Locking mechanism control method based on single photoelectric sensor

Abstract

The invention provides a locking mechanism control method based on a single photoelectric sensor, which relates to the technical field of inertia testing and comprises two working processes of preprocessing, loosening / locking and two working states of electrifying / calibrating. The preprocessing comprises the steps that a photoelectric sensor is installed in the middle of a locking stroke, the characterization state of the photoelectric sensor is set, and the characterization state indicates that when the locking device is located on the two sides of the photoelectric sensor, the photoelectric sensor is in a high-level state or a low-level state and represents a loosening signal and a locking signal; modifying a representation signal corresponding to the level state through configuration; the photoelectric sensor comprises a transmitting end and a receiving end. The two photoelectric sensors at the loosening end and the locking end are replaced by one photoelectric sensor, so that the production efficiency is improved, and an effective method is provided for batch production of the transposition locking mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of inertia testing, and in particular to a locking mechanism control method based on a single photoelectric sensor. Background Art

[0002] The dual-axis rotation locking mechanism is an online self-calibration device for the missile-borne inertial group. It is combined with the inertial group to form a three-self-inertial group with two rotating shafts and two locking devices. The rotating shaft can realize the rotation in the heading and roll directions for online self-calibration of the inertial group; the locking device can be locked and released. When released, the rotating shaft is allowed to rotate for calibration, and when locked, the inertial group posture is fixed. The reliability of the locking device directly affects the working performance of the inertial group. Unreliable locking will cause the inertial group to loosen in the missile, affecting the navigation accuracy, and in severe cases affecting the normal launch of the missile; unreliable release will cause mechanical interference during the inertial group rotation calibration, and in severe cases cause mechanical jamming. Therefore, reliable locking and loosening are key links.

[0003] The control method is crucial to whether the locking device can be locked / released reliably. At present, each locking device is equipped with photoelectric sensors at the locking and releasing ends to indicate the status. However, due to the small locking stroke, small locking and releasing end areas, part processing tolerances and assembly errors, the photoelectric sensors cannot be triggered normally, and the inertial group cannot know the current locking status, especially when the system is powered on, which will affect the missile launch process and cause the launch to fail. Summary of the invention

[0004] In view of the above technical problems, the present invention provides a locking mechanism control method based on a single photoelectric sensor, which includes two working processes: preprocessing and loosening / locking, and two working states: power-on / calibration.

[0005] The preprocessing is as follows: installing the photoelectric sensor at the middle position of the locking stroke, setting the characterization state of the photoelectric sensor, wherein the characterization state indicates that when the locking device is on both sides of the photoelectric sensor, the photoelectric sensor is in a high level and a low level state to represent the release signal and the locking signal; modifying the characterization signal corresponding to the level state by configuration; the photoelectric sensor includes a transmitting end and a receiving end photoelectric sensor, and the photoelectric sensor detects the moving position of the locking device through the transmitting end and the receiving end to judge the locking state.

[0006] Furthermore, the release workflow is as follows: U1: the locking device moves to release; U2: the receiving end of the photoelectric sensor receives a release signal; U3: the locking motor completes a short-time release and stalls; U4: enabling the heading motor and the rolling motor to move until they move to a predefined zero position and stop.

[0007] The locking process is as follows: L1: the locking device moves and locks; L2: the receiving end of the photoelectric sensor receives the locking signal; L3: the locking motor completes a short-time locking and stalling; L4: the heading motor and the rolling motor are turned off, and the heading motor and the rolling motor stop working.

[0008] Furthermore, the power-on working state includes four steps: Step S1, when power is turned on, first read the photoelectric sensor status of the two locking devices, if both locking devices have locking signals, enter the locking state S2, otherwise enter the release state S3.

[0009] Step S2, the two locking devices execute the locking process in sequence, and enter the locking standby state S4 after the process is completed.

[0010] Step S3, the two locking devices successively execute the release process, and execute the locking process after the heading and rolling motors are stabilized in place, and then enter the locking standby state S4.

[0011] Step S4: At this time, only the release command can be executed to enter the calibration working state B1, and other movement commands will not be responded to.

[0012] The steps for determining the position of the heading motor and the rolling motor include: Step S301, obtaining a predefined zero position, obtaining the movement time difference of the heading motor and the rolling motor moving to the zero position within an initialization period, and initializing state parameters.

[0013] Step S302, adjusting the initialization states of the heading motor and the rolling motor, and detecting the movement time difference from the zero position when the heading motor and the rolling motor are in the working state.

[0014] Step S303, detecting the moving positions of the heading motor and the rolling motor, determining the stable state information of the heading motor and the rolling motor, and when the stable state information of the heading motor and the rolling motor does not change within the detection cycle, confirming that the heading motor and the rolling motor are stable in place.

[0015] Furthermore, the calibration working state includes two steps: B1: The two locking devices execute the release process in turn, and maintain this state after the heading and rolling motors are stabilized in place; at this time, the heading and rolling motors can receive instructions to rotate normally for inertial group calibration, and after completion, wait for receiving the locking command to enter B2.

[0016] B2: The two locking devices execute the locking process successively, and enter step S4 after the locking is completed.

[0017] The beneficial effects of the present invention compared with the prior art are: the present invention replaces the two photoelectric sensors at the loosening and locking ends with a photoelectric sensor, sets up corresponding control processes and methods, improves the locking / loosening reliability of the locking device on the basis of reducing the requirements for photoelectric installation and parts processing accuracy, improves production efficiency, and provides an effective method for mass production of indexing locking mechanisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the loosening process of the present invention.

[0019] Figure 2 It is a schematic diagram of the locking process of the present invention.

[0020] Figure 3 It is a schematic diagram of the flow chart of the power-on working state of the present invention.

[0021] Figure 4 The figure is a schematic diagram of the process of calibrating the working state of the present invention.

[0022] Figure 5 This is a schematic diagram of the installation of the photoelectric sensor of the present invention. DETAILED DESCRIPTION

[0023] Embodiment: A locking mechanism control method based on a single photoelectric sensor includes two working processes: pre-processing and loosening / locking, and two working states: power-on / calibration.

[0024] Preprocessing: Figure 5 As shown, the photoelectric sensor is installed in the middle position of the locking stroke, and the characterization state of the photoelectric sensor is set. The characterization state means that when the locking device is on both sides of the photoelectric sensor, the photoelectric sensor is in a high level and a low level state to represent the release signal and the locking signal; the characterization signal corresponding to the level state is modified by configuration; the photoelectric sensor includes a transmitter and a receiver.

[0025] like Figure 1 As shown, the release workflow is as follows: U1: the locking device moves to release; U2: the receiving end of the photoelectric sensor receives the release signal; U3: the locking motor completes a short-time release and stalls; U4: the heading motor and the rolling motor are enabled to move until they move to a predefined zero position and stop.

[0026] like Figure 2 As shown, the locking process is as follows: L1: the locking device moves and locks; L2: the receiving end of the photoelectric sensor receives the locking signal; L3: the locking motor completes a short-time locking and stalling; L4: the heading motor and the rolling motor are turned off, and the heading motor and the rolling motor stop working.

[0027] like Figure 3 As shown, the power-on working state includes 4 steps: Step S1, when power is turned on, first read the photoelectric sensor status of the two locking devices, if both locking devices have locking signals, enter the locking state S2, otherwise enter the release state S3.

[0028] Step S2, the two locking devices execute the locking process in sequence, and enter the locking standby state S4 after the process is completed.

[0029] Step S3, the two locking devices successively execute the release process, and execute the locking process after the heading and rolling motors are stabilized in place, and then enter the locking standby state S4.

[0030] Step S4: At this time, only the release command can be executed to enter the calibration working state B1, and other movement commands will not be responded to.

[0031] The steps for determining the position of the heading motor and the rolling motor include: Step S301, obtaining a predefined zero position, obtaining the movement time difference of the heading motor and the rolling motor moving to the zero position within an initialization period, and initializing state parameters; Step S302, adjusting the initialization state of the heading motor and the rolling motor, and detecting the movement time difference from the zero position when the heading motor and the rolling motor are in the working state; Step S303, detecting the moving positions of the heading motor and the rolling motor, determining the stable state information of the heading motor and the rolling motor, and when the stable state information of the heading motor and the rolling motor does not change within the detection cycle, confirming that the heading motor and the rolling motor are stable in place.

[0032] In the above steps, if the stable state information of the heading motor and the rolling motor does not change within a specific detection cycle, it can be confirmed that they have stabilized in place. This step requires the system to have a high degree of accuracy and stability, and to be able to promptly detect and handle any abnormal conditions that may affect the motor position judgment, to ensure stable operation and precise position control of the motor.

[0033] like Figure 4 As shown, the calibration working state includes two steps: B1: The two locking devices execute the release process in turn, and maintain this state after the heading and rolling motors are stable in place; at this time, the heading and rolling motors can receive instructions to rotate normally for inertial group calibration, and wait for the locking command to enter B2 after completion; B2: The two locking devices execute the locking process successively, and enter step S4 after the locking is completed.

[0034] The working principle of this embodiment is: the indexing locking mechanism is first pre-processed, and the locking photoelectric and release photoelectric are replaced by a photoelectric switch installed in the middle of the locking stroke, and then the device is powered on to enter the power-on working state. In the power-on working state, the indexing locking mechanism returns the locking device to its position according to the information of the photoelectric sensor, so that the indexing locking mechanism enters the locking standby state and waits for user instructions. Then, after receiving the release command, the indexing locking mechanism enters the calibration working state, at which time it can accept the heading and rolling direction rotation commands to calibrate the inertial group. After the calibration process is completed, the locking command is received, and the locking device is controlled to lock and return to its position, completing the indexing locking work.

[0035] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the invention or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

Claims

1. A locking mechanism control method based on a single photoelectric sensor, characterized in that: It includes two working processes: pre-processing and loosening / locking, and two working states: power-on / calibration. The pre-processing is as follows: installing the photoelectric sensor at the middle position of the locking stroke, setting the characterization state of the photoelectric sensor, wherein the characterization state indicates that when the locking device is on both sides of the photoelectric sensor, the photoelectric sensor is in a high level state and a low level state to represent the release signal and the locking signal; The characterization signal corresponding to the level state is modified by configuration; the photoelectric sensor includes a transmitting end and a receiving end, and the photoelectric sensor detects the moving position of the locking device through the transmitting end and the receiving end to determine the locking state.

2. A locking mechanism control method based on a single photoelectric sensor according to claim 1, characterized in that: The release process is as follows: U1: the locking device moves to release; U2: the receiving end of the photoelectric sensor receives a release signal; U3: The locking motor completes a short period of release and stalling; U4: Enable the heading motor and rolling motor to move until they reach the predefined zero position; The locking process is as follows: L1: the locking device moves to lock; L2: the receiving end of the photoelectric sensor receives a locking signal; L3: The locking motor completes a short-term locking and stalling; L4: Turn off the heading motor and roll motor enable, and the heading motor and roll motor stop working.

3. The locking mechanism control method based on a single photoelectric sensor according to claim 1, characterized in that: The power-on working state includes 4 steps: Step S1, when power is turned on, first read the photoelectric sensor status of the two locking devices, if both locking devices are locked, enter the locked state S2, otherwise enter the released state S3; Step S2, the two locking devices execute the locking process in sequence, and enter the locking standby state S4 after the process is completed; Step S3, the two locking devices successively perform the release process, and after the heading motor and the rolling motor are stabilized in place, the locking process is performed, and then the locking standby state S4 is entered; Step S4: At this time, only the release command can be executed to enter the calibration working state B1, and other movement commands will not be responded to.

4. A locking mechanism control method based on a single photoelectric sensor according to claim 3, characterized in that: The steps for determining the position of the heading motor and the rolling motor include: Step S301, obtaining a predefined zero position, obtaining the movement time difference of the heading motor and the rolling motor moving to the zero position within an initialization period, and initializing state parameters; Step S302, adjusting the initialization state of the heading motor and the rolling motor, and detecting the movement time difference from the zero position when the heading motor and the rolling motor are in the working state; Step S303, detecting the moving positions of the heading motor and the rolling motor, determining the stable state information of the heading motor and the rolling motor, and when the stable state information of the heading motor and the rolling motor does not change within the detection cycle, confirming that the heading motor and the rolling motor are stable in place.

5. The locking mechanism control method based on a single photoelectric sensor according to claim 1, characterized in that: The calibration working state includes two steps: B1: The two locking devices execute the release process in turn, and maintain this state after the heading and rolling motors are stable in place; at this time, the heading and rolling motors can receive instructions to rotate normally for inertial group calibration, and wait for the locking command to enter B2 after completion; B2: The two locking devices execute the locking process successively, and enter step S4 after the locking is completed.

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