A control system and control method for a scientific glove box on a space station.

Abstract

This invention belongs to the field of space station scientific payload control, specifically a control system for a space station scientific glove box, comprising: a first main controller, a second main controller, a robotic arm control system, a microscopic operating system, a payload system, a power supply module, an environmental control sub-controller A, an environmental control sub-controller B, and a host resource panel operating system. The first and second main controllers receive instructions from the host controller, parse them into internal instructions, and control the corresponding subsystems to perform corresponding actions based on the destination address parameters in the internal instructions and the current operating mode of the first or second main controller. The second main controller also receives control instructions from the host resource panel operating system to control the corresponding subsystems to perform corresponding actions. Each subsystem in this invention is configured with an independent controller for easy individual debugging. After subsystem debugging, the entire system is integrated, optimizing the system integration process and shortening the system integration time.

Description

Technical Field

[0001] This invention belongs to the field of space station scientific payload control, specifically a control system and control method for a space station scientific glove box. Background Technology

[0002] This invention belongs to the field of scientific payload control for space stations, specifically a scientific glove box control system and its control method. Two top-level controllers are designed inside the scientific glove box, and multiple subsystems are equipped with controllers and devices connected to them via a communication bus. Ethernet and serial communication networks are used for connection, and each functional area has an independent sub-controller. This design facilitates modular and specialized system design, reduces the complexity of system cabling, and improves the overall reliability of the system.

[0003] Currently, most space station payload control systems employ a single controller to centrally control multiple controlled objects. This type of control system places significant demands on the performance of the individual controller and the richness of its external interfaces when handling multiple loads and requiring real-time processing. Because the individual controller frequently operates under heavy loads, its temperature rises rapidly, significantly increasing the requirements for heat dissipation. Furthermore, if some controlled objects require more controller resources, it can affect the controller's ability to control other controlled objects. Additionally, the considerable distance between the controller and the controlled objects, and the cabling passing through multiple mechanical mechanisms, also contributes to the complexity of the cabling design. Summary of the Invention

[0004] The purpose of this invention is to provide a control system and control method for a scientific glove box for a space station. Two top-level controllers are designed inside the scientific glove box, and multiple subsystems are equipped with controllers and devices connected to them via a communication bus. Ethernet and serial communication networks are used for connection, and each functional area has an independent sub-controller. This design facilitates modular and specialized system design, reduces the complexity of system cabling design, and improves the overall reliability of the system.

[0005] The technical solution adopted by the present invention to achieve the above objectives is: a control system for a scientific glove box for a space station, comprising: a first main controller, a second main controller, a robotic arm control system, a microscopic operating system, a cargo system, a power supply module, an environmental control sub-controller A, an environmental control sub-controller B, and a host resource panel operating system;

[0006] The first main controller and the second main controller communicate with the upper-level controller via RS422 bus, respectively.

[0007] The first main controller is connected to the robotic arm control system, the microscopic operating system, and the loading system respectively. It is used to receive data injection instructions and load forwarding instructions from the upper controller, and parse the data injection instructions and load forwarding instructions into internal instructions. Based on the destination address parameters in the internal instructions and the current working mode of the first main controller, it controls the first main controller, the robotic arm control system, the microscopic operating system, or the loading system to perform corresponding actions.

[0008] The second main controller is connected to the environmental control sub-controller A, the environmental control sub-controller B, and the upper-level resource panel operating system, respectively. It is used to receive data injection instructions, inter-load forwarding instructions in the cabinet, or control instructions from the upper-level controller, and parse them into internal instructions. Based on the destination address parameters in the internal instructions and the current working mode of the second main controller, it controls the second main controller, environmental control sub-controller A, or environmental control sub-controller B to perform corresponding actions.

[0009] The robotic arm control system is used to control the movement of the robotic arm inside the glove box to process experimental objects on the loading system;

[0010] The microsystem is used to perform microscopic visual inspection operations and adsorption or injection operations on the experimental objects of the carrier system.

[0011] The carrying system is used to carry the experimental object and move the experimental object.

[0012] Both environmental control sub-controller A and environmental control sub-controller B are used to collect environmental parameters inside the glove box and control external equipment;

[0013] The upper-level resource panel operating system is connected to the environmental control sub-controller A and the environmental control sub-controller B (6) respectively, and is used to send control commands to the environmental control sub-controller A (5) and the environmental control sub-controller B (6) and control the execution of corresponding actions;

[0014] The power supply module is used to supply power to the first main controller, the second main controller, the robotic arm control system, the microscopic operating system, the loading system, and the environmental control sub-controllers A and B.

[0015] The robotic arm control system includes: a first sub-controller, a six-degree-of-freedom robotic arm, and multiple end effectors located at its end.

[0016] The end effector includes: a gripper, an ultraviolet sterilization device, and an ultrasonic micromanipulator located at the end of the six-degree-of-freedom robotic arm, for processing experimental objects placed on the loading system.

[0017] The gripper, ultraviolet sterilization device, and ultrasonic micromanipulator are all connected to the first sub-controller and are used to control the corresponding end effector to operate according to the internal control instructions forwarded by the first sub-controller.

[0018] The first sub-controller is connected to the first main controller and is used to receive the working parameter query instruction from the first main controller, return the engineering data packet of the first sub-controller to the first main controller, and receive the internal control instruction from the first main controller. Based on the destination address parameter in the internal control instruction and the current working mode of the first main controller, the sub-controller determines whether the instruction should execute the corresponding end effector or a six-degree-of-freedom robotic arm.

[0019] The microscopic operating system includes: a second sub-controller and a microscopic camera, an adsorption and injection mechanism, and a clamping mechanism connected thereto;

[0020] The second sub-controller is connected to the first main controller and is used to receive the working parameter query command from the first main controller, return the engineering data packet of the second sub-controller to the first main controller; and receive the internal control command from the first main controller. At the same time, the second sub-controller receives the internal control command from the first main controller and controls the microscope camera, the adsorption and injection mechanism and the clamping mechanism to perform corresponding actions according to the content of the internal control command.

[0021] The adsorption and injection mechanism includes: a pneumatic injector and a pressure sensor injector;

[0022] The cylinder and pressure sensor of the pneumatic injector are respectively connected to the second sub-controller; it is used to perform adsorption or injection operations on the experimental object placed on the carrier system according to the internal control instructions of the second sub-controller.

[0023] The clamping mechanism includes: a triaxial linear slide connected to the second sub-controller and an end gripper;

[0024] The end gripper is clamped on the adsorption and injection mechanism and is located outside the loading system. It is used to move the triaxial linear slide according to the internal control command forwarded by the second sub-controller, thereby driving the end gripper and moving the adsorption and injection mechanism to the loading system in the X, Y, and Z directions.

[0025] The microscope camera is positioned directly above the material carrier system, and its field of view covers the movement range of both the material carrier system and the adsorption and injection mechanism. The microscope camera is used to control its operating state according to internal control commands forwarded by the second sub-controller, and simultaneously transmits these commands to the second sub-controller.

[0026] The loading system includes: a third sub-controller, a loading stage, and a light source;

[0027] The third sub-controller is connected to the stage and the light source respectively. It is used to receive the working parameter query command from the first main controller and return the engineering data packet of the third sub-controller to the first main controller. At the same time, the third sub-controller receives the internal control command from the first main controller and controls the stage or the light source to perform corresponding actions according to the content of the internal control command.

[0028] The stage is a three-dimensional stage, used to control the three-dimensional stage to move the experimental object placed on the stage according to the internal control instructions forwarded by the third sub-controller.

[0029] The light source is located on the stage and is used to provide illumination to the stage. The intensity of the light source is adjusted according to the internal control instructions forwarded by the third sub-controller.

[0030] Both the environmental control sub-controller A and the environmental control sub-controller B are connected to the peripheral equipment and sensor group located in the glove box, respectively.

[0031] Both the environmental control sub-controller A and the environmental control sub-controller B are used to simultaneously receive internal control commands forwarded by the second main controller or manual control commands from the upper-level resource panel operating system, and jointly control the actions of peripheral devices and sensor groups according to the command content; and return engineering data packets containing the parameters of the peripheral devices and the glove box status parameter data collected by the sensor group to the upper-level controller according to the parameter query command sent by the second main controller, so as to realize closed-loop control and monitor the real-time status of the glove box environmental control system.

[0032] The peripheral equipment includes: a semiconductor cooling chip, a fan, a motor, a water pump, a pulse pump, a solenoid valve, and LED lights that are connected to the outside and inside of the glove box.

[0033] The sensor array is used to monitor environmental parameters in the glove box in real time and send them to environmental control sub-controller A and environmental control sub-controller B respectively.

[0034] The environmental parameters include: temperature of the semiconductor cooling chip of the peripheral equipment, operating current, pipeline pressure, pressure difference between the inside and outside of the enclosure, and motor speed;

[0035] The environmental control sub-controller A and environmental control sub-controller B serve as backups for each other.

[0036] It also includes surveillance cameras installed in the glove box;

[0037] There are two surveillance cameras, and the fields of view of the two surveillance cameras complement each other, and they are respectively connected to the first main controller via USB;

[0038] The surveillance camera is a CMOS camera equipped with an optical wide-angle lens. It is used to receive internal instructions from the first main controller. If the instruction is a surveillance camera parameter setting instruction, it sets the video acquisition frame rate and resolution of the surveillance camera according to the instruction parameters. If the instruction is a surveillance camera control instruction, it controls the on / off state of the surveillance camera according to the instruction parameters. At the same time, it receives a parameter query instruction from the first main controller and feeds back a data packet containing surveillance camera parameters and status to the first main controller.

[0039] A control method for a scientific glove box on a space station includes the following steps:

[0040] 1) The first master controller or the second master controller receives a time synchronization command from the upper-level controller; the first master controller or the second master controller updates the system time according to the command content;

[0041] 2) When the first main controller receives a data injection command or a forwarding command between loads in the cabinet from the upper controller, the first main controller parses the data injection command or the forwarding command between loads in the cabinet into an internal command, and determines whether the command is executed by the first main controller, the robotic arm control system, the microscopic operating system, the loading system or the monitoring camera based on the destination address parameter in the internal command and the current working mode of the first main controller.

[0042] 3) The second main controller receives data injection instructions and inter-load forwarding instructions from the upper controller, receives control instructions from the upper resource panel operating system, parses them into internal instructions, and determines whether the instruction is executed on the second main controller or the environmental control sub-controller based on the destination address parameters in the internal instructions and the current working mode of the second main controller.

[0043] 4) When the first or second main controller receives a parameter query command from the upper-level controller or a manual control command from the upper-level resource panel operating system, it feeds back the engineering data packet to the upper-level controller or the upper-level resource panel operating system.

[0044] If the internal instructions parsed by the first main controller are scientific experiment control instructions, then the internal instructions will be packaged into inter-cabinet load forwarding instructions and sent to the robotic arm control system, the microscopic operating system, or the loading system.

[0045] 2-1) The robotic arm control system receives an internal instruction from the first main controller and executes the following steps:

[0046] If the internal command is a dexterous arm system control command, then the internal command is forwarded to the robotic arm control system; then the first sub-controller of the robotic arm control system controls the joint motion state of the six-degree-of-freedom robotic arm according to the command parameters;

[0047] If it is a macro operator control command, the movement state of the gripper is controlled according to the command parameters, and the corresponding parameters are fed back to the first sub-controller.

[0048] If it is a micromanipulator control command, the working state of the ultrasonic micromanipulator is controlled according to the command parameters, and the corresponding parameters are fed back to the first sub-controller.

[0049] If it is a UV lamp control command, the UV sterilization device will be turned on, off, or its intensity adjusted according to the command parameters, and the corresponding parameters will be fed back to the first sub-controller.

[0050] The robotic arm control system receives a parameter query command from the first main controller and sends back an engineering data packet containing the corresponding parameters of the end effector to the first main controller.

[0051] 2-2) The microscopic operating system receives internal instructions from the first main controller and executes the following steps:

[0052] If the internal command is a microscopic system control command, it is forwarded to the second sub-controller; the second sub-controller controls the microscope camera, adsorption and injection mechanism, and clamping mechanism to perform corresponding actions.

[0053] If the command is for the adsorption and injection mechanism, the second sub-controller controls the adsorption and injection mechanism to adsorb or inject the experimental object on the stage according to the command parameters, and feeds back the corresponding parameters to the second sub-controller.

[0054] If it is a clamping mechanism control command, the second sub-controller controls the motion state of the clamping mechanism according to the command parameters and feeds back the corresponding parameters to the second sub-controller;

[0055] If it is a microscopic manipulation control command, the second sub-controller controls the operating state of the microscope camera according to the command parameters and feeds back the corresponding parameters to the second sub-controller.

[0056] The microscopic operating system receives a parameter query command from the first main controller and sends an engineering data packet to the first main controller containing the parameters corresponding to the end effector of the adsorption and injection mechanism, the clamping mechanism, or the microscopic camera.

[0057] 2-3) If the internal command is a stage system control command, then the internal command is forwarded to the third sub-controller; the third sub-controller controls the stage or light source to perform the following steps:

[0058] If the command is for controlling the stage, the third sub-controller controls the stage's motion state according to the command parameters.

[0059] If it is a light source control command, the third sub-controller controls the light source level according to the command parameters;

[0060] The loading system receives a parameter query command from the first main controller and sends an engineering data packet containing the current motion status of the loading stage or the light source setting data back to the first main controller.

[0061] 2-4) If the internal instruction is a monitoring camera control instruction, the internal instruction is forwarded to the monitoring camera, and the monitoring camera adjusts its own camera parameter status data; when the monitoring camera receives a parameter query instruction from the first main controller, it sends an engineering data packet containing the monitoring camera parameters and status back to the first main controller.

[0062] The second main controller, after parsing the internal instructions according to the protocol format, determines that they are glove box environmental status control instructions. It then packages these internal instructions into inter-cabinet load forwarding instructions and sends them to either environmental control sub-controller A or environmental control sub-controller B, and executes the following steps:

[0063] 3-1) If the internal instructions or the manual control instructions from the upper-level resource panel operating system are parsed as control instructions for environmental control system A or environmental control system B, then the internal instructions are forwarded to environmental control sub-controllers A and B, and the following steps are executed:

[0064] If the command is for an environmental control peripheral device, then the environmental control sub-controller A and environmental control sub-controller B will simultaneously control the working status of the corresponding peripheral device or the sensor group to collect environmental data inside the glove box according to the command parameters.

[0065] When the glove box is working normally, environmental control sub-controller A and environmental control sub-controller B work simultaneously. When one of the environmental control sub-controllers A and B fails, the other environmental control sub-controller works normally.

[0066] 3-2) If the internal instruction is a parameter query instruction for the LCD control screen, then return an engineering data packet containing the working status of the peripheral devices or the environmental data collected by the sensor group inside the glove box to the upper-level resource panel operating system.

[0067] Both the first main controller and the second main controller are connected to the power supply module;

[0068] When the power supply module receives an internal instruction from the second main controller, it provides the corresponding power status to each subsystem according to the destination address parameter in the internal instruction;

[0069] The power supply module provides 28V power to the robotic arm control system, the microscopic operating system, and the loading system, allowing them to be either on or off.

[0070] The power supply module provides 100V and 28V power to environmental control sub-controller A and environmental control sub-controller B respectively, and the power supply module is in an on or off state.

[0071] The power supply module receives the parameter query command from the second main controller and sends back an engineering data packet containing power supply data of each subsystem to the second main controller.

[0072] When the first or second main controller receives a cabinet instruction from the upper-level controller, and the cabinet instruction is an emergency power-off instruction, it returns an emergency power-off instruction response to the upper-level controller and packages it into an internal emergency power-off instruction. The first main controller sends the internal emergency power-off instruction to the robotic arm control system, the microscopic operating system, the loading system, and the monitoring camera. The second main controller sends the internal emergency power-off instruction to the power supply module, environmental control sub-controller A, environmental control sub-controller B, and the upper-level resource panel operating system. After 70 seconds, the power supply module performs a power-off operation on the first or second main controller.

[0073] The present invention has the following beneficial effects and advantages:

[0074] 1. This invention designs a control system based on the characteristics of a scientific glove box, with two top-level controllers as the main components, and each subsystem configured with its own controller. These controllers are connected via Ethernet and serial communication networks. This design not only improves the control capability for multiple controlled objects but also enhances system reliability and significantly simplifies system cabling design.

[0075] 2. Each subsystem of this invention is configured with a separate controller, which facilitates individual debugging; after the subsystems are debugged, the entire system is integrated, which optimizes the system integration process and shortens the system integration time. Attached Figure Description

[0076] Figure 1 The present invention is a schematic diagram of the control system structure and principle of the present invention;

[0077] Figure 2 A schematic diagram of the robotic arm control system of the present invention;

[0078] Figure 3 A schematic diagram of the structure of the microscopic operating system of the present invention;

[0079] Figure 4 A schematic diagram of the structure of the cargo-carrying system of the present invention;

[0080] Figure 5 Electrical schematic diagram of the power supply module of this invention;

[0081] Figure 6 This is the electrical schematic diagram of the environmental control sub-controller A of the present invention;

[0082] Figure 7 This is the electrical schematic diagram of the environmental control sub-controller B of the present invention. Detailed Implementation

[0083] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0084] like Figure 1 The diagram shown is a schematic diagram of the control system structure and principle of the present invention. A control system for a scientific glove box for a space station includes: a first main controller, a second main controller, a robotic arm control system 1, a microscopic operating system 2, a cargo carrying system 3, a power supply module 4, an environmental control sub-controller A5, an environmental control sub-controller B6, and a host resource panel operating system 7.

[0085] The first and second main controllers communicate with the upper-level controller via RS422 bus, respectively.

[0086] The first main controller is connected to the robotic arm control system 1, the microscopic operating system 2, and the loading system 3 respectively. It is used to receive data injection instructions and load forwarding instructions from the upper controller, and parse the data injection instructions and load forwarding instructions into internal instructions. Based on the destination address parameters in the internal instructions and the current working mode of the first main controller, it controls the first main controller, the robotic arm control system 1, the microscopic operating system 2, or the loading system 3 to perform corresponding actions.

[0087] The second main controller is connected to the environmental control sub-controller A5, the environmental control sub-controller B6, and the upper-level resource panel operating system 7, respectively. It is used to receive data injection instructions, inter-load forwarding instructions in the cabinet, or control instructions from the upper-level controller, and parse them into internal instructions. Based on the destination address parameters in the internal instructions and the current working mode of the second main controller, it controls the second main controller, the environmental control sub-controller A5, or the environmental control sub-controller B6 to perform corresponding actions.

[0088] The robotic arm control system 1 is used to control the movement of the robotic arm inside the glove box and to process the experimental objects on the loading system 3.

[0089] The microscopic operating system 2 is used to perform microscopic visual inspection operations and adsorption or injection operations on the experimental objects of the transport system 3;

[0090] The loading system 3 is used to carry the experimental object and move the experimental object.

[0091] Both the environmental control sub-controller A5 and the environmental control sub-controller B6 are used to collect environmental parameters inside the glove box and control external equipment.

[0092] The upper-level resource panel operating system 7 is connected to the environmental control sub-controllers A5 and B6 respectively, and is used to send control commands to the environmental control sub-controllers A5 and B6 and control the execution of corresponding actions;

[0093] The main function of the upper resource panel operating system 7 is to provide real-time parameter information display and control setting input for various devices and modules in the glove box.

[0094] First, the upper resource panel operating system is responsible for displaying the power supply performance parameters of the entire system and each subsystem in real time, as well as the environmental control parameters and target values ​​of each parameter in the glove box system. Second, it is responsible for configuring and selecting the target values ​​of each environmental control parameter in the glove box system. All of the above operations are implemented through engineering data packets fed back from the first or second main controller.

[0095] Power supply module 4 is used to supply power to the first main controller, the second main controller, the robotic arm control system 1, the microscopic operating system 2, the loading system 3, the environmental control sub-controller A5, and the environmental control sub-controller B6.

[0096] The invention also includes a monitoring camera installed inside the glove box, which outputs video data to the upper-level controller via a gigabit network. Real-time video images provide full coverage of the entire space of the glove box while meeting dimensional constraints. The collected video data can be stored in real time, meeting the requirements for tracing and playback of the glove box's operational status.

[0097] There are two surveillance cameras. Considering the requirement that the real-time video images fully cover the entire space of the glove box, the two sets of cameras are used to observe the video from opposite directions to compensate for the areas that they cannot observe. They are connected to the first main controller via USB.

[0098] The surveillance camera is a CMOS camera equipped with an optical wide-angle lens. It is used to receive internal instructions from the first main controller. If the instruction is a surveillance camera parameter setting instruction, it sets the video acquisition frame rate and resolution of the surveillance camera according to the instruction parameters. If the instruction is a surveillance camera control instruction, it controls the on / off state of the surveillance camera according to the instruction parameters. At the same time, it receives the engineering parameter query instruction from the first main controller and feeds back to the first main controller a data packet containing the surveillance camera parameters and status.

[0099] This invention also provides two external standard interfaces inside the scientific glove box for electrical interfaces of other expandable experimental instruments inside the glove box. According to technical specifications, one standard interface includes one Gigabit Ethernet interface, one RS422 serial communication interface, and one 28V power supply interface.

[0100] like Figure 2 The diagram shown is a schematic of the robotic arm control system of the present invention; it includes: a first sub-controller, a six-degree-of-freedom robotic arm, and multiple end effectors located at its end.

[0101] To balance the needs of a large working space with the precision of small operations, a two-stage macro-micro robotic arm system is adopted, with the end effector installed at the end of the robotic arm. The six-DOF robotic arm is a macro-arm, a globally accessible serial robotic arm. The first joint has a circular motion degree of freedom, and the following five joints have rotational degrees of freedom. Each joint uses a stepper motor + harmonic reducer + absolute encoder. The end effector of joint 6 provides standard mechanical, 28V electrical, and RS485 serial bus interfaces for quick connection and disconnection of the end effector.

[0102] The end effector includes: a gripper, an ultraviolet sterilization device, and an ultrasonic micromanipulator located at the end effector of the six-degree-of-freedom robotic arm, for processing experimental objects placed at the loading system 3.

[0103] The gripper, ultraviolet sterilization device, and ultrasonic micromanipulator are all connected to the first sub-controller and are used to control the corresponding end effector to operate according to the internal control instructions forwarded by the first sub-controller.

[0104] like Figure 1 As shown, the end effector 1 is a gripper. The robotic arm controls the gripper via an RS485 serial bus, controlling a DC motor to complete the gripping and homing actions of the mechanism, and using force feedback to achieve the functions of positioning the movement and shutting off the motor output.

[0105] End effector 2 is a UV sterilization device. The robotic arm controls the UV sterilization device driver board via an RS485 serial bus to achieve UV sterilization of the glove box.

[0106] The end effector 3 is an ultrasonic micromanipulator. The robotic arm controls the ultrasonic micromanipulator via an RS485 serial bus, enabling micron-level micromanipulation.

[0107] The first sub-controller communicates with the first master controller via an RS485 serial bus. It receives parameter query commands from the master controller, returns engineering data packets from the first sub-controller, and receives internal control commands from the master controller. Based on the destination address parameter in the internal control command and the master controller's current operating mode, it determines whether to execute the corresponding end effector or six-degree-of-freedom robotic arm, performing functions such as driving the robotic arm joint stepper motors, querying relevant status parameters, and setting relevant operating parameters. It also provides 5V power to the encoder. To reduce the complexity of welding and wiring, the first sub-controller provides both a direct input voltage adapter interface and a parallel RS485 serial network interface.

[0108] like Figure 3The diagram shown is a schematic diagram of the structure of the microscopic operating system of the present invention; the microscopic operating system 2 includes: a second sub-controller and a microscopic camera, an adsorption and injection mechanism and a clamping mechanism connected thereto;

[0109] The second sub-controller is connected to the first main controller and is used to receive the working parameter query command from the first main controller, return the engineering data packet of the second sub-controller to the first main controller; and receive the internal control command from the first main controller. At the same time, the second sub-controller receives the internal control command from the first main controller and controls the microscope camera, the adsorption and injection mechanism and the clamping mechanism to perform corresponding actions according to the content of the internal control command.

[0110] The adsorption and injection mechanism is used to achieve adsorption and high-precision injection of the target cell. The core device for cell adsorption and micro-injection is a high-precision pneumatic injector, which is sealed with a certain amount of air and contains no other liquids; it includes: a pneumatic injector and a pressure sensor injector;

[0111] The pressure sensor injector includes a positive pressure injector and a negative pressure injector, wherein the positive pressure injector is connected to the operating mechanism via a positive pressure air tube; and the negative pressure injector is connected to the clamping mechanism via a negative pressure air tube. Both the positive pressure injector and the negative pressure injector are equipped with pressure sensors.

[0112] The cylinder and pressure sensor of the pneumatic injector are respectively connected to the second sub-controller; it is used to perform adsorption or injection operations on the experimental object placed on the loading system 3 according to the internal control instructions of the second sub-controller.

[0113] The clamping mechanism includes a three-axis linear slide connected to a second sub-controller and an end gripper; wherein, the clamping mechanism is prior art, disclosed in: the applicant is: Shenyang Institute of Automation, Chinese Academy of Sciences, publication number: CN214724385U, invention title: Micromanipulation robot system for on-orbit life science experiments on space station, wherein the clamping mechanism includes an X-axis slide assembly II, a Y-axis slide assembly II, a Z-axis slide assembly II and a suction pin assembly connected in sequence.

[0114] In this invention, the end gripper is held by the adsorption and injection mechanism and is located outside the carrier system 3. It is used to move the triaxial linear slide according to the internal control command forwarded by the second sub-controller, thereby driving the end gripper and moving the adsorption and injection mechanism to the carrier system 3 in the X, Y and Z directions. The suction needle assembly captures and fixes the space biological experimental sample by the negative pressure pneumatic force provided by the adsorption and injection mechanism.

[0115] The microscope camera is positioned directly above the material carrier system 3, and its field of view covers the moving range of the material carrier system 3 and the adsorption and injection mechanism.

[0116] The microscope camera is used to control its operating status according to the internal control instructions forwarded by the second sub-controller, and at the same time transmits the information to the second sub-controller.

[0117] The microscope camera of this invention is prior art, disclosed in: Applicant: Shenyang Institute of Automation, Chinese Academy of Sciences, Publication No.: CN214724385U, Invention Title: Micromanipulation Robot System for On-orbit Life Science Experiments on Space Station, including microscope head, microscope tube, camera and mounting frame, wherein the mounting frame is connected to the three-dimensional stage, and the microscope tube is mounted on the mounting frame; the microscope head is set at the lower end of the microscope tube for imaging space biological experimental samples; the camera is set at the upper end of the microscope tube for receiving images and transmitting them to the first main controller.

[0118] like Figure 4 The diagram shown is a structural schematic of the loading system of the present invention. The loading system (3) includes: a third sub-controller, a loading stage and a light source;

[0119] The third sub-controller is connected to the stage and the light source respectively. It is used to receive the working parameter query command from the first main controller and return the engineering data packet of the third sub-controller to the first main controller. At the same time, the third sub-controller receives the internal control command from the first main controller and controls the stage or the light source to perform corresponding actions according to the content of the internal control command.

[0120] The stage is a three-dimensional stage, used to control the movement of the experimental object placed on the stage according to the internal control instructions forwarded by the third sub-controller.

[0121] The three-dimensional stage of this invention is existing technology, adopted by the Shenyang Institute of Automation, Chinese Academy of Sciences, patent publication number CN214724385U, entitled "Invention Patent for a Micromanipulation Robot System for On-orbit Life Science Experiments on a Space Station"; wherein, the three-dimensional stage includes: X-axis slide assembly I, Y-axis slide assembly I, Z-axis slide assembly I, a petri dish, a base plate, and a column, wherein the X-axis slide assembly I and the column are mounted on the base plate, the Y-axis slide assembly I is mounted on the X-axis slide assembly I, and the petri dish is mounted on the Y-axis slide assembly I; the Z-axis slide assembly I is mounted on the column, and the Z-axis slide assembly I is provided with an interface plate for mounting a microscopic vision system. A light source is provided at the bottom of the petri dish.

[0122] In this invention, the light source is used to provide illumination for the stage, and the intensity of the light source is adjusted according to the internal control instructions forwarded by the third sub-controller.

[0123] The three-dimensional stage communicates with the first main controller via an RS485 serial bus through a third sub-controller. After parsing the scientific experiment controller commands, the third sub-controller forwards them to the three-dimensional stage via the RS485 serial bus according to the protocol specified by the three-dimensional stage. Based on the commands sent by the first main controller, it completes the driving of the stage's LED light source, as well as related status parameter query functions and related parameter settings. At the same time, in order to reduce the complexity of soldering and wiring, the board provides an input voltage direct connection adapter interface.

[0124] The three-dimensional stage is equipped with a microscope camera on its Z-axis, which can realize microscopic observation to meet the needs of space biology and materials science experiments, and output image data to the display system in real time (without a direct visual system); the overall structure meets the dimensional constraints (the small space inside the glove box does not interfere with other subsystems).

[0125] During the micromanipulation experiment, the robotic arm control system 1 delivers the ultrasonic micromanipulator to the vicinity of the stage according to a pre-planned trajectory and maintains its position. The control algorithm of the ultrasonic micromanipulator is based on images acquired through microscopic vision, and the micromanipulation experiment is completed through the coordinated operation of the ultrasonic micromanipulator, the gripping mechanism, and the suction and injection mechanism.

[0126] like Figure 5 The diagram shown is an electrical schematic of the power supply module of the present invention. The power supply module of the present invention adopts a power management system, whose main function is to provide power to various devices and subsystems in the glove box and realize the function of autonomous power management and control.

[0127] The power management system is responsible for stably and reliably transmitting power from the upper-level controller to various subsystems and electrical loads within the glove box, meeting the power requirements of the glove box and realizing unified control and switching functions for all subsystems and electrical loads within the glove box. The upper resource panel and the upper-level controller can communicate with the power management system through the first main controller to power on and off various boards and subsystems.

[0128] In this invention, both the first main controller and the second main controller are connected to the power supply module 4;

[0129] When the power supply module 4 receives an internal instruction from the second main controller, it provides the corresponding power status to each subsystem according to the destination address parameter in the internal instruction;

[0130] The power supply module 4 provides 28V power to the robotic arm control system 1, the microscopic operating system 2, and the loading system 3, allowing them to be either on or off.

[0131] Power supply module 4 provides 100V and 28V power to environmental control sub-controllers A5 and B6 respectively, and the power supply module is in an on or off state.

[0132] Power supply module 4 receives the engineering parameter query command from the second main controller and sends back an engineering data packet containing power supply data of each subsystem to the second main controller.

[0133] When the first or second main controller receives a cabinet instruction from the upper-level controller, and the cabinet instruction is an emergency power-off instruction, it returns an emergency power-off instruction response to the upper-level controller and packages it into an internal emergency power-off instruction. The first main controller sends the internal emergency power-off instruction to the robotic arm control system 1, the microscopic operating system 2, the loading system 3, and the monitoring camera. The second main controller sends the internal emergency power-off instruction to the power supply module 3, the environmental control sub-controller A5, the environmental control sub-controller B6, and the upper-level resource panel operating system 7. After 70 seconds, the power supply module 4 performs a power-off operation on the first or second main controller.

[0134] Secondly, it can realize the automatic management function of all electrical loads inside the glove box. Under the condition of not exceeding the maximum electrical load, it can reasonably and automatically schedule and redistribute the power supply according to the real-time status and priority of each electrical load inside the glove box, realize peak control of power management, so that the input power can be used more fully and effectively, and can supply power according to the importance of the electrical equipment according to priority.

[0135] The power management system will also provide comprehensive protection for all power loads in the glove box, thereby improving the reliability of the power system. The power management system can monitor the voltage and current of each load point in real time, and can set protection current values ​​and delay times as needed. It can achieve fault location and protection functions such as inverse-time overload protection and short-circuit overcurrent protection. Furthermore, it can set the rated current and various protection indicators for each distribution line according to the instructions of the scientific support controller.

[0136] like Figures 6-7 The figures shown are electrical schematic diagrams of the environmental control sub-controller A5 and the environmental control sub-controller B6 of the present invention.

[0137] Environmental control sub-controllers A5 and B6 are backup systems for each other. Both share the same design, control the same actuators, collect the same sensor information, and execute the relevant instructions from controller 1's scientific support controller. During normal operation of the glove box, both sub-controllers A5 and B6 operate simultaneously. If either sub-controller A5 or B6 fails, a single subsystem can fully meet the functional and performance requirements of the scientific glove box's environmental control system.

[0138] Both the environmental control sub-controller A5 and the environmental control sub-controller B6 are connected to the peripheral equipment and sensor group located in the glove box, respectively.

[0139] The environmental control sub-controller A5 and the environmental control sub-controller B6 are both used to simultaneously receive the internal control instructions forwarded by the second master controller or the manual control instructions of the upper resource panel operating system 7, and jointly control the actions of the peripheral devices and the sensor group according to the instruction content; and according to the working parameter query instruction sent by the second master controller, return an engineering data packet containing the parameters of the peripheral devices obtained and the glove box status parameter data collected by the sensor group to the upper controller, so as to realize the closed-loop control and monitor the real-time status of the glove box environmental control system;

[0140] The peripheral devices include: a semiconductor refrigeration chip, a fan, a motor, a water pump, a pulse pump, a solenoid valve, and an LED lamp that are located outside the glove box and connected to the inside of the glove box;

[0141] The sensor group is used to continuously monitor the environmental parameters in the glove box and send them to the environmental control sub-controller A5 and the environmental control sub-controller B6 respectively;

[0142] The environmental parameters include: the temperature of the semiconductor refrigeration chip of the peripheral device, the working current, the pipeline pressure, the pressure difference inside and outside the box, the motor speed, etc.

[0143] First, the environmental control system completes the data acquisition of each sensor inside the environmental control system. The sensors of the environmental control system include temperature, humidity, light, pressure, thermistor, limit switch, etc. The data of each sensor is used to realize the closed-loop control and monitor the real-time status of the glove box environmental control system.

[0144] Secondly, the environmental control system completes the function of driving and controlling each peripheral device inside the environmental control system. The peripheral devices of the environmental control system drive a single peripheral device to work or realize the linkage and combined control of multiple peripheral devices according to the functions to be realized by the environmental control system.

[0145] As Figure 1 shown, according to the Figure 1 data flow control principle attached, a control method for a scientific glove box in a space station according to the present invention includes the following steps:

[0146] 1) The first master controller or the second master controller receives a time calibration instruction from the upper controller; the first master controller or the second master controller updates the system time according to the instruction content;

[0147] 2) When the first master controller receives a data injection instruction and an in-cabinet payload forwarding instruction from the upper controller, the first master controller resolves the data injection instruction and the in-cabinet payload into internal instructions, and judges whether the instruction is executed on the first master controller, the robotic arm control system 1, the microscopic operating system 2, the loading system 3, or the surveillance camera according to the destination address parameter in the internal instruction and the current working mode of the first master controller;

[0148] If the internal instructions parsed by the first main controller are scientific experiment control instructions, then the internal instructions are packaged into inter-cabinet load forwarding instructions and sent to the robotic arm control system 1, the microscopic operating system 2, or the loading system 3, and the following steps are executed:

[0149] 2-1) The robotic arm control system 1 receives an internal instruction from the first main controller and executes the following steps:

[0150] If the internal instruction is a dexterous arm system control instruction, then the internal instruction is forwarded to the robotic arm control system 1; then the first sub-controller of the robotic arm control system 1 controls the joint motion state of the six-degree-of-freedom robotic arm according to the instruction parameters;

[0151] If it is a macro operator control command, the movement state of the gripper is controlled according to the command parameters, and the corresponding parameters are fed back to the first sub-controller.

[0152] If it is a micromanipulator control command, the working state of the ultrasonic micromanipulator is controlled according to the command parameters, and the corresponding parameters are fed back to the first sub-controller.

[0153] If it is a UV lamp control command, the UV sterilization device will be turned on, off, or its intensity adjusted according to the command parameters, and the corresponding parameters will be fed back to the first sub-controller.

[0154] The robotic arm control system 1 receives a parameter query command from the first main controller and sends back an engineering data packet containing the corresponding parameters of the end effector to the first main controller.

[0155] 2-2) The microscopic operating system 2 receives internal instructions from the first main controller and executes the following steps:

[0156] If the internal command is a microscopic system control command, it is forwarded to the second sub-controller; the second sub-controller controls the microscope camera, adsorption and injection mechanism, and clamping mechanism to perform corresponding actions.

[0157] If the command is for the adsorption and injection mechanism, the second sub-controller controls the adsorption and injection mechanism to adsorb or inject the experimental object on the stage according to the command parameters, and feeds back the corresponding parameters to the second sub-controller.

[0158] If it is a clamping mechanism control command, the second sub-controller controls the motion state of the clamping mechanism according to the command parameters and feeds back the corresponding parameters to the second sub-controller;

[0159] If it is a microscopic manipulation control command, the second sub-controller controls the operating state of the microscope camera according to the command parameters and feeds back the corresponding parameters to the second sub-controller.

[0160] The microscopic operating system 2 receives a parameter query command from the first main controller and feeds back an engineering data packet containing the parameters corresponding to the end effector of the adsorption and injection mechanism, the clamping mechanism, or the microscopic camera to the first main controller.

[0161] 2-3) If the internal command is a stage system control command, then the internal command is forwarded to the third sub-controller; the third sub-controller controls the stage or light source to perform the following steps:

[0162] If the command is for controlling the stage, the third sub-controller controls the stage's motion state according to the command parameters.

[0163] If it is a light source control command, the third sub-controller controls the light source level according to the command parameters;

[0164] The loading system 3 receives a parameter query command from the first main controller and sends an engineering data packet containing the current motion status of the loading stage or the light source setting data back to the first main controller.

[0165] 2-4) If the internal instruction is a monitoring camera control instruction, the internal instruction is forwarded to the monitoring camera, and the monitoring camera adjusts its own camera parameter status data; when the monitoring camera receives a parameter query instruction from the first main controller, it sends an engineering data packet containing the monitoring camera parameters and status back to the first main controller.

[0166] 3) The second main controller receives data injection instructions and inter-load forwarding instructions from the upper controller, receives control instructions from the upper resource panel operating system 7, parses them into internal instructions, and determines whether the instruction is executed on the second main controller or the environmental control sub-controller based on the destination address parameters in the internal instructions and the current working mode of the second main controller.

[0167] The second main controller parses the internal instructions according to the protocol format as glove box environmental status control instructions. It then packages these internal instructions into inter-cabinet load forwarding instructions and sends them to either environmental control sub-controller A5 or environmental control sub-controller B6, and executes the following steps:

[0168] 3-1) If the internal command or the manual control command of the host resource panel operating system 7 is parsed as a control command for environmental control system A or a control command for environmental control system B, then the internal command is forwarded to environmental control sub-controllers A5 and B6, and the following steps are executed:

[0169] If the command is for an environmental control peripheral device, then the environmental control sub-controllers A5 and B6 simultaneously control the working status of the corresponding peripheral devices or the sensor group to collect environmental data inside the glove box according to the command parameters.

[0170] When the glove box is working normally, environmental control sub-controllers A5 and B6 work simultaneously. When one of the environmental control sub-controllers A5 and B6 fails, the other environmental control sub-controller works normally.

[0171] 3-2) If the internal instruction is a parameter query instruction for the LCD control panel, then return to the upper-level resource panel operating system 7 an engineering data packet containing the working status of the peripheral devices or the environmental data collected by the sensor group inside the glove box.

[0172] 4) When the first or second main controller receives the parameter query command from the upper controller or the manual control command from the upper resource panel operating system 7, it feeds back the engineering data packet to the upper controller or the upper resource panel operating system 7.

[0173] In addition, the first main controller in this invention also performs the following steps:

[0174] 1) When the first main controller receives a cabinet instruction from the upper controller, if the cabinet instruction is "Request for data management communication interface feedback instruction", it returns a request for data management communication interface confirmation instruction to the upper controller; if the cabinet instruction is "Emergency power failure instruction", it returns an "Emergency power failure instruction response" to the upper controller, packages it into an emergency power failure internal instruction according to the protocol format, sends the emergency power failure internal instruction to the robotic arm control system 1, the microscopic operating system 2, the loading system 3, and the monitoring camera, and performs a power failure operation on controller 1 after 70 seconds; if it is another cabinet instruction, it returns an "Abnormal instruction response" to the upper controller.

[0175] 2) When the internal instruction parsed by the first main controller is a soft shutdown instruction for the scientific experiment controller, the controller 1 packages the emergency power-off internal instruction according to the protocol format, sends the emergency power-off internal instruction to the robotic arm control system 1, the microscopic operating system 2, the loading system 3, and the monitoring camera, and then shuts down.

[0176] 3) When the internal instruction parsed by the first main controller is a software upgrade instruction, the first main controller performs the relevant operations for upgrading the software of the glove box scientific experiment system; if the internal instruction is a scientific experiment controller mode switching instruction, the first main controller switches its working mode according to the instruction parameters; if the internal instruction is an on-orbit portable device communication control instruction, the first main controller performs the relevant operations for communication between the scientific experiment system and the on-orbit portable device; if the internal instruction is a space-to-ground IP tunnel communication control instruction, the first main controller performs the relevant operations for communication between the scientific experiment system and ground equipment.

[0177] In this invention, the second main controller also performs the following steps:

[0178] 4) When the internal instruction parsed by the second main controller is a power control instruction, the internal instruction is forwarded to the power supply module 4;

[0179] If the internal instruction is a parameter query instruction for the LCD control panel, then the second main controller engineering data packet will be returned to the upper-level resource panel operating system 7 according to the protocol format requirements.

[0180] If the internal command is a ventilation control command, the second main controller controls the corresponding external equipment to perform glove box ventilation-related operations.

[0181] If the internal command is a water injection control command, the second main controller controls the corresponding external equipment to perform the glove box water injection related operations.

[0182] If the internal instruction of the second main controller is a mode switching instruction, then the working mode of the second main controller is switched according to the instruction parameters;

[0183] If the internal command is a temperature setting command for the environmental control system, the second main controller controls the corresponding external devices to perform glove box temperature control related operations.

[0184] If the internal command is a humidity setting command for the environmental control system, the second main controller controls the corresponding external devices to perform glove box humidity control related operations.

[0185] 5) The host resource panel operating system 7 receives input signals from the buttons and packages the input signals into control commands according to the protocol format;

[0186] 6) The host resource panel operating system 7 receives the engineering data packet from the second main controller, parses the engineering parameters of the second main controller according to the protocol format requirements, and displays the parameter information on the LCD screen interface.

[0187] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A control system for a scientific glove box on a space station, characterized in that, include: First main controller, second main controller, robotic arm control system (1), micro operating system (2), loading system (3), power supply module (4), environmental control sub-controller A (5), environmental control sub-controller B (6), and upper resource panel operating system (7). The first main controller and the second main controller communicate with the upper-level controller via RS422 bus, respectively. The first main controller is connected to the robotic arm control system (1), the microscopic operating system (2), and the loading system (3) respectively. It is used to receive data injection instructions and load forwarding instructions from the upper controller, and to parse the data injection instructions and load forwarding instructions into internal instructions. Based on the destination address parameters in the internal instructions and the current working mode of the first main controller, it controls the first main controller, the robotic arm control system (1), the microscopic operating system (2), or the loading system (3) to perform corresponding actions. The second main controller is connected to the environmental control sub-controller A (5), the environmental control sub-controller B (6), and the upper-level resource panel operating system (7) respectively. It is used to receive data injection instructions from the upper-level controller, forwarding instructions between loads in the cabinet, or control instructions from the upper-level resource panel operating system (7). It will parse them into internal instructions and control the second main controller, environmental control sub-controller A (5), or environmental control sub-controller B (6) to perform corresponding actions according to the destination address parameters in the internal instructions and the current working mode of the second main controller. The robotic arm control system (1) is used to control the movement of the robotic arm in the glove box and to process the experimental objects on the loading system (3); The microscopic operating system (2) is used to perform microscopic visual inspection operations and adsorption or injection operations on the experimental objects of the carrier system (3); The carrying system (3) is used to carry the experimental object and drive the experimental object to move; Both the environmental control sub-controller A (5) and the environmental control sub-controller B (6) are used to collect environmental parameters inside the glove box and control external equipment. The upper-level resource panel operating system (7) is connected to the environmental control sub-controller A (5) and the environmental control sub-controller B (6) respectively, and is used to send control commands to the environmental control sub-controller A (5) and the environmental control sub-controller B (6) and control the execution of corresponding actions; The environmental control sub-controller A (5) and the environmental control sub-controller B (6) are respectively connected to the peripheral equipment and sensor group set in the glove box; The environmental control sub-controllers A (5) and B (6) are both used to simultaneously receive internal control instructions forwarded by the second main controller or manual control instructions from the upper resource panel operating system (7), and jointly control the actions of peripheral devices and sensor groups according to the instruction content; and return an engineering data packet containing the parameters of the peripheral devices and the glove box status parameter data collected by the sensor group to the upper controller according to the parameter query instruction sent by the second main controller, so as to realize closed-loop control and monitor the real-time status of the glove box environmental control system. The peripheral equipment includes: a semiconductor cooling chip, a fan, a motor, a water pump, a pulse pump, a solenoid valve, and LED lights located outside the glove box and connected to the inside of the glove box; The sensor group is used to monitor the environmental parameters in the glove box in real time and send them to the environmental control sub-controller A (5) and the environmental control sub-controller B (6) respectively. The environmental parameters include: temperature of the semiconductor cooling chip of the peripheral equipment, operating current, pipeline pressure, pressure difference between the inside and outside of the enclosure, and motor speed; The environmental control sub-controller A (5) and the environmental control sub-controller B (6) are backups for each other; The power supply module (4) is used to supply power to the first main controller, the second main controller, the robotic arm control system (1), the microscopic operating system (2), the loading system (3), the environmental control sub-controller A (5) and the environmental control sub-controller B (6); The robotic arm control system (1) includes: a first sub-controller, a six-degree-of-freedom robotic arm, and multiple end effectors located at its end. The end effector includes: a gripper, an ultraviolet sterilization device, and an ultrasonic micromanipulator located at the end of the six-degree-of-freedom robotic arm, for processing experimental objects placed on the loading system (3); The gripper, ultraviolet sterilization device, and ultrasonic micromanipulator are all connected to the first sub-controller and are used to control the corresponding end effector to operate according to the internal control instructions forwarded by the first sub-controller. The first sub-controller is connected to the first main controller and is used to receive the working parameter query instruction from the first main controller, return the engineering data packet of the first sub-controller to the first main controller; and receive the internal control instruction from the first main controller, and determine the execution of the corresponding end effector or six-degree-of-freedom robot arm based on the destination address parameter in the internal control instruction and the current working mode of the first main controller. The microscopic operating system (2) includes: a second sub-controller and a microscopic camera, an adsorption and injection mechanism and a clamping mechanism connected thereto; The second sub-controller is connected to the first main controller and is used to receive the working parameter query command from the first main controller, return the engineering data packet of the second sub-controller to the first main controller; and receive the internal control command from the first main controller. At the same time, the second sub-controller receives the internal control command from the first main controller and controls the microscope camera, the adsorption and injection mechanism and the clamping mechanism to perform corresponding actions according to the content of the internal control command. The adsorption and injection mechanism includes: a pneumatic injector and a pressure sensor injector; The cylinder and pressure sensor of the pneumatic injector are respectively connected to the second sub-controller; used to perform adsorption or injection operations on the experimental object placed on the loading system (3) according to the internal control instructions of the second sub-controller. The clamping mechanism includes: a triaxial linear slide connected to the second sub-controller and an end gripper; The end gripper is held by the adsorption and injection mechanism and is located outside the loading system (3). It is used to move the three-axis linear slide according to the internal control command forwarded by the second sub-controller, drive the end gripper, and move the adsorption and injection mechanism to the loading system (3) in the X, Y and Z directions. The microscope camera is positioned directly above the loading system (3), and its field of view covers the moving range of the loading system (3) and the adsorption and injection mechanism. The microscope camera is used to control the operating state of the microscope camera according to the internal control instructions forwarded by the second sub-controller, and at the same time transmits them to the second sub-controller. The loading system (3) includes: a third sub-controller, a loading stage, and a light source; The third sub-controller is connected to the stage and the light source respectively. It is used to receive the working parameter query command from the first main controller and return the engineering data packet of the third sub-controller to the first main controller. At the same time, the third sub-controller receives the internal control command from the first main controller and controls the stage or the light source to perform corresponding actions according to the content of the internal control command. The stage is a three-dimensional stage, used to control the three-dimensional stage to move the experimental object placed on the stage according to the internal control instructions forwarded by the third sub-controller. The light source is located on the stage and is used to provide illumination to the stage. The intensity of the light source is adjusted according to the internal control instructions forwarded by the third sub-controller.

2. The control system for a scientific glove box on a space station according to claim 1, characterized in that, It also includes surveillance cameras installed in the glove box; There are two surveillance cameras, and the fields of view of the two surveillance cameras complement each other, and they are respectively connected to the first main controller via USB; The surveillance camera is a CMOS camera equipped with an optical wide-angle lens, used to receive internal instructions from the first main controller. If it is a surveillance camera parameter setting instruction, the surveillance camera video acquisition frame rate and resolution are set according to the instruction parameters. If it is a camera control command, the on / off state of the camera is controlled according to the command parameters; at the same time, the parameter query command from the first main controller is received and a data packet containing camera parameters and status is fed back to the first main controller.

3. The control method for a control system of a scientific glove box for a space station according to claim 1, characterized in that, Includes the following steps: 1) The first master controller or the second master controller receives a time synchronization command from the upper-level controller; the first master controller or the second master controller updates the system time according to the command content; 2) When the first main controller receives the data injection instruction and the cabinet load forwarding instruction from the upper controller, the first main controller parses the data injection instruction and the cabinet load forwarding instruction into internal instructions, and determines whether the instruction is executed by the first main controller, the robotic arm control system (1), the microscopic operating system (2), the loading system (3), or the monitoring camera based on the destination address parameters in the internal instructions and the current working mode of the first main controller. 3) The second main controller receives the data injection instruction and the load forwarding instruction from the upper controller, receives the control instruction from the upper resource panel operating system (7), and parses it into an internal instruction. Based on the destination address parameter in the internal instruction and the current working mode of the second main controller, it determines whether the instruction is executed on the second main controller or the environmental control sub-controller. 4) The first or second main controller receives the parameter query instruction from the upper controller or the manual control instruction from the upper resource panel operating system (7) and feeds back the engineering data packet to the upper controller or the upper resource panel operating system (7); If the internal instructions parsed by the first main controller are scientific experiment control instructions, then the internal instructions will be packaged into cabinet load forwarding instructions and sent to the robotic arm control system (1), the microscopic operating system (2), or the loading system (3). 2-1) The robotic arm control system (1) receives an internal instruction from the first main controller and executes the following steps: If the internal instruction is a dexterous arm system control instruction, then the internal instruction is forwarded to the robotic arm control system (1); then the first sub-controller of the robotic arm control system (1) controls the joint motion state of the six-degree-of-freedom robotic arm according to the instruction parameters; If it is a macro operator control command, the movement state of the gripper is controlled according to the command parameters, and the corresponding parameters are fed back to the first sub-controller. If it is a micromanipulator control command, the working state of the ultrasonic micromanipulator is controlled according to the command parameters, and the corresponding parameters are fed back to the first sub-controller. If it is a UV lamp control command, the UV sterilization device will be turned on, off, or its intensity adjusted according to the command parameters, and the corresponding parameters will be fed back to the first sub-controller. The robotic arm control system (1) receives the parameter query instruction from the first main controller and sends back an engineering data packet containing the corresponding parameters of the end effector to the first main controller; 2-2) The microscopic operating system (2) receives internal instructions from the first main controller and executes the following steps: If the internal command is a microscopic system control command, it is forwarded to the second sub-controller; the second sub-controller controls the microscope camera, adsorption and injection mechanism, and clamping mechanism to perform corresponding actions. If the command is for the adsorption and injection mechanism, the second sub-controller controls the adsorption and injection mechanism to adsorb or inject the experimental object on the stage according to the command parameters, and feeds back the corresponding parameters to the second sub-controller. If it is a clamping mechanism control command, the second sub-controller controls the motion state of the clamping mechanism according to the command parameters and feeds back the corresponding parameters to the second sub-controller; If it is a microscopic manipulation control command, the second sub-controller controls the operating state of the microscope camera according to the command parameters and feeds back the corresponding parameters to the second sub-controller. The microscopic operating system (2) receives the parameter query instruction from the first main controller and feeds back to the first main controller an engineering data packet containing the parameters corresponding to the end manipulator of the adsorption and injection mechanism, the clamping mechanism or the microscopic camera; 2-3) If the internal command is a stage system control command, then the internal command is forwarded to the third sub-controller; the third sub-controller controls the stage or light source to perform the following steps: If it is a stage control command, the third sub-controller controls the stage's motion state according to the command parameters; If it is a light source control command, the third sub-controller controls the light source level according to the command parameters; The loading system (3) receives the parameter query instruction from the first main controller and feeds back the engineering data packet containing the current motion status of the loading stage or the light source level data to the first main controller; 2-4) If the internal instruction is a monitoring camera control instruction, the internal instruction is forwarded to the monitoring camera, and the monitoring camera adjusts its own camera parameter status data; when the monitoring camera receives a parameter query instruction from the first main controller, it sends back an engineering data packet containing the monitoring camera parameters and status to the first main controller. The second main controller parses the internal instructions according to the protocol format and finds them to be glove box environmental status control instructions. Then, it packages the internal instructions into cabinet load forwarding instructions and sends them to environmental control sub-controller A (5) or environmental control sub-controller B (6), and performs the following steps: 3-1) If the internal instructions or the manual control instructions of the upper resource panel operating system (7) are parsed as control instructions of environmental control system A or control instructions of environmental control system B, then the internal instructions are forwarded to environmental control sub-controller A (5) and environmental control sub-controller B (6), and the following steps are executed: If it is an instruction from an environmental control peripheral device, then the environmental control sub-controller A (5) and the environmental control sub-controller B (6) simultaneously control the working status of the corresponding peripheral device or the sensor group collects environmental data inside the glove box according to the instruction parameters; When the glove box is working normally, the environmental control sub-controller A (5) and the environmental control sub-controller B (6) work simultaneously. When one of the environmental control sub-controllers A (5) and B (6) fails, the other environmental control sub-controller works normally. 3-2) If the internal instruction is a parameter query instruction for the LCD control screen, then return to the upper-level resource panel operating system (7) an engineering data package containing the working status of the peripheral devices or the environmental data of the glove box collected by the sensor group; Both the first main controller and the second main controller are connected to the power supply module (4); When the power supply module (4) receives an internal instruction from the second main controller, it provides the corresponding power status to each subsystem according to the destination address parameter in the internal instruction; The power supply module (4) provides 28V power to the robotic arm control system (1), the microscopic operating system (2), and the loading system (3) to be in either on or off state. The power supply module (4) provides 100V and 28V power to the environmental control sub-controller A (5) and the environmental control sub-controller B (6) respectively, and the power supply module (4) is in the on or off state. The power supply module (4) receives the working parameter query command from the second main controller and feeds back the engineering data packet containing the power supply data of each subsystem to the second main controller; When the first main controller or the second main controller receives a cabinet instruction from the upper controller, and the cabinet instruction is an emergency power-off instruction, it returns an emergency power-off instruction response to the upper controller and packages it into an internal emergency power-off instruction; the first main controller sends the internal emergency power-off instruction to the robotic arm control system (1), the microscopic operating system (2), the loading system (3), and the monitoring camera; the second main controller sends the internal emergency power-off instruction to the power supply module (4), the environmental control sub-controller A (5), the environmental control sub-controller B (6), and the upper resource panel operating system (7); and after 70 seconds, the power supply module (4) performs a power-off operation on the first main controller or the second main controller.

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