A synchronous delivery control system

Abstract

The present application relates to a synchronous delivery control system, which includes a central control module and at least two delivery control devices, wherein the delivery control device includes a limit signal acquisition module, a signal conditioning module, a signal processing module, a communication and protection module, and a motor drive module. The central control module is used to send control instructions to at least two delivery control devices. The signal processing module is used to receive the control instructions sent by the central control module and control the motor drive module to trigger the delivered device according to the control instructions. The limit signal acquisition module is used to collect the limit signal of the delivered device and send the limit signal to the signal conditioning module. The signal conditioning module is used to receive and condition the limit signal and send the conditioned limit signal to the signal processing module. The present application can accurately and synchronously control the release and unlocking functions of the drive mechanism of the delivered device, thereby improving the reliability and safety of the synchronous delivery control system.

Description

Technical Field

[0001] The present application relates to the field of system control technology, and in particular to a synchronous delivery control system. Background Art

[0002] Traditional delivery control systems typically use the impact force of explosives to disarm and unlock. This is cumbersome to install and maintain, with low reliability and significant safety hazards. Cleaning the delivery system after use is difficult and labor-intensive, impacting efficiency. New delivery control systems utilize motors. Due to the specific product requirements, the delivery control system requires features such as a stall function, high control synchronization accuracy, and a compact, highly reliable design. Therefore, a DC torque motor is employed. However, the soft mechanical properties of DC torque motors, where speed changes with load, make it difficult to precisely synchronize the disarming and unlocking functions of the delivery device's drive mechanism. Summary of the Invention

[0003] Based on this, the present application provides a synchronous delivery control system that can accurately and synchronously control the release and unlocking functions of the driving mechanism of the delivered device, thereby improving the reliability and safety of the synchronous delivery control system.

[0004] The present application provides a synchronous delivery control system, which includes a central control module and at least two delivery control devices, wherein the central control module is connected to the at least two delivery control devices; wherein the delivery control device includes a limit signal acquisition module, a signal conditioning module, a signal processing module, a communication and protection module, and a motor drive module;

[0005] A central control module connected to the communication and protection modules of at least two delivery control devices, and configured to send control instructions to the at least two delivery control devices;

[0006] The signal processing module is connected to the communication and protection module and the motor drive module respectively, and is used to receive the control instructions sent by the central control module and control the motor drive module to trigger the delivery device according to the control instructions;

[0007] The limit signal acquisition module is deployed on the device being released and is used together with the signal conditioning module to collect the limit signal of the device being released and send the limit signal to the signal conditioning module;

[0008] The signal conditioning module is connected to the signal processing module, and is used to receive and condition the limit signal, and send the conditioned limit signal to the signal processing module, so that the signal processing module sends feedback information generated according to the conditioned limit signal to the central control module.

[0009] According to one achievable method in an embodiment of the present application, the control instruction includes a release instruction, and the signal processing module is used to control the motor drive module to trigger the released device according to the control instruction, including:

[0010] The signal processing module is used to control the motor drive module to drive the driving mechanism of the launched device to run forward according to the release instruction to trigger the zero limit switch and the release limit switch in sequence.

[0011] According to one achievable method in an embodiment of the present application, the limit signal acquisition module includes a zero position signal acquisition unit and a release signal acquisition unit. The zero position signal acquisition unit is deployed on the zero position limit switch, and the release signal acquisition unit is deployed on the release limit switch. The limit signal includes the release start time and the release end time. The limit signal acquisition module is used to collect the limit signal of the deployed device, including:

[0012] The zero position signal acquisition unit is used to collect the moment when the driving mechanism triggers the zero position limit switch when running forward, and obtain the release start time;

[0013] The release signal acquisition unit is used to collect the moment when the driving mechanism runs forward and triggers the release limit switch to obtain the release end moment.

[0014] According to one achievable method in an embodiment of the present application, the control instruction includes an unlocking instruction, and the signal processing module is configured to control the motor driving module to trigger the delivered device according to the control instruction, including:

[0015] The signal processing module is used to control the motor drive module to drive the driving mechanism of the released device to run in reverse according to the unlocking instruction to trigger the zero limit switch and the unlocking limit switch in sequence.

[0016] According to one achievable method in an embodiment of the present application, the limit signal acquisition module includes a zero position signal acquisition unit and an unlocking signal acquisition unit. The zero position signal acquisition unit is deployed on the zero position limit switch, and the unlocking signal acquisition unit is deployed on the unlocking limit switch. The limit signal includes the unlocking start time and the unlocking end time. The limit signal acquisition module is used to collect the limit signal of the deployed device, including:

[0017] The zero position signal acquisition unit is used to collect the moment when the driving mechanism reverses and triggers the zero position limit switch, and obtain the unlocking start time;

[0018] The unlocking signal acquisition unit is used to collect the moment when the driving mechanism runs in reverse and triggers the release limit switch to obtain the unlocking end moment.

[0019] According to one achievable method in an embodiment of the present application, the signal conditioning module includes an optical isolation chip; the signal conditioning module is used to receive and condition the limit signal, including:

[0020] The optical isolation chip is used to receive the limit signal, generate a level signal according to the limit signal, and amplify the level signal.

[0021] According to one achievable method in an embodiment of the present application, the central control module is configured to send a control instruction to at least two delivery control devices, including:

[0022] The central control module is used to send different control instructions to at least two delivery control devices at preset time intervals.

[0023] According to an achievable method in an embodiment of the present application, the preset time is obtained by regular calibration of the central control module based on feedback information.

[0024] According to one achievable method in an embodiment of the present application, the central control module is a field programmable logic gate array chip.

[0025] According to an achievable method in an embodiment of the present application, the delivery control device further includes a power supply management module for supplying power to the limit signal acquisition module, the signal conditioning module, the signal processing module and the motor drive module.

[0026] Beneficial effects:

[0027] 1. The synchronous delivery control system provided by the present application is a system in which a central control module sends control instructions to at least two delivery control devices at the same time, accurately controlling the synchronous delivery time to complete the unlocking, release, delay and other action processes, thereby being able to accurately and synchronously control the release and unlocking functions of the driving mechanism of the delivered device, thereby improving the reliability and safety of the synchronous delivery control system.

[0028] 2. In the synchronous delivery control system provided by the present application, the central control module sends different control instructions to at least two delivery control devices at preset intervals. By setting the preset time, it is possible to ensure as much as possible that the delivered devices driven by at least two delivery control devices can execute each action instruction at the same time, thereby ensuring the synchronization of the system. At the same time, the preset time is obtained by regular correction by the central control module based on feedback information, and can timely adjust the delay in executing action instructions between each delivered device, thereby further improving the synchronization of the system.

[0029] 3. The synchronous delivery control system provided in this application is small in size, can be applied to environments with limited space requirements, has high availability, and is easy to replace and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 1 is a structural block diagram of a synchronous delivery control system in one embodiment.

[0031] Figure 2 FIG. 4 is a structural block diagram of a limit signal acquisition module in an embodiment. DETAILED DESCRIPTION

[0032] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0033] Figure 1 A structural block diagram of a synchronous delivery control system is shown in FIG. Figure 1 As shown, the synchronous delivery control system 100 includes: a central control module 110 and at least two delivery control devices 120, wherein the delivery control device 120 includes a limit signal acquisition module 121, a signal conditioning module 122, a signal processing module 123, a communication and protection module 124, a motor drive module 125 and a power supply management module 126.

[0034] The central control module 110 is connected to at least two delivery control devices 120. The limit signal acquisition module 121 is connected to the signal conditioning module 122, the signal conditioning module 122 is connected to the signal processing module 123, the signal processing module 123 is connected to the communication and protection module 124 and the motor drive module 125, and the power supply management module 126 is connected to the limit signal acquisition module 121, the signal conditioning module 122, the signal processing module 123, and the motor drive module 125 respectively.

[0035] The central control module 110 is configured to send control instructions to at least two delivery control devices.

[0036] The control instructions include release instructions, unlock instructions, delay instructions, etc. The central control module 110 can use a multi-channel real-time communication mechanism to send release instructions, unlock instructions, delay instructions and other control instructions to at least two delivery control devices at the same time.

[0037] The signal processing module 123 is used to receive the control instruction sent by the central control module, and control the motor driving module to trigger the delivery device according to the control instruction.

[0038] The signal processing module 123 is a single-chip microcomputer processing circuit that receives control commands from the central control module through the communication and protection module 124. These control commands are in a specialized Modbus modified format and are parsed according to a preset protocol. Based on the parsed command content, the motor drive module 125 is controlled to trigger the release device to unlock or release the security function. The release device can be any device with unlocking and releasing security functions.

[0039] The motor drive module 125 is used to control the forward and reverse bidirectional movement of the driving mechanism of the released device so that its limit trigger block touches the zero limit switch, the unlocking limit switch, and the release limit switch, thereby triggering the unlocking or release function of the released device.

[0040] The limit signal acquisition module is deployed on the device being released and is used together with the signal conditioning module to collect the limit signal of the device being released and send the limit signal to the signal conditioning module.

[0041] Among them, such as Figure 2 As shown, the limit signal acquisition module 121 includes a zero position signal acquisition unit 1211, a release signal acquisition unit 1212, and an unlock signal acquisition unit 1213. The zero position signal acquisition unit 1211 is deployed at the zero position limit switch of the deployed device, the release signal acquisition unit 1212 is deployed at the release limit switch of the deployed device, and the unlock signal acquisition unit 1213 is deployed at the unlock limit switch of the deployed device.

[0042] The limit signal acquisition module includes the zero switch signal, the release switch signal, the unlock switch signal, the release start time, the release end time, the unlock start time and the unlock end time.

[0043] When the motor drive module 125 controls the released device drive mechanism to touch the zero limit switch to close it according to the unlocking instruction, the zero signal acquisition unit 1211 can acquire this closed state, obtain the zero switch signal, determine that this is the initial zero position of the released device, and determine this moment as the unlocking start time. When the released device drive mechanism touches the unlocking limit switch to close it, the unlocking signal acquisition unit 1213 can acquire this closed state, obtain the unlocking switch signal, determine that this is the released device completing the unlocking action, and determine this moment as the unlocking end time.

[0044] When the motor drive module 125 controls the launched device's drive mechanism to touch the zero limit switch to close it according to the release instruction, the zero signal acquisition unit 1211 can acquire this closed state, obtain the zero switch signal, determine that this is the initial zero position of the launched device, and determine this moment as the release start time. When the launched device's drive mechanism touches the release limit switch to close it, the release signal acquisition unit 1212 can acquire this closed state, obtain the release switch signal, determine that this is the launched device's completion of the release action, and determine this moment as the release end time.

[0045] The signal conditioning module 122 is configured to receive and condition the limit signal, and send the conditioned limit signal to the signal processing module 123 , so that the signal processing module 123 sends feedback information generated according to the conditioned limit signal to the central control module 110 .

[0046] The signal conditioning module 122 may include an optical isolation chip. The limit signal is conditioned by the optical isolation chip to generate a conditioned limit signal. After receiving the conditioned limit signal, the signal processing module 123 analyzes the limit signal according to a preset protocol and determines the result of the control command analysis. The analysis results may include release success, release failure, unlock success, or unlock failure. Feedback information is generated based on the analysis results and uploaded to the central controller 110.

[0047] The power supply management module 126 is used to supply power 125 to the limit signal acquisition module 121 , the signal conditioning module 122 , the signal processing module 123 and the motor drive module.

[0048] As a feasible method, when the control instruction is a release instruction, the signal processing module is used to control the motor drive module according to the release instruction to drive the driving mechanism of the launched device to run forward and trigger the zero limit switch and the release limit switch in turn.

[0049] At this time, the limit signal acquisition module is used to collect the limit signal of the released device, including:

[0050] The zero position signal acquisition unit is used to collect the moment when the driving mechanism triggers the zero position limit switch when running forward, and obtain the release start time;

[0051] The release signal acquisition unit is used to collect the moment when the driving mechanism runs forward and triggers the release limit switch to obtain the release end moment.

[0052] As a feasible method, when the control instruction is an unlocking instruction, the signal processing module is used to control the motor driving module according to the unlocking instruction to drive the driving mechanism of the launched device to run in reverse and trigger the zero limit switch and the unlocking limit switch in sequence.

[0053] At this time, the limit signal acquisition module is used to collect the limit signal of the released device, including:

[0054] The zero position signal acquisition unit is used to collect the moment when the driving mechanism reverses and triggers the zero position limit switch, and obtain the unlocking start time;

[0055] The unlocking signal acquisition unit is used to collect the moment when the driving mechanism runs in reverse and triggers the release limit switch to obtain the unlocking end moment.

[0056] As an achievable approach, a signal conditioning module is used to receive and condition the limit signal, including:

[0057] The optical isolation chip is used to receive the limit signal, generate a level signal according to the limit signal, and amplify the level signal.

[0058] When the limit switch of the deployed device closes, a limit signal is introduced, illuminating the LED inside the optical isolation chip. This light is detected by the chip's internal light detector, generating a photocurrent signal that is amplified and output within the chip. When the limit signal is input to the optical isolation chip, the chip outputs a low level. When no limit signal is input, the chip outputs a high level. The signal processing module's IO port collects the high and low levels output by the optical isolation chip to determine the status of the three limit switch signals.

[0059] When the IO port of the signal processing module collects the high level of the zero limit switch output by the optical isolation chip, it means that the device being launched is not running. If the output is low, it means that the device being launched is in the zero position state.

[0060] When the IO port of the signal processing module collects the high level of the unlocking limit switch output by the optical isolation chip, it means that the released device fails to be unlocked. If the output is low, it means that the released device is successfully unlocked.

[0061] When the IO port of the signal processing module collects the high level of the release limit switch output by the optical isolation chip, it means that the release of the device has failed. If the output is low, it means that the release of the device has been successful.

[0062] As an implementable manner, the central control module is configured to send control instructions to at least two delivery control devices, including:

[0063] The central control module is used to send different control instructions to at least two delivery control devices at preset time intervals.

[0064] The preset time is the delay between executing one control instruction and executing another control instruction, and can be flexibly adjusted according to the load of the device being launched and the damage of the drive mechanism.

[0065] When multiple delivery control devices execute different control commands simultaneously, the time from receiving a control command to the completion of the last control command must be the same for each delivery control device. Due to the load on the delivery device and damage to the drive mechanism, the time it takes for each delivery device to execute each control command may vary. The greater the number of delivery control devices in a synchronous delivery control system, the greater the impact on synchronization between the delivery control devices. Therefore, the preset time must be below microseconds to ensure synchronization between multiple delivery control devices.

[0066] For example, when multiple delivery control devices execute a full-process unlocking instruction, the delivery control device must first execute the release instruction and then the unlocking instruction. The forward operation of the driving mechanism of the delivered device first triggers the release limit switch. At this time, it is determined that the action is over, so that the driving mechanism stops moving, delays the preset time to the specified duration, and then performs a reverse unlocking action to prevent the driving mechanism from being blocked for too long, causing damage to the motor and hardware mechanism. From the perspective of the entire execution result, regardless of whether the release time of each delivered device is consistent, by setting the preset time, the final result can ensure that the full-process unlocking action duration of different delivered devices is the same.

[0067] It should be noted that the preset time may no longer match the actual operating conditions due to the load of the device being launched and damage to the driving mechanism. It needs to be regularly corrected according to the feedback information from the central control module to improve the redundancy reliability of the synchronous launch control system.

[0068] The feedback information includes the historical unlock start time, unlock end time, release start time, and release end time of the deployed device. If the feedback information indicates that the release and unlock times of deployed devices have increased, the previously set preset time cannot guarantee that each deployed device can simultaneously execute the next action instruction after executing one action instruction. In this case, the preset time can be appropriately extended to ensure that the full action duration of different deployed devices is consistent, thereby improving system synchronization.

[0069] As a feasible approach, the central control module is a field programmable logic gate array chip.

[0070] Field Programmable Gate Array (FPGA) chips have high operating frequencies and fast adoption rates. They have the ability to process real-time parallel high-speed data. By writing programs, they can achieve rapid collection and distribution capabilities and realize multi-channel real-time communication.

[0071] The bus system of the synchronous delivery control system is not based on the traditional RS485 or Controller Area Network (CAN) bus mechanism. Instead, it uses a FPGA system as the bus system. Each delivery control device has an independent two-core communication line, which corresponds to the communication channel of the FPGA. There are as many independent communication channels as there are delivery control devices, and the FPGA numbers them. The communication channels are also protected against short circuits, open circuits, overloads, and static electricity. In the event of physical damage to the channel, it will not cause bus deadlock, as with distributed control buses such as RS485 or even CAN, which can render other delivery control systems unusable.

[0072] Due to the uniqueness of the bus system of the synchronous delivery control system, the synchronous delivery control system does not need to compile a software identification number. The software and hardware of all delivery control devices are the same. Therefore, there is no need to set the software number when replacing. Direct installation and replacement can be done, which can improve its working stability, interchangeability and maintainability.

[0073] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

Claims

1. A synchronous delivery control system, characterized in that: The synchronous delivery control system includes a central control module and at least two delivery control devices, wherein the central control module is connected to the at least two delivery control devices; wherein the delivery control device includes a limit signal acquisition module, a signal conditioning module, a signal processing module, a communication and protection module, and a motor drive module; The central control module is connected to the communication and protection modules of the at least two delivery control devices and is used to send control instructions to the at least two delivery control devices; The signal processing module is connected to the communication and protection module and the motor drive module respectively, and is used to receive the control instructions sent by the central control module and control the motor drive module to trigger the delivery device according to the control instructions; The limit signal acquisition module is deployed on the device being delivered and together with the signal conditioning module, is used to acquire the limit signal of the device being delivered and send the limit signal to the signal conditioning module; The signal conditioning module is connected to the signal processing module, and is used to receive and condition the limit signal, and send the conditioned limit signal to the signal processing module, so that the signal processing module sends feedback information generated according to the conditioned limit signal to the central control module; The central control module is configured to send control instructions to the at least two delivery control devices, including: The central control module is configured to send different control instructions to the at least two delivery control devices at preset intervals; The preset time is obtained by regular calibration of the central control module according to feedback information.

2. The synchronous delivery control system according to claim 1, characterized in that: The control instruction includes a release instruction, and the signal processing module is used to control the motor driving module to trigger the released device according to the control instruction, including: The signal processing module is used to control the motor drive module to drive the driving mechanism of the launched device to run forward according to the release instruction to trigger the zero limit switch and the release limit switch in sequence.

3. The synchronous delivery control system according to claim 2, characterized in that: The limit signal acquisition module includes a zero position signal acquisition unit and a release signal acquisition unit. The zero position signal acquisition unit is deployed on the zero position limit switch, and the release signal acquisition unit is deployed on the release limit switch. The limit signal includes a release start time and a release end time. The limit signal acquisition module is used to collect the limit signal of the deployed device, including: The zero position signal acquisition unit is used to acquire the moment when the driving mechanism triggers the zero position limit switch when running forward, and obtain the release start time; The release signal acquisition unit is used to acquire the moment when the driving mechanism runs forward and triggers the release limit switch, so as to obtain the release end moment.

4. The synchronous delivery control system according to claim 1, characterized in that: The control instruction includes an unlocking instruction, and the signal processing module is used to control the motor driving module to trigger the delivered device according to the control instruction, including: The signal processing module is used to control the motor driving module to drive the driving mechanism of the delivered device to run in reverse according to the unlocking instruction to trigger the zero limit switch and the unlocking limit switch in sequence.

5. The synchronous delivery control system according to claim 4, characterized in that: The limit signal acquisition module includes a zero position signal acquisition unit and an unlocking signal acquisition unit. The zero position signal acquisition unit is deployed on the zero position limit switch, and the unlocking signal acquisition unit is deployed on the unlocking limit switch. The limit signal includes an unlocking start time and an unlocking end time. The limit signal acquisition module is used to collect the limit signal of the deployed device, including: The zero position signal acquisition unit is used to acquire the moment when the driving mechanism reversely runs and triggers the zero position limit switch, so as to obtain the unlocking start moment; The unlocking signal acquisition unit is used to acquire the moment when the driving mechanism reversely runs to trigger the unlocking limit switch, so as to obtain the unlocking end moment.

6. The synchronous delivery control system according to claim 1, characterized in that: The signal conditioning module includes an optical isolation chip; the signal conditioning module is used to receive and condition the limit signal, including: The optical isolation chip is used to receive the limit signal, generate a level signal according to the limit signal, and amplify the level signal.

7. The synchronous delivery control system according to claim 1, characterized in that: The central control module is a field programmable logic gate array chip.

8. The synchronous delivery control system according to claim 1, characterized in that: The delivery control device further includes a power supply management module for supplying power to the limit signal acquisition module, the signal conditioning module, the signal processing module and the motor drive module.

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