 1, wherein It also includes an individual synchronization mode: The control module sends a combat command at time T a4 The detonation module receives the combat command at time T b4 First, it determines whether the clocks of the detonation module and the control module are aligned, that is, whether the formula (3) is satisfied; if so, the detonation module sends a combat response at time T b5’ and enters the combat state, waiting for the ignition command; if not, the detonation module sends a synchronization response at time T b5’ The control module receives the synchronization response at time T a5 and then sends a synchronization request frame to the detonation module at time T a6 The detonation module sends a synchronization response frame to the control module at time T b6 after receiving the synchronization request frame at time T b7 The control module receives the synchronization response frame at time T b7 and calculates the link delay T 偏移2 in the separate synchronization mode according to formula (4). Then, the control module sends a clock alignment frame to the detonation module at time T a8 The detonation module receives the clock alignment frame and aligns its own clock with the control module's clock according to formula (5) at time T b8’ ; T b4 = T a4 + T 偏移1 (3) T b8’ = T a8 + T 偏移2 (5) In Formulas (3), (4), and (5), T b4 represents the moment when the detonation module receives the combat instruction; T a4 represents the moment when the control module sends the combat instruction; T 偏移1 represents the link delay between the detonation module and the control module in the broadcast synchronization mode; T 偏移2 represents the link delay between the detonation module and the control module in the individual synchronization mode; T a6 represents the moment when the control module sends the synchronization request frame; T b6 represents the moment when the detonation module receives the synchronization request frame; T b7 represents the moment when the detonation module feeds back the synchronization response frame; T a7 represents the moment when the control module receives the synchronization response frame; T b8’ represents the synchronization moment between the detonation module and the control module; T a8 represents the moment when the control module sends the clock alignment frame.

3. The clock synchronization method of a wireless detonation control system as claimed in claim 1, wherein The communication between the host computer and the control module is a point-to-point communication based on RS485-Modbus; the communication between the control module and the detonating modules is a star network self-organizing communication based on the GFSK private protocol.

4. The clock synchronization method of a wireless initiation control system according to claim 3, characterized in that, The host computer is provided with: 1 AC input port for power supply and charging of the backup battery; 1 indicator light for status display; 2 USB interfaces for connecting peripheral devices and data extraction; 1 RS485 interface for connecting the control module; 1 arming enable switch for operating the arming of the control module; 1 power on / off button.

5. The clock synchronization method of a wireless detonation control system according to claim 3, characterized in that, The control module includes a power supply circuit, an RS485 control module, a wireless communication chip, and a first antenna; the first input end of the wireless communication chip is connected to the RS485 interface of the host computer through the RS485 control module; the second input end of the wireless communication chip is connected to the 5V external voltage through the power supply circuit; the wireless communication chip is physically connected to the arming enable switch of the host computer.

6. The clock synchronization method of a wireless detonation control system according to claim 3, wherein, The detonating module includes a control board and a discharge board, and the control board and the discharge board are connected by copper row pins, and the copper row pins play a role in connection fixation and signal connection.

7. The clock synchronization method of a wireless detonation control system according to claim 6, characterized in that, The control board is integrated with a power supply, an MCU, a second antenna, and a boost circuit; the discharge board is integrated with an energy storage unit, a discharge switch, an internal resistance acquisition circuit, and a pressure relief circuit; The second antenna is bidirectionally connected to the first input end of the MCU, the output end of the MCU is connected to the input end of the boost circuit, the output end of the boost circuit is connected to the input end of the energy storage unit, the output end of the energy storage unit is connected to the input end of the discharge switch, and the output end of the discharge switch is connected to the initiating explosive device; The input end of the internal resistance acquisition circuit is connected to the initiating explosive device, and the output end of the internal resistance acquisition circuit is connected to the second input end of the MCU; the output end of the energy storage unit is also connected to the pressure relief circuit.

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