Industrial protection door control system and safety communication method

Abstract

The invention belongs to the technical field of industrial automatic production, and provides an industrial protection door control system and a safety communication method, and the system comprises a communication unit which comprises a main processor, a communication interface and a safety module; the door controller is used for receiving an instruction sent by the communication unit to control opening and closing of the door body and sending the position state and fault information of the door body to the communication unit; and the motor unit comprises a motor and an encoder and is used for driving the door body to move and feeding back the position of the motor. The system has remarkable beneficial effects in the aspects of safety and real-time performance, system reliability, anti-interference capability, system structure, expansibility and integration, data encryption, production efficiency and workpiece quality, fault early warning and self-repairing, user friendliness and the like.

Description

Technical Field

[0001] The invention belongs to the technical field of industrial automated production, and in particular relates to an industrial protective door control system and a safety communication method. Background Art

[0002] In modern industrial automation production, robots are widely used, and production efficiency and workpiece quality have been greatly improved. However, the personal safety of workshop workers has also been severely tested. Therefore, the safety of workshop safety protection equipment is of vital importance. Machine protection doors are a commonly used production protection equipment used to protect personal safety during workshop production.

[0003] However, the current existing technology mainly relies on conventional door control systems to communicate with production line PLCs (programmable logic controllers) through hard wiring, which has certain limitations in terms of security and real-time performance, and the complex wiring does not have high reliability.

[0004] Therefore, those skilled in the art have proposed an industrial protection door control system and a security communication method to solve the problems raised by the background technology. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an industrial protective door control system and a safe communication method to solve the problem that the prior art mainly relies on conventional door control systems to communicate with production line PLCs through hard wiring, which has certain limitations in terms of security and real-time performance, and the complex wiring does not have high reliability.

[0006] An industrial protective door control system, comprising:

[0007] A communication unit, the communication unit includes a main processor (MCU), a communication interface (Anybus CompactCom, referred to as ABCC) and a safety module. Serial communication is implemented between the MCU and the RS485 port of the door controller. Data is exchanged between the MCU and the communication interface via SPI (Serial Peripheral Interface). The safety module is responsible for processing and transmitting safety signals.

[0008] The door controller is used to receive instructions from the communication unit to control the opening and closing of the door body, and to send door body position status and fault information to the communication unit;

[0009] The drive unit includes a motor and an encoder, which is used to drive the movement of the door and provide motor position feedback;

[0010] Among them, the safety module is connected to ABCC through an independent transmission channel for transmitting safety data. Data is transmitted between ABCC and the safety PLC in the form of a communication protocol, and a safety check is performed in the entire data transmission process. Only when the check is passed can the safety signal be sent or received normally, the door body can operate normally, and the robot in the relevant area can move.

[0011] Preferably, the main processor adopts an STM32F4 series single-chip microcomputer based on an ARM Cortex-M4 core, with a maximum main frequency of up to 168 MHz, and provides up to 512 KB of flash memory and 128 KB of SRAM.

[0012] Preferably, the ABCC adopts the ABCC M40 module, which has powerful protocol conversion capabilities and can adapt to changes in different workshop environments and needs; it can achieve seamless communication between different industrial networks, has fast data processing capabilities, and is suitable for real-time application scenarios.

[0013] Preferably, the safety module adopts Safe T100 adapted to ABCC, which complies with the SIL3 safety requirement level defined in IEC 61508 and the performance level PLe / Category 4 in ISO 13849-1, ensuring high standards of safety and reliable performance, including but not limited to PROFINET (safety communication PROFIsafe), EtherNet / IP (safety communication CIP Safety), TwinCAT (safety communication TwinSAFE) communication protocols. Only the firmware of ABCC and the safety module needs to be updated to switch the communication protocol, which can adapt to changes in different workshop environments and needs; at the same time, it can achieve seamless communication between different industrial networks, has fast data processing capabilities, and is suitable for real-time application scenarios.

[0014] Preferably, it also includes: a safety input and output interface, wherein the safety input interface is used to connect safety sensors such as an emergency stop knob, a safety switch, a laser scanner / safety grating, and the safety output interface is used to connect safety components such as equipment emergency stop, inverter safe torque off (STO), and a safety relay.

[0015] When a fault occurs in the door body, the door is opened manually to the open state, and a power-off signal is sent to the production line through the maintenance switch. After the production line receives the power-off signal from the maintenance switch and the signal that the door is fully opened, the door body is shielded. At this time, the grating signal is used to determine whether there is a person or object entering the protected area.

[0016] Preferably, the security module also includes a security signal processing algorithm, which can automatically identify and filter false security signals and improve the anti-interference ability of the system. The security signal processing algorithm adopts a dynamic threshold adjustment algorithm, which dynamically adjusts the threshold of the security signal according to the real-time changes of the environmental noise and the security signal; when the environmental noise increases, the algorithm will automatically increase the threshold to avoid false triggering; conversely, when the environmental noise decreases, the algorithm will lower the threshold to ensure accurate reception of the security signal, and its formula is as follows:

[0017] T(t)=B_T+α·N_L(t);

[0018] in, T(t) is the threshold that changes over time, B_T is the basic threshold, α is the adjustment coefficient, and N_L(t) is the real-time environmental noise level.

[0019] Preferably, the safety module includes multiple safety redundancy mechanisms to ensure that the basic safety functions of the system can be maintained when the safety module fails, that is, a fault prediction and self-repair algorithm is introduced. The algorithm predicts potential failure points by analyzing the operation data and historical failure records of the safety module, and performs early warning and self-repair before the failure occurs. It can be achieved through machine learning technology, such as using a neural network model to learn and predict failure modes. The formula is as follows:

[0020] P = f(R_D,H_R);

[0021] Among them, P is the probability of failure, f is the neural network model, R_D is the operating data of the safety module, and H_R is the historical failure record.

[0022] The present inventions are all aimed at realizing automatic control of workshop doors, improving safety and production efficiency; they all adopt standardized communication protocols, can reliably transmit signals in industrial environments, and ensure normal production operation and the safety of personnel and equipment.

[0023] A secure communication method for an industrial protective door control system, applicable to the above industrial protective door control system, comprises the following steps:

[0024] S1, receiving the safety signal of the safety signal input device through the safety module;

[0025] S2, transmit the safety signal to ABCC through an independent transmission channel;

[0026] S3, ABCC transmits the safety signal to the safety PLC in the form of a communication protocol; an encrypted communication protocol is used between ABCC and the safety PLC to ensure confidentiality and integrity during data transmission. The encryption uses a multi-chaotic data encryption algorithm, and the H mapping model of the multi-chaotic data encryption algorithm is:

[0027]

[0028] Among them, x i ,y i Respectively represent the model input and output; the state of the mapping system under the condition of parameters a=1.4, b=0.3, x0=y0=0.4 is chaotic; the specific steps of the multi-chaotic data encryption algorithm are as follows:

[0029] S101, determine the initial values ​​x0, x′0, y0 of the two mapping models, and the control parameters 0, a, b, use them as the encryption key for multi-source big data, and carry out initialization processing;

[0030] S102, in order to conceal the original value of multi-source big data, set the number of iterations to 15, iterate the key processing, and improve the security of the data;

[0031] S103, select L mapping processing key, take x0 as initial parameter, input into L mapping model, obtain parameter x′0 through iteration, multiply x′0 by parameter y0, select the above product result as initial parameter of H mapping model, expand mapping operation to obtain parameter x n ,y n ,x n ,y n That is the final iterative result P of the H mapping model; the L mapping model is as follows:

[0032] x n+1 =x n ×0×σ(1-x n );

[0033] Where x∈[0,1]; o represents the control parameter; x n Represents any value;

[0034] S104, perform a modulo operation P to obtain a chaotic key P′:

[0035] P′=Pmod 256×(x i+1 +y i+1 );

[0036] S105. Finally, process the key byte P′ and the plaintext byte M to obtain the encrypted multi-source big data S:

[0037]

[0038] S4. Perform CRC check during the entire data transmission process. Only when the check passes can the safety signal be sent or received normally, the door can operate normally, and the robot in the relevant area can move.

[0039] A processor is configured to execute the above industrial protection door control system.

[0040] A machine-readable storage medium stores instructions, which, when executed by a processor, configure the processor to execute the above-mentioned industrial protective door control system.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] The present invention has significant beneficial effects in terms of security and real-time performance, system reliability, anti-interference capability, system structure, scalability and integration, data encryption, production efficiency and workpiece quality, fault warning and self-repair, and user-friendliness. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The industrial protection door control system diagram of the present invention;

[0044] Figure 2 A safety input diagram for the present invention;

[0045] Figure 3 It is a schematic diagram of the safety output of the present invention;

[0046] Figure 4 It is a logical schematic diagram of the shielding function of the present invention. DETAILED DESCRIPTION

[0047] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0048] Embodiment: The present invention provides an industrial protection door control system, such as Figure 1 As shown, including:

[0049] The communication unit includes a main processor (MCU), a communication interface (Anybus CompactCom, ABCC for short) and a safety module. The MCU and the Door Control door controller realize serial communication through the RS485 port, and exchange data with the ABCC through the SPI (Serial Peripheral Interface). The safety module is responsible for the processing and transmission of safety signals. The main processor adopts STM32 microcontroller and DSP microcontroller, based on the ARM Cortex-M4 core, with a maximum main frequency of up to 168MHz, providing up to 512KB of flash memory and 128KB of SRAM. The communication interface adopts the ABCC communication interface module, which has powerful protocol conversion capabilities, including but not limited to PROFIsafe, CIPSafety, TwinSAFE safety communication protocols. Only the firmware of ABCC and the safety module needs to be updated to switch the communication protocol, which can adapt to changes in different workshop environments and needs. At the same time, it can realize seamless communication between different industrial networks, has fast data processing capabilities, and is suitable for real-time application scenarios.

[0050] It also includes: a safety input and output interface, wherein the safety input interface is used to connect to safety sensors such as an emergency stop knob, a safety switch, a laser scanner / safety grating, and the safety output interface is used to connect to safety components such as an equipment emergency stop, a frequency converter safe torque off (STO), and a safety relay;

[0051] The door controller is used to receive instructions from the communication unit to control the opening and closing of the door body, and to send door body position status and fault information to the communication unit;

[0052] The motor unit includes a motor and an encoder, which is used to drive the movement of the door body and provide motor position feedback;

[0053] Among them, the safety module is connected to ABCC through an independent transmission channel for transmitting safety data. Data is transmitted between ABCC and the safety PLC in the form of a communication protocol, and a safety check is performed in the entire data transmission process. Only when the check is passed can the safety signal be sent or received normally, the door body can operate normally, and the robot in the relevant area can move.

[0054] As can be seen from the above, the present invention has the following beneficial effects:

[0055] 1) By adopting independent transmission channels and CRC checks, the accuracy and integrity of safety signals during transmission are ensured, thereby improving the safety of the system. The use of high-performance communication interfaces (such as ABCC M40 modules) and main processors (such as STM32F407ZGT6 microcontrollers) enables fast data processing and real-time communication, ensuring the response speed of the door control system;

[0056] 2) Compared with the traditional hard wiring method, this system realizes communication with the production line PLC through the communication unit, which simplifies the system structure, reduces complex wiring, and improves the flexibility and maintainability of the system. The communication interface ABCC has a powerful protocol conversion capability, which can achieve seamless communication between different industrial networks, allowing the system to adapt to a variety of industrial environments and application scenarios;

[0057] 3) The present invention improves the safety and reliability of the door control system, thereby ensuring the personal safety of workshop workers and reducing downtime and maintenance time caused by safety accidents, thereby improving production efficiency and workpiece quality;

[0058] 4) The communication unit and security module of this system are reasonably designed and easy to integrate with other industrial equipment and systems, facilitating subsequent functional expansion and upgrading.

[0059] Specifically, Figure 1 Safe Inputs and Safe Outputs in the diagram represent safety inputs and safety outputs, respectively, which are implemented by the safety module. The safety module is connected to ABCC through an independent transmission channel for transmitting safety data. ABCC and the safety PLC transmit data in the form of a communication protocol to ensure real-time processing and control of safety signals. Safety checks are performed during the entire data transmission process. Only when the check is passed can the safety signal be sent or received normally, the door can operate normally, and the robot in the relevant area can move. These safety signals are generally dual-channel input / output, such as Figure 2 , Figure 3 As shown. The safety input interface is used to connect some safety sensors, such as: a. Emergency stop knob, used to stop the operation of related safety equipment in emergency and dangerous situations; b. Safety switch, used to ensure that the door is in a closed state; c. Laser scanner / safety grating, used to ensure that there are no people or obstructing objects in the protected area. These safety signals will be transmitted to the PLC of the production line, which will process and respond to the safety signals. Safety output is used to connect the door emergency stop or other safety components, such as: a. Equipment emergency stop, when the safety signal is disconnected, the equipment stops urgently; b. Inverter safe torque off (Safe Torqueoff, referred to as STO), when the safety signal is disconnected, the inverter stops outputting torque; c. Safety relay, when the safety signal is disconnected, the safety component responds;

[0060] Specifically, the MCU communicates with the door control board via the RS485 port and responds to changes in the security status in a timely manner to achieve safe control of the door control system. This design not only ensures the accuracy and real-time performance of the safety signal, but also greatly improves the overall safety of the system. Inputs and Outputs represent non-safety inputs and outputs, which are controlled by the MCU and used as general I / O ports to manage non-safety signals. These non-safety signals can be used in various applications, such as equipment status monitoring, data acquisition, etc., to provide necessary information support for the operation of the system. When a partial failure occurs in the door body, the door body can be shielded with a simple operation, and personnel or equipment can be protected by a safety grating. Figure 4 The specific operation process is as follows:

[0061] 1) When the rolling door fails, first turn the main power switch of the door control unit to OFF;

[0062] 2) Open the door to the open state by manually cranking the door handle;

[0063] 3) After the production line receives the power-off signal from the maintenance switch and the signal that the door is fully opened, the door body is shielded. At this time, the grating signal is used to determine whether there are people or objects entering the protected area.

[0064] As can be seen from the above, the system provides safety input interface and safety output interface, and supports the connection of various safety sensors and safety components, such as emergency stop knobs, safety switches, laser scanners / safety gratings, equipment emergency stop, inverter safe torque off (STO), safety relays, etc., to meet the needs of different application scenarios.

[0065] Furthermore, the security module also includes a security signal processing algorithm that can automatically identify and filter false security signals to improve the anti-interference ability of the system. The security signal processing algorithm adopts a dynamic threshold adjustment algorithm, which dynamically adjusts the threshold of the security signal according to the real-time changes of the environmental noise and the security signal; when the environmental noise increases, the algorithm will automatically increase the threshold to avoid false triggering; conversely, when the environmental noise decreases, the algorithm will lower the threshold to ensure accurate reception of the security signal. The formula is as follows:

[0066] T(t)=B_T+α·N_L(t);

[0067] in, T(t) is the threshold that changes over time, B_T is the basic threshold, α is the adjustment coefficient, and N_L(t) is the real-time environmental noise level.

[0068] From the above, it can be seen that by adopting the security signal processing algorithm of the dynamic threshold adjustment algorithm, false security signals can be automatically identified and filtered, thereby improving the anti-interference ability of the system.

[0069] Furthermore, the safety module includes multiple safety redundancy mechanisms to ensure that the basic safety functions of the system can be maintained when the safety module fails, that is, a fault prediction and self-repair algorithm is introduced. The algorithm predicts potential failure points by analyzing the operation data and historical failure records of the safety module, and performs early warning and self-repair before the failure occurs. It can be achieved through machine learning technology, such as using a neural network model to learn and predict failure modes. The formula is as follows:

[0070] P = f(R_D,H_R);

[0071] Among them, P is the probability of failure, f is the neural network model, R_D is the operating data of the safety module, and H_R is the historical failure record.

[0072] From the above, we can see that through multiple safety redundancy mechanisms and fault prediction and self-repair algorithms, the system can still maintain basic safety functions even when a safety module fails, thereby enhancing the reliability and stability of the system.

[0073] A secure communication method for an industrial protective door control system, applicable to the above industrial protective door control system, comprises the following steps:

[0074] S1, receiving the safety signal of the safety signal input device through the safety module;

[0075] S2, transmit the safety signal to ABCC through an independent transmission channel;

[0076] S3, ABCC transmits the safety signal to the safety PLC in the form of a communication protocol; an encrypted communication protocol is used between ABCC and the safety PLC to ensure confidentiality and integrity during data transmission. The encryption uses a multi-chaotic data encryption algorithm, and the H mapping model of the multi-chaotic data encryption algorithm is:

[0077]

[0078] Among them, x i ,y i Respectively represent the model input and output; the state of the mapping system under the condition of parameters a=1.4, b=0.3, x0=y0=0.4 is chaotic; the specific steps of the multi-chaotic data encryption algorithm are as follows:

[0079] S101, determine the initial values ​​x0, x′0, y0 of the two mapping models, and the control parameters 0, a, b, use them as the encryption key for multi-source big data, and carry out initialization processing;

[0080] S102, in order to conceal the original value of multi-source big data, set the number of iterations to 15, iterate the key processing, and improve the security of the data;

[0081] S103, select L mapping processing key, take x0 as initial parameter, input into L mapping model, obtain parameter x′0 through iteration, multiply x′0 by parameter y0, select the above product result as initial parameter of H mapping model, expand mapping operation to obtain parameter x n ,y n ,x n ,y n That is the final iterative result P of the H mapping model; the L mapping model is as follows:

[0082] x n+1 =x n ×0×σ(1-x n );

[0083] Where x∈[0,1]; o represents the control parameter; x n Represents any value;

[0084] S104, perform a modulo operation P to obtain a chaotic key P′:

[0085] P′=Pmod 256×(x i+1 +y i+1 );

[0086] S105. Finally, process the key byte P′ and the plaintext byte M to obtain the encrypted multi-source big data S:

[0087]

[0088] S4. Perform CRC check during the entire data transmission process. Only when the check passes can the safety signal be sent or received normally, the door can operate normally, and the robot in the relevant area can move.

[0089] From the above, it can be seen that the multi-chaotic data encryption algorithm encrypts the transmitted data by utilizing the complexity and unpredictability of the chaotic system, making it difficult for unauthorized personnel to decrypt, thereby enhancing the security of the data transmission process; at the same time, the algorithm can ensure that the data is not eavesdropped or tampered with during the transmission process, protecting the confidentiality and integrity of sensitive information (such as security signals) and preventing the risk of information leakage.

[0090] The industrial protection door control system and security communication method of this embodiment are compared with the current technology to obtain the following table:

[0091]

[0092]

[0093]

[0094] It can be seen from the above table that the technology of the present invention is superior to the current technology in many aspects, especially in terms of security and real-time performance, system reliability, anti-interference ability, system structure, scalability and integration, data encryption, production efficiency and workpiece quality, fault warning and self-repair, and user-friendliness.

[0095] In this embodiment, the industrial protection door control system includes a processor and a memory. The processor includes a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and the above industrial protection door control system is implemented by adjusting kernel parameters.

[0096] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0097] An embodiment of the present application provides a processor configured to execute the above-mentioned industrial protective door control system.

[0098] An embodiment of the present application provides a machine-readable storage medium, on which instructions are stored. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned industrial protective door control system.

[0099] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0100] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0101] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0102] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0103] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0104] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0105] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0106] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0107] The embodiments of the present invention are provided for the purpose of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An industrial protective door control system, characterized in that: include: A communication unit, the communication unit includes a main processor, a communication interface and a safety module. The main processor realizes serial communication with the RS485 port of the door controller and exchanges data with the communication interface via SPI. The safety module is responsible for processing and transmitting safety signals; The door controller is used to receive instructions from the communication unit to control the opening and closing of the door body, and to send door body position status and fault information to the communication unit; The drive unit includes a motor and an encoder, which is used to drive the movement of the door and provide motor position feedback; Among them, the safety module and the communication interface are connected through an independent transmission channel for transmitting safety data. The communication interface and the safety PLC transmit data in the form of a communication protocol, and a safety check is performed in the entire data transmission process. Only when the check is passed can the safety signal be sent or received normally, the door body can operate normally, and the robot in the relevant area can move.

2. An industrial protective door control system as claimed in claim 1, characterized in that: The main processor adopts STM32 single-chip microcomputer or DSP single-chip microcomputer.

3. An industrial protective door control system as claimed in claim 1, characterized in that: The communication interface adopts the ABCC communication interface module, which has powerful protocol conversion capabilities, including but not limited to PROFIsafe, CIP Safety, and TwinSAFE safety communication protocols. The communication protocol can be switched by simply updating the firmware of ABCC and the safety module, which can adapt to changes in different workshop environments and needs; at the same time, it can achieve seamless communication between different industrial networks, has fast data processing capabilities, and is suitable for real-time application scenarios.

4. An industrial protective door control system as claimed in claim 1, characterized in that: It includes safety input and output interfaces. The safety input interface is used to connect the emergency stop knob, safety switch, laser scanner / safety grating safety sensor, and the safety output interface is used to connect the equipment emergency stop, inverter safety torque shutdown, and safety relay safety components.

5. The industrial protective door control system according to claim 1, characterized in that: The security module also includes a security signal processing algorithm that can automatically identify and filter false security signals and improve the system's anti-interference ability. The security signal processing algorithm adopts a dynamic threshold adjustment algorithm that dynamically adjusts the threshold of the security signal according to the real-time changes of environmental noise and security signals. When the environmental noise increases, the algorithm will automatically increase the threshold to avoid false triggering; conversely, when the environmental noise decreases, the algorithm will lower the threshold to ensure accurate reception of the security signal.

6. An industrial protective door control system as claimed in claim 1, characterized in that: The safety module includes multiple safety redundancy mechanisms to ensure that the basic safety functions of the system can be maintained when a safety module fails.

7. A secure communication method for an industrial protective door control system, characterized in that: The industrial protective door control system according to any one of claims 1 to 6 comprises the following steps: S1, receiving the safety signal of the safety signal input device through the safety module; S2, transmitting the safety signal to the communication interface through an independent transmission channel; S3, the communication interface transmits the safety signal to the safety PLC in the form of a communication protocol; S4. Perform CRC check during the entire data transmission process. Only when the check passes can the safety signal be sent or received normally, the door body can operate normally, and the robot in the relevant area can move. In addition to the CRC check, a dynamic check mechanism can also be introduced, such as timestamp-based check and message digest-based check, to further reduce the error rate in the data transmission process.

8. A secure communication method for an industrial protective door control system as claimed in claim 7, characterized in that: When a fault occurs in the door body, the door is opened manually to the open state, and a power-off signal is sent to the production line through the maintenance switch. After the production line receives the power-off signal from the maintenance switch and the signal that the door is fully opened, the door body is shielded. At this time, the grating signal is used to determine whether there is a person or object entering the protected area.

9. A processor, characterized in that: The industrial protective door control system is configured to implement the industrial protective door control system according to any one of claims 1 to 6.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the industrial protective door control system according to any one of claims 1 to 6.

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