Control method and system of ultrasonic cleaning equipment

Abstract

The invention relates to the technical field of equipment control, and discloses a control method and system for ultrasonic cleaning equipment, and the method comprises the steps: obtaining parameters in an interruption controller and an MCU of the ultrasonic cleaning equipment, and determining an instruction upper limit value N; dividing interrupt instruction priorities, constructing an interrupt instruction matrix, calculating an interrupt risk value, and generating a risk analysis signal according to the risk value; a high-risk data set is constructed, to-be-sorted instructions with the same priority are sorted through a TOPSIS method, and an instruction distribution data set is constructed; based on the instruction distribution data set, the CPU occupancy rate, the interrupt upper limit value and the average processing time are combined to calculate an interrupt evaluation value Gz and output the interrupt evaluation value Gz to the MCU, the interrupt evaluation value Gz is used for measuring the load and risk degree of the system for processing the interrupt request, interrupt instruction distribution of the ultrasonic cleaning equipment can be optimized, and the system stability and reliability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of equipment control, and in particular to a control method and system for ultrasonic cleaning equipment. Background Art

[0002] Ultrasonic cleaning equipment is a machine that uses the cavitation, acceleration and straight-flow effects of ultrasound in liquids to directly or indirectly act on liquids and dirt, so that the dirt layer is dispersed, emulsified and peeled off to achieve the purpose of cleaning.

[0003] In the prior art, the priority division of interrupt instructions is relatively rough, and is often simply classified based on a limited number of factors, failing to fully consider the impact of various actual situations in the operation of ultrasonic cleaning equipment on the importance of interrupt instructions. For example, the priority is roughly determined based on the interrupt type, while ignoring the risk differences of the same type of interrupts in different system states. In critical situations, important interrupt instructions cannot be processed in time, affecting the safety performance of ultrasonic cleaning equipment.

[0004] The existing technology lacks accuracy and dynamic adaptability in resource allocation. It does not fully combine the demand for system resources of interrupt instructions with the actual processing capacity of the system. During the operation of ultrasonic cleaning equipment, the frequent generation of interrupt instructions may cause system resources to be tight, making it difficult to optimize resource allocation according to real-time conditions, which may easily lead to resource waste or delayed processing of key interrupt instructions due to insufficient resources, thereby affecting the control accuracy and overall performance of the ultrasonic cleaning equipment.

[0005] To this end, the present invention provides a control method and system for ultrasonic cleaning equipment. Summary of the invention

[0006] The object of the present invention is to provide a control method and system for ultrasonic cleaning equipment to solve at least one of the above-mentioned problems in the prior art.

[0007] In a first aspect, the present invention provides a control method for an ultrasonic cleaning device, comprising the following steps:

[0008] Step 1, quantitatively analyzing the interrupt instruction processing capability of the MCU of the ultrasonic cleaning equipment, and determining the instruction upper limit value N of the interrupt instruction processing of the MCU of the ultrasonic cleaning equipment;

[0009] Step 2: Obtain the interrupt instruction request of the ultrasonic cleaning equipment, divide the interrupt instruction request of the ultrasonic cleaning equipment into different priorities, construct an interrupt instruction matrix, perform numerical calculation on the interrupt instruction matrix, and obtain the interrupt risk value Fx i+1 , and determine whether to generate a risk analysis signal;

[0010] Step 3: If a risk analysis signal is generated, the interruption risk value Fx i+1 The high-risk data group is constructed in the order, the interrupt instructions in the high-risk data group are divided to obtain the instructions to be sorted, the instructions to be sorted are sorted and analyzed, and the instruction allocation order is determined.

[0011] In a second aspect, the present invention provides a control system for ultrasonic cleaning equipment, comprising:

[0012] Upper limit calculation module: Quantitatively analyze the interrupt instruction processing capability of the MCU of the ultrasonic cleaning equipment, and determine the instruction upper limit value N of the interrupt instruction processed by the MCU of the ultrasonic cleaning equipment;

[0013] Risk analysis module: obtain the interrupt instruction request of ultrasonic cleaning equipment, divide the interrupt instruction request of ultrasonic cleaning equipment into different priorities, build the interrupt instruction matrix, perform numerical calculation on the interrupt instruction matrix, and obtain the interrupt risk value Fx i+1 , based on the interruption risk value Fx i+1 Conduct numerical analysis to determine whether a risk analysis signal is generated;

[0014] Allocation determination module: If a risk analysis signal is generated, according to the interruption risk value Fx i+1 A high-risk data group is constructed in the order of interrupt request category numbers. In the high-risk data group, interrupt instructions with different interrupt priority levels are marked as instructions to be sorted. The instructions to be sorted are sorted and analyzed to determine the instruction allocation data group.

[0015] Beneficial effects of the present invention:

[0016] 1. By calculating the interruption risk value and constructing a high-risk data group based on it, it is possible to timely identify and prioritize interruption instructions that have a greater impact on the safety and performance of ultrasonic cleaning equipment. For example, high-priority interruption instructions such as equipment safety interruption and performance abnormality interruption can be quickly responded to when the system faces risks, effectively preventing equipment damage or operating failures caused by untimely interruption processing, thereby significantly improving the overall stability of the ultrasonic cleaning equipment system. At the same time, for interruption instructions with different numbers but the same priority in the high-risk data group, the TOPSIS method of multi-attribute decision-making is used to sort them, further optimizing the instruction processing order, ensuring that system resources are reasonably allocated to the most critical interruption processing tasks, reducing system instability factors caused by instruction conflicts or resource competition, and greatly improving the reliability of system operation.

[0017] 2. Consider factors such as the CPU resource usage rate of interrupt instructions, average processing time, and the system's interrupt upper limit. By calculating the mean resource usage and time usage and performing dimensionless processing to obtain the interrupt evaluation value, the system can monitor resource usage in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 is a flow chart of Embodiment 1 of the present invention;

[0020] Figure 2 is a schematic diagram of a method in Embodiment 2 of the present invention;

[0021] Figure 3 It is a system module diagram of embodiment 3 of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] Embodiment 1

[0024] like Figure 1 As shown, the control method of an ultrasonic cleaning device provided in this embodiment includes the following steps:

[0025] Step 1: Quantitatively analyze the interrupt instruction processing capability of the MCU of the ultrasonic cleaning equipment to determine the instruction upper limit value N of the interrupt instruction processed by the MCU of the ultrasonic cleaning equipment;

[0026] Among them, ultrasonic cleaning equipment is a machine that uses the cavitation effect, acceleration effect and straight flow effect of ultrasonic waves in liquid to directly or indirectly act on liquid and dirt, so that the dirt layer is dispersed, emulsified and peeled off to achieve the purpose of cleaning; ultrasonic cleaning equipment mainly includes ultrasonic generator;

[0027] Obtain interrupt parameters in the interrupt controller of the ultrasonic cleaning equipment, including: interrupt instruction queue depth, and the time required for the interrupt controller to process a single interrupt instruction;

[0028] The interrupt instruction queue depth is ratioed with the time required by the interrupt controller to process a single interrupt, and the number of interrupt instructions is obtained;

[0029] It should be noted that the interrupt queue depth of the ultrasonic cleaning equipment interrupt controller and the time required for the interrupt controller to process a single interrupt instruction are obtained from the parameter manual of the interrupt controller. The interrupt instruction queue depth indicates the number of interrupt requests that can be stored simultaneously inside the interrupt controller, reflecting the ability of the interrupt controller to accept multiple interrupt requests in a short time.

[0030] Obtain the instruction parameters of the ultrasonic cleaning equipment MCU, including: the main frequency of the ultrasonic cleaning equipment MCU and the average execution cycle of each instruction;

[0031] The main frequency of the MCU is ratioed with the average execution cycle of each instruction to obtain the number of executed instructions;

[0032] Based on the number of interrupt instructions and the number of executed instructions, determine the upper limit of the interrupt instructions that the ultrasonic cleaning equipment control unit can process simultaneously, obtain the instruction upper limit value, and mark the instruction upper limit value as N;

[0033] The upper limit of the interrupt instructions that the ultrasonic cleaning equipment control unit can process simultaneously is determined by the formula: N = min (number of interrupt instructions, number of execution instructions);

[0034] It should be noted that the MCU main frequency is the frequency of the internal clock of the microcontroller (MCU). The MCU main frequency determines the speed at which the MCU executes instructions. The MCU main frequency is obtained from the data sheet. The average execution cycle of each instruction of the MCU is obtained by using the MCU compiler to count the execution cycle of each instruction.

[0035] Step 2: Obtain the interrupt instruction request of the ultrasonic cleaning equipment, divide the interrupt instruction request of the ultrasonic cleaning equipment into different priorities, construct an interrupt instruction matrix, perform numerical calculation on the interrupt instruction matrix, and obtain the interrupt risk value Fx i+1 , based on the interruption risk value Fx i+1 Conduct numerical analysis to determine whether a risk analysis signal is generated;

[0036] Obtain interrupt instruction requests of ultrasonic cleaning equipment, assign different priorities to the interrupt instruction requests of ultrasonic cleaning equipment, and construct an interrupt instruction list;

[0037] Specifically, the interrupt instruction list is constructed as follows:

[0038] S1. Classify and number the request categories of the ultrasonic cleaning equipment interruption instructions;

[0039] Exemplary: the interrupt instruction request classification of ultrasonic cleaning equipment includes: 010 equipment safety interrupt, 011 performance abnormality interrupt, 012 frequency acquisition interrupt, 013 temperature acquisition interrupt, 014 parameter adjustment interrupt;

[0040] S2, determining the priority of the preset ultrasonic cleaning equipment interruption instruction;

[0041] For example, the priorities of device safety interrupt, performance abnormality interrupt, frequency collection interrupt, temperature collection interrupt, and parameter adjustment interrupt are 3, 2, 1, 1, and 2, respectively. That is, the priority of the device safety interrupt instruction is 3, which has the largest value, and the device safety interrupt instruction has the highest priority.

[0042] S3, constructing an interrupt instruction list based on the request category number and interrupt priority of the ultrasonic cleaning equipment interrupt, wherein the interrupt instruction list includes multiple data pairs, and the data pair consists of the request category number and the interrupt priority;

[0043] Exemplarily, the interrupt instruction list is: [(010,3), (011,2), (012,1), (013,1), (013,2)];

[0044] It should be noted that, in addition to the 010 device safety interrupt, the ultrasonic cleaning device generates multiple interrupt instructions of the same type. After the ultrasonic cleaning device generates an interrupt instruction, the interrupt controller stores the interrupt instruction in the interrupt queue. The MCU analyzes the interrupt instruction from the interrupt queue and performs subsequent instruction allocation.

[0045] Based on the interrupt priority list, the interrupt instruction matrix D to be processed by the ultrasonic cleaning equipment is obtained in real time. ij , where each row D of the interrupt instruction matrix i The interrupt request types at different times are numbered in sequence;

[0046] Each column D of the interrupt instruction matrix j Represents the number of different interrupt request categories, i = 1, 2, ..., m, m is the total number of rows in the interrupt instruction matrix, j = 1, 2, ..., z, z is the total number of columns in the interrupt instruction matrix;

[0047] For example, if at time D1, an interrupt request type with a request type number of 010 initiates an interrupt, then the interrupt instruction matrix D 11 The value is 1, otherwise, the interrupt instruction matrix D 11 The value of is 0;

[0048] Exemplary interrupt instruction matrix of ultrasonic cleaning equipment By formula: Get the interruption change rate Δf i+1 ;

[0049] Where Δf i+1 It is expressed as the interrupt change rate of two adjacent rows of the interrupt instruction matrix, where t is the time, provided by the MCU of the ultrasonic cleaning equipment;

[0050] Mark the interrupt priority in the interrupt instruction matrix as P j , j = 1, 2, ..., z;

[0051] Based on the interruption change rate Δf i+1 , instruction upper limit value N, interrupt priority P j , the interrupt risk value Fx of each row of the interrupt instruction matrix is ​​obtained by the formula i+1 ;

[0052] Specifically, Get the interrupt risk value Fx of each row of the interrupt instruction matrix i+1 , where k = 1.25;

[0053] It should be noted that the interruption risk value Fx i+1 ; reflects the risk level faced by the system in processing interrupt requests at adjacent times. If the interrupt risk value Fx i+1 The higher the value, the more likely the system will be unable to respond due to too many instructions waiting to be processed, resulting in a backlog of interrupt requests. Due to the priority of interrupts, if high-priority interrupts cannot be processed in a timely manner, it may have serious consequences for important aspects such as the safety and performance of ultrasonic cleaning equipment.

[0054] Will interrupt the risk value Fx i+1 Perform summation to obtain the total interruption risk value Fx;

[0055] Compare the total interruption risk value Fx with the interruption risk threshold to determine whether to generate a risk analysis signal;

[0056] If the total interruption risk value Fx1 is higher than the interruption risk threshold, it indicates that the interruption risk level of the current system is relatively high, and a risk analysis signal needs to be generated to further analyze the interruption request;

[0057] If the total interruption risk value Fx is lower than the interruption risk threshold, it indicates that the interruption risk level of the previous system is within the expected range and there is no need to generate a risk analysis signal;

[0058] The technical solution of this embodiment is: quantitatively analyzing the interrupt instruction processing capability of the MCU of the ultrasonic cleaning device, determining the instruction upper limit value N of the interrupt instruction processing of the MCU of the ultrasonic cleaning device, obtaining the interrupt instruction request of the ultrasonic cleaning device, dividing the interrupt instruction request of the ultrasonic cleaning device into different priorities, constructing the interrupt instruction matrix, performing numerical calculation on the interrupt instruction matrix, and obtaining the interrupt risk value Fx i+1 , based on the interruption risk value Fx i+1 Perform numerical analysis to determine whether to generate a risk analysis signal, determine the risk level of the interrupt instruction, and provide data support for subsequent instruction allocation.

[0059] Embodiment 2

[0060] like Figure 2 As shown, the control method of an ultrasonic cleaning device provided in this embodiment also includes the following steps:

[0061] Step 3: If a risk analysis signal is generated, according to the interruption risk value Fx i+1 The high-risk data group is constructed in the order of the interrupt request category numbers in the high-risk data group, but the interrupt instructions with the same interrupt priority are marked as instructions to be sorted, and the instructions to be sorted are sorted and analyzed to determine the instruction allocation data group, and the instruction allocation order is determined based on the instruction order in the instruction allocation data group;

[0062] If a risk analysis signal is generated, all interrupt instruction requests in each row of the interrupt instruction matrix are extracted, and all interrupt instruction requests in each row are put into an instruction data group;

[0063] According to the interruption risk value Fx i+1 Sort the interrupt instructions in the instruction data group from large to small, and set the interrupt risk value Fx i+1 The highest data group is marked as a high-risk data group;

[0064] The interrupt instructions for the high-risk data group are distributed to the MCU, and the MCU processes the interrupt instructions;

[0065] If there are interruption request category numbers with different interruption priority in the high-risk data group, the interruption instructions are marked as pending instructions, and the decision matrix X is constructed;

[0066] Specifically, the method of constructing the instruction sorting model is as follows:

[0067] If there are k instructions to be sorted, construct the interrupt instruction set A p ={A1, A2, ..., A k}, p is the number of the instruction to be sorted, p = 1, 2, ..., k, each interrupt instruction in the interrupt instruction set is marked as A p ;

[0068] Get the CPU resource occupancy rate C1 and average processing time C2 of the instructions to be sorted;

[0069] It should be noted that the CPU resource usage C1 can be obtained using the performance monitoring tool of the operating system, and the average processing time C2 is obtained by the logging function in the interrupt instruction handler;

[0070] For each interrupt instruction A p The CPU resource utilization rate C1 and the average processing time C2 are respectively denoted as X p1 , Xp2 ;

[0071] For example, if the CPU resource occupancy rate C1 of the interrupt instruction A1 is 0.3 and the average processing time C2 is 0.5, then X 11 =0.3, X 12 =0.5;

[0072] Construct interrupt instruction set A based on CPU resource usage C1 and average processing time C2 p The decision matrix X;

[0073] Specifically, the decision matrix

[0074] By formula: Normalize the decision matrix X;

[0075] Get the normalized decision matrix

[0076] Get the positive ideal solution A of the normalized decision matrix + =(X + 1, X + 2), through the formula: Get X + 1. X + 2;

[0077] Get the negative ideal solution A of the normalized decision matrix - =(X - 1, X - 2), through the formula: Get X - 1. X - 2;

[0078] It should be noted that the positive ideal solution represents a virtual "ideal interrupt instruction" that is the best case under all attributes. In the decision matrix constructed based on CPU resource utilization and average processing time, we hope that the CPU resource utilization value is as small as possible, so the CPU resource utilization value in the positive ideal solution is the minimum value of all interrupt instructions normalized under this attribute; for the average processing time, we also hope that its value is as small as possible, so the average processing time in the positive ideal solution is the minimum value of all interrupt instructions normalized under this attribute;

[0079] Compute interrupt instruction A p With positive ideal solution A + The distance d + p , through the formula: Get interrupt instruction A p The distance d from the positive ideal solution +p ;

[0080] Compute interrupt instruction A p and negative ideal solution A - The distance d - p , through the formula: Get interrupt instruction A p The distance d from the negative ideal solution - p ;

[0081] Based on interrupt instruction A p The distance d from the positive ideal solution + p , the distance d of the negative ideal solution - p , calculate interrupt instruction A p The relative closeness C p , through the formula: Get the relative proximity C p ;

[0082] It should be noted that the relative proximity is a measure of the relative position relationship between each interrupt instruction and the ideal solution. If the relative proximity C p The larger the value is, the closer the interrupt instruction is to the positive ideal solution and the farther it is from the negative ideal solution. The ordering is achieved by measuring the priority of the interrupt instruction with the positive and negative ideal solutions according to the distance between the interrupt instruction and the positive and negative ideal solutions;

[0083] Based on the relative proximity C p , according to the relative proximity C p Sort the instructions to be sorted from large to small, and combine the sorted instructions with other instructions in the high-risk data to construct an instruction allocation data group according to the limited conditions;

[0084] Restriction 1: The instruction allocation data groups are first sorted in the order of interrupt priority;

[0085] Condition 2: The interrupt request category numbers of the instruction allocation data group are different, but the instructions to be sorted with the same interrupt priority are sorted according to the relative proximity C. p The values ​​are sorted from large to small;

[0086] Based on the instruction sequence of the instruction allocation data group, an instruction allocation sequence is obtained, and the interrupt instruction is allocated to the MCU of the ultrasonic cleaning device, and the MCU of the ultrasonic cleaning device processes the interrupt instruction in sequence;

[0087] Step 4: Based on the instruction allocation data group, numerical calculation is performed on the interrupt instructions of the instruction allocation data group in combination with the CPU occupancy rate, the interrupt upper limit value, and the average processing time to obtain an interrupt evaluation value, and the interrupt evaluation value is output to the system;

[0088] Based on the instruction allocation data group, each interrupt instruction number is multiplied by the CPU resource occupancy rate C1 to obtain the resource occupancy value;

[0089] All resource occupancy values ​​of the instruction allocation data group are summed and averaged to obtain the resource occupancy average;

[0090] Multiply each interrupt instruction number by the average processing time C2 to obtain the instruction processing time;

[0091] The total instruction processing time of the instruction allocation data group is summed and averaged to obtain the average time occupancy;

[0092] The resource occupancy mean and time occupancy mean are dimensionless, and the resource occupancy mean is marked as Zy and the time occupancy mean is marked as Sj;

[0093] Based on the dimensionless processed source occupancy mean Zy, time occupancy mean Sj, and the instruction upper limit N, the interruption evaluation value Gz of the ultrasonic cleaning equipment is calculated;

[0094] By formula: Obtain the interruption evaluation value Gz, a=0.65, b=0.35;

[0095] Output the interrupt evaluation value Gz to the MCU;

[0096] It should be noted that the interruption evaluation value Gz comprehensively considers the occupation of system resources and the indicators of system processing capacity, and is used to measure the overall load and potential risk level of the ultrasonic cleaning equipment control system when processing the interrupt request of the current instruction allocation data group. The occupation includes: CPU resource occupation rate, average processing time, system processing capacity, that is, the instruction upper limit value N;

[0097] The technical solution of this embodiment is: if a risk analysis signal is generated, according to the interruption risk value Fx i+1 The high-risk data group is constructed in the order of the interrupt request category numbers that exist in the high-risk data group, but the interrupt instructions with the same interrupt priority are marked as instructions to be sorted, and the instructions to be sorted are sorted and analyzed to determine the instruction allocation data group. Based on the instruction allocation data group, the interrupt instructions of the instruction allocation data group are numerically calculated in combination with the CPU occupancy rate, the interrupt upper limit value, and the average processing time to obtain the interrupt evaluation value, which is output to the system. The system evaluation value is helpful to evaluate the processing level of the interrupt instructions of the high-speed ultrasonic cleaning equipment.

[0098] Embodiment 3

[0099] like Figure 3 As shown, the control method system of an ultrasonic cleaning device provided in this embodiment also includes the following modules:

[0100] Upper limit calculation module: Quantitatively analyze the interrupt instruction processing capability of the MCU of the ultrasonic cleaning equipment, and determine the instruction upper limit value N of the interrupt instruction processed by the MCU of the ultrasonic cleaning equipment;

[0101] Risk analysis module: obtain the interrupt instruction request of ultrasonic cleaning equipment, divide the interrupt instruction request of ultrasonic cleaning equipment into different priorities, build the interrupt instruction matrix, perform numerical calculation on the interrupt instruction matrix, and obtain the interrupt risk value Fx i+1 , based on the interruption risk value Fx i+1 Conduct numerical analysis to determine whether a risk analysis signal is generated;

[0102] Allocation determination module: If a risk analysis signal is generated, according to the interruption risk value Fx i+1 The high-risk data group is constructed in the order of the interrupt request category numbers in the high-risk data group, but the interrupt instructions with the same interrupt priority are marked as instructions to be sorted, and the instructions to be sorted are sorted and analyzed to determine the instruction allocation data group;

[0103] Allocation evaluation module: Based on the instruction allocation data group, the interrupt instructions of the instruction allocation data group are numerically calculated in combination with the CPU occupancy rate, interrupt upper limit value, and average processing time to obtain the interrupt evaluation value, and output the interrupt evaluation value to the system.

[0104] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A control method for ultrasonic cleaning equipment, characterized in that: The following steps are involved: Step 1, quantitatively analyzing the interrupt instruction processing capability of the MCU of the ultrasonic cleaning equipment, and determining the instruction upper limit value N of the interrupt instruction processing of the MCU of the ultrasonic cleaning equipment; Step 2: Obtain the interrupt instruction request of the ultrasonic cleaning equipment, divide the interrupt instruction request of the ultrasonic cleaning equipment into different priorities, construct an interrupt instruction matrix, perform numerical calculation on the interrupt instruction matrix, and obtain the interrupt risk value Fx i+1 , and determine whether to generate a risk analysis signal; Step 3: If a risk analysis signal is generated, the interruption risk value Fx i+1 The high-risk data group is constructed in the order, the interrupt instructions in the high-risk data group are divided to obtain the instructions to be sorted, the instructions to be sorted are sorted and analyzed, and the instruction allocation order is determined.

2. The control method of an ultrasonic cleaning device according to claim 1, characterized in that: The instruction upper limit value N is obtained as follows: Obtain interrupt parameters in the interrupt controller of the ultrasonic cleaning equipment, including: interrupt instruction queue depth, and the time required for the interrupt controller to process a single interrupt instruction; The interrupt instruction queue depth is ratioed with the time required by the interrupt controller to process a single interrupt, and the number of interrupt instructions is obtained; Obtain the instruction parameters of the ultrasonic cleaning equipment MCU, including: the main frequency of the ultrasonic cleaning equipment MCU and the average execution cycle of each instruction; The main frequency of the MCU is ratioed with the average execution cycle of each instruction to obtain the number of executed instructions; The upper limit value N of the interrupt instructions that the ultrasonic cleaning equipment control unit can simultaneously process is determined by the formula: N=min(number of interrupt instructions, number of execution instructions).

3. The control method of an ultrasonic cleaning device according to claim 1, characterized in that: The interruption risk value Fx i+1 The way to obtain is: Perform numerical calculation on the interrupt instruction matrix to obtain the interrupt change rate Δf i+1 ; Based on the interruption change rate Δf i+1 , instruction upper limit value N, interrupt priority Pj, and obtain the interrupt risk value Fx of each row of the interrupt instruction matrix through the formula i+1 ; Specifically, Get the interrupt risk value Fx of each row of the interrupt instruction matrix i+1 , where k is the proportionality coefficient.

4. The control method of an ultrasonic cleaning device according to claim 3, characterized in that: The interruption change rate Δf i+1 The way to obtain is: Based on the interrupt instruction matrix D ij , calculate the interruption change rate Δf i+1 , where i = 1, 2, ... m; by the formula: Get the interruption change rate Δf between two adjacent rows i+1 , t is the time, provided by the MCU of the ultrasonic cleaning equipment; The interrupt priority P j The way to obtain is: Mark the interrupt priority in the interrupt instruction matrix as P j , j=1,2,...,z.

5. The control method of an ultrasonic cleaning device according to claim 3, characterized in that: The interrupt instruction matrix D ij The way to obtain is: Obtain interrupt instruction requests of ultrasonic cleaning equipment, assign different priorities to the interrupt instruction requests of ultrasonic cleaning equipment, and construct an interrupt instruction list; Based on the interrupt priority list, the interrupt instruction matrix D to be processed by the ultrasonic cleaning equipment is obtained in real time. ij , where i is the total number of rows in the interrupt instruction matrix, and j is the total number of columns in the interrupt instruction matrix.

6. The control method of an ultrasonic cleaning device according to claim 1, characterized in that: The instruction allocation sequence is obtained as follows: Based on the relative proximity C p , sort the instructions to be sorted, and build the instruction allocation data group according to the limited conditions; Restriction 1: The instruction allocation data groups are first sorted in the order of interrupt priority; Condition 2: The interrupt request category numbers of the instruction allocation data group are different, but the instructions to be sorted with the same interrupt priority are sorted according to the relative proximity C. p The values ​​are sorted from large to small; Based on the instruction sequence of the instruction allocation data group, an instruction allocation sequence is obtained.

7. The control method of an ultrasonic cleaning device according to claim 6, characterized in that: The relative proximity C p The way to obtain is: Build an instruction sorting model and obtain interrupt instruction A through the distance formula p With positive ideal solution A + The distance d + p 、Negative ideal solution A - The distance d - p , where p is the number of the interrupt instruction; By formula: Get the relative proximity C p .

8. The control method of an ultrasonic cleaning device according to claim 7, characterized in that: The positive ideal solution A + The way to obtain is: Get the positive ideal solution A of the normalized decision matrix + =(X + 1, X + 2), through the formula: Get X + 1. X + 2, where X p1 , X p2 They are the first and second columns of the normalized decision matrix X′ respectively; The negative ideal solution A - The way to obtain is: Get the negative ideal solution A of the normalized decision matrix - =(X - 1, X - 2), through the formula: Get X + 1. X + 2; Based on the risk analysis signal, all interrupt instruction requests in each row of the interrupt instruction matrix are extracted, and all interrupt instruction requests in each row are put into an instruction data group; According to the interruption risk value Fx i+1 The order of the numerical size of the instruction data group is sorted, and the interrupt risk value Fx i+1 The highest data group is marked as a high-risk data group; If there are interruption request category numbers with different interruption requests in the high-risk data group, but the interruption priority is the same, the interruption instructions are marked as pending instructions, and a decision matrix X is constructed based on the pending instructions; The decision matrix X is normalized to obtain a normalized decision matrix X′.

9. The control method of an ultrasonic cleaning device according to claim 8, characterized in that: The following steps are also included: Step 4: Based on the instruction allocation data group, each interrupt instruction number is multiplied by the CPU resource occupancy rate C1 to obtain the resource occupancy value; The occupancy values ​​of all resources in the instruction allocation data group are summed and averaged to obtain the resource occupancy average; Multiply each interrupt instruction by the average processing time C2 to obtain the instruction processing time; The total instruction processing time of the instruction allocation data group is summed and averaged to obtain the time occupancy average; The resource occupancy average and the time occupancy average are calculated and processed to obtain an interruption assessment value, which is then output to the system.

10. A control system for ultrasonic cleaning equipment, the system being used to execute the method according to any one of claims 1 to 9, characterized in that: The system includes: Upper limit calculation module: Quantitatively analyze the interrupt instruction processing capability of the MCU of the ultrasonic cleaning equipment, and determine the instruction upper limit value N of the interrupt instruction processed by the MCU of the ultrasonic cleaning equipment; Risk analysis module: obtain the interrupt instruction request of ultrasonic cleaning equipment, divide the interrupt instruction request of ultrasonic cleaning equipment into different priorities, build the interrupt instruction matrix, perform numerical calculation on the interrupt instruction matrix, and obtain the interrupt risk value Fx i+1 , based on the interruption risk value Fx i+1 Conduct numerical analysis to determine whether a risk analysis signal is generated; Allocation determination module: If a risk analysis signal is generated, according to the interruption risk value Fx i+1 A high-risk data group is constructed in the order of interrupt request category numbers. In the high-risk data group, interrupt instructions with different interrupt priority levels are marked as instructions to be sorted. The instructions to be sorted are sorted and analyzed to determine the instruction allocation data group.

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