Sorting machine control system, control method and sorting machine

Abstract

The invention relates to the technical field of material sorting, in particular to a sorting machine control system and method and a sorting machine. The sorting machine control system comprises: an execution unit for executing a sorting operation; the data exchange unit is in communication connection with the execution unit; the instruction unit is in communication connection with the data exchange unit and sends digital information to the data exchange unit; the first processor is in communication connection with the data exchange unit and the execution unit and controls the execution unit to execute sorting operation based on the digital information; the second processor is in communication connection with the data exchange unit and the first processor and used for monitoring the running state of the first processor, is in communication connection with the execution unit in the fault state of the first processor and controls the execution unit based on the digital information. According to the control system, redundant communication can be achieved, the second processor is automatically switched to under the condition that the communication path of the first processor breaks down, continuous operation of the system is kept, high safety and reliability are achieved, and the operation stability of the sorting machine control system is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of material sorting, and in particular to a sorting machine control system, a control method and a sorting machine. Background Art

[0002] In industrial environments, the stability of on-site equipment operation is the key to judging product performance. For sorting machines, they need to be set up in coal mines or mines to achieve real-time sorting of minerals. In such harsh environments, the control system of the sorting machine is prone to signal failures, causing the sorting machine to stop operating or incorrect sorting. The control system of the sorting machine has poor stability and safety, and is prone to failures that affect subsequent sorting operations, and has low reliability. Summary of the invention

[0003] In order to overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides a sorting machine control system, including: an execution unit, used to perform a sorting operation; a data exchange unit, which is communicated with the execution unit; an instruction unit, which is communicated with the data exchange unit, and is used to send digital information to the data exchange unit; a first processor, which is communicated with the data exchange unit and the execution unit, and is used to control the execution unit to perform the sorting operation based on the digital information; a second processor, which is communicated with the data exchange unit and the first processor, and is used to monitor the operating status of the first processor, and is used to communicate with the execution unit when the first processor is in a fault state, and control the execution unit to perform the sorting operation based on the digital information.

[0004] In some embodiments, the communication connection mode between the first processor and the execution unit includes: the first processor is communicated with the execution unit in real time; and / or the first processor is communicated with the execution unit through the data exchange unit.

[0005] In some embodiments, the digital information includes: command signals and measurement data, and the command unit includes: a user interface, which is communicatively connected to the data exchange unit and is used to send command signals to the first processor and / or the second processor through the data exchange unit; a measurement unit, which is communicatively connected to the data exchange unit and is used to send measurement data to the first processor and / or the second processor through the data exchange unit.

[0006] In the second aspect, the present disclosure also provides a control method for a sorting machine control system, which is applied to the sorting machine control system as described in the first aspect, including: sending digital information to the data exchange unit through the instruction unit; sending the digital information to the first processor and the second processor through the data exchange unit; controlling the execution unit to perform a sorting operation based on the digital information through the first processor; determining the working status of the first processor through the second processor based on the communication connection with the first processor; in response to the first processor being in a faulty state, the second processor controls the execution unit to perform a sorting operation based on the digital information.

[0007] In some embodiments, the instruction unit includes a measurement unit, the digital information includes measurement data, and in response to the first processor being in a fault state, the second processor controls the execution unit to perform a sorting operation based on the digital information, and also includes: sending the measurement data to the second processor through the data exchange unit; sending a control signal to the data exchange unit based on the measurement data through the second processor; and transmitting the control signal to the execution unit through the data exchange unit.

[0008] In some embodiments, the working status of the first processor is determined by the second processor based on the communication connection with the first processor, including: receiving and processing the measurement data by the first processor to obtain a first processing result; receiving and processing the measurement data by the second processor to obtain a second processing result; comparing the first processing result with the second processing result based on the communication connection between the second processor and the first processor; if the first processing result is different from the second processing result, it is determined that the first processor has failed.

[0009] In some embodiments, determining the operating state of the first processor through the second processor based on the communication connection with the first processor also includes: receiving a fault notification issued by the first processor through the second processor to determine that the first processor is in the fault state; and / or, determining that the first processor is in the fault state in response to the second processor being disconnected from the communication with the first processor.

[0010] In some embodiments, the communication connection mode between the first processor and the execution unit includes: through real-time communication connection, and through the data exchange unit connection; the control method includes: the first processor sends a control signal to the execution unit through the real-time communication connection; in response to the real-time communication connection between the first processor and the execution unit being disconnected, the first processor sends a control signal to the data exchange unit; the data exchange unit transmits the control signal to the execution unit.

[0011] In some embodiments, the instruction unit also includes a user interface, wherein the control method also includes: in response to a fault state of the first processor, transmitting fault information of the first processor to the data exchange unit; transmitting the fault information of the first processor to the user interface through the data exchange unit; and in response to the fault information, issuing an alarm through the user interface.

[0012] In some embodiments, the control method also includes: the data exchange unit receives a first control signal sent by the first processor and a second control signal sent by the second processor; the data exchange unit determines that the first control signal or the second control signal is a target instruction; and the data exchange unit transmits the target instruction to the execution unit.

[0013] In a third aspect, the present disclosure further provides a sorting device, which is controlled by a sorting machine control system as described in the first aspect, and the sorting device includes: a feeding device, used to transport materials and feed the materials to a subsequent device; an identification device, used to identify the materials fed by the feeding device, and transmit the identification results of the identification device to the data exchange unit through the instruction unit; and a sorting device, which receives a control signal through the execution unit so that the sorting device sorts the materials.

[0014] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0015] Through the sorting machine control system provided by the present disclosure, the first processor and the second processor can both control the execution unit communication connection, and control the execution unit to perform the sorting operation. Through this embodiment, when the first processor is not faulty, the first processor can control the execution unit to perform the sorting operation according to the digital information of the instruction unit. Based on the communication connection between the first processor and the second processor, the operating status of the first processor can be detected by the second processor. When it is detected that the first processor has a fault, the digital information sent by the instruction unit can be received and processed by the first processor to control the execution unit to perform the sorting operation. Through the present disclosure, redundant communication can be achieved, and when the communication path of the first processor fails, it can automatically switch to the second processor to keep the system running continuously, with high security and reliability, and ensure the stability of the operation of the sorting machine control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0017] Figure 1 is a schematic diagram of a sorting machine control system according to an exemplary embodiment of the disclosure;

[0018] Figure 2 It is a schematic diagram of signal interaction of a sorting machine control system according to an exemplary embodiment of the disclosure;

[0019] Figure 3 is a schematic diagram of a sorting machine control system according to another exemplary embodiment of the present disclosure;

[0020] Figure 4 is a schematic diagram of signal interaction of a sorting machine control system according to another exemplary embodiment of the present disclosure;

[0021] Figure 5 is a flow chart of a control method of a sorting machine control system according to another exemplary embodiment of the present disclosure;

[0022] Figure 6 is a flow chart of a control method of a sorting machine control system according to another exemplary embodiment of the present disclosure;

[0023] Figure 7 is a flow chart of a control method of a sorting machine control system according to another exemplary embodiment of the present disclosure;

[0024] Figure 8 is a flow chart of a control method of a sorting machine control system according to another exemplary embodiment of the present disclosure;

[0025] Fig. 9is a flow chart of a control method of a sorting machine control system according to another exemplary embodiment of the present disclosure;

[0026] Fig.10 The figure is a flow chart of a control method of a sorting machine control system according to another exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0028] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0029] The sorting machine can be used for separation and sorting of materials to distinguish different types of materials. The sorting machine may include a feeding device, an identification device, and a sorting device. The feeding device may receive materials from the outside and transmit the materials to subsequent devices for processing. The identification device may identify the materials fed by the feeding device, thereby determining the category of the materials, so as to facilitate sorting according to the sorting strategy. The sorting device may perform a sorting operation, and separate materials of different categories according to the material category determined by the identification device. In some current technologies, the control system of the sorting machine may include an instruction unit, a processor, and an execution unit. The instruction unit may include a measuring unit in the identification device and a user interface. The measurement unit of the identification device may send the acquired material image or material identification result and other related data to the processor, or the user interface may send instructions to the processor. The processor processes the received data and instructions, and according to these data and instructions, the processor directly sends a control signal to the execution unit, thereby controlling the execution unit to perform the sorting operation, wherein the execution unit may be arranged in the sorting device of the sorting machine, and according to the control signal received by the execution unit, the sorting device can realize the sorting of materials. For this type of sorting machine control system, only a single processor is used to process data and instructions and control the sorting operation. Since the sorting machine is set up in the harsh environment of the mine, the signal connection between the processor and other units is prone to failure, and the processor itself may also fail and cause shutdown. In this case, the control system of the sorting machine has poor stability and safety, is prone to failures that affect subsequent sorting operations, and has low reliability.

[0030] To solve the above problems, Figure 1 As shown, an exemplary embodiment of the present disclosure provides a sorting machine control system 100 , which may include: an execution unit 110 , a data exchange unit 120 , an instruction unit 130 , a first processor 140 , and a second processor 150 .

[0031] The execution unit 110 is used to perform the sorting operation. The execution unit 110 may be a part of the sorting device of the sorting machine, and may receive signals and instructions provided by other units of the sorting machine control system 100, such as signals and instructions directly sent by the first processor 140 to the execution unit 110, or signals and instructions transmitted by the data exchange unit 120 to the execution unit 110. The execution unit 110 may perform the corresponding sorting operation according to the received signals and instructions. Specifically, for the sorting machine, the sorting of different types of materials may be achieved through a separation mechanism including a blowing mechanism, a push plate mechanism or other forms. According to the signals and instructions received by the execution unit 110, the separation mechanism may be started to change the running track of the material, or the separation mechanism may be kept in a standby state to keep the running track of the material unchanged, thereby achieving the separation of different materials. In addition, in some embodiments, a variety of different separation mechanisms may be provided in the sorting machine, and different separation mechanisms may be used to separate the materials according to the signals and instructions received by the execution unit 110. Specifically, in some embodiments, a blowing mechanism and a pushing plate mechanism may be provided in the sorting device of the sorting machine. The execution unit 110 in the sorting machine control system 100 may operate the blowing mechanism to change the running trajectory of the material, or operate the pushing plate mechanism to change the running trajectory of the material according to the signals and instructions it receives.

[0032] The data exchange unit 120 is connected in communication with the execution unit 110. The data exchange unit 120 can be used as a transfer for communication between the various units in the sorting machine control system 100. The data exchange unit 120 can be connected in communication with the execution unit 110 to send signals and instructions to the execution unit 110, and can also receive information provided by the execution unit 110, such as the operating status. The data exchange unit 120 can also be connected in communication with the first processor 140 and the second processor 150, so as to receive signals and data sent by the first processor 140 and the second processor 150, such as the operating status of the first processor 140 and the second processor 150. The first processor 140 and the second processor 150 can control the execution unit 110 to perform the sorting operation, wherein the data exchange unit 120 can receive the control signals sent by the first processor 140 and the second processor 150, and transmit these control signals to the execution unit 110, so as to realize the transfer of the control signals through the data exchange unit 120. The data exchange unit 120 can also be connected to the instruction unit 130 in communication, thereby receiving the digital information provided by the instruction unit 130 and transmitting it to the first processor 140 and the second processor 150 for processing. In some embodiments, the instruction unit 130 may include a user interface 131, and the data exchange unit 120 can also receive status information issued by the first processor 140 and the second processor 150, and transmit it to the user interface 131, so that the user interface 131 can monitor the status of the first processor 140 and the second processor 150 in a timely manner.

[0033] The instruction unit 130 is connected in communication with the data exchange unit 120, and is used to send digital information to the data exchange unit 120. The instruction unit 130 can be connected in communication with the data exchange unit 120. By sending digital information to the data exchange unit 120, the data exchange unit 120 transmits the digital information to the first processor 140 and the second processor 150, and the first processor 140 and the second processor 150 process the digital information sent by the instruction unit 130, and determine the control signal sent to the execution unit 110.

[0034] The first processor 140 is connected in communication with the data exchange unit 120 and the execution unit 110, and is used to control the execution unit 110 to perform a sorting operation based on digital information. The first processor 140 can be connected in communication with the data exchange unit 120, and the first processor 140 can receive and process the digital signal transmitted by the data exchange unit 120. The first processor 140 can be connected in communication with the execution unit 110, and the first processor 140 can be connected in communication with the execution unit 110 in a real-time communication manner, so that the control signal can be directly sent to the execution unit 110, and the real-time performance is good. The first processor 140 and the second processor 150 can be connected in communication, so that the first processor 140 and the second processor 150 can exchange information in real time.

[0035] The second processor 150 is connected in communication with the data exchange unit 120 and the first processor 140, and is used to monitor the operating state of the first processor 140, and is used to communicate with the execution unit 110 when the first processor 140 fails, and control the execution unit 110 to perform a sorting operation based on digital information. The second processor 150 can be connected in communication with the data exchange unit 120, and the second processor 150 can receive and process the digital signal transmitted by the data exchange unit 120. The second processor 150 can also be connected in communication with the first processor 140, so that the first processor 140 and the second processor 150 can exchange information in real time. The second processor 150 can monitor the operating state of the first processor 140 through real-time communication with the first processor 140. When the first processor 140 runs normally, the second processor 150 may not perform other data processing, thereby reducing the system load. When the second processor 150 detects that the first processor 140 fails, the second processor 150 can receive the digital information transmitted by the data exchange unit 120, process the digital information, and send a control signal to the data exchange unit 120. The control signal sent by the second processor 150 can be transmitted to the execution unit 110 through the data exchange unit 120, so that when the first processor 140 fails, the execution unit 110 can be controlled by the second processor 150. The second processor 150 can be of the same model as the first processor 140, so that the second processor 150 and the first processor 140 have the same data processing capabilities, so as to ensure that when the communication path is switched to the second processor 150, the original data processing speed and effect are maintained, so that the response speed of the sorting machine control system 100 and the sorting efficiency of the sorting machine remain the same. The second processor 150 can be of a different model from the first processor 140, so that the data processing speed of the second processor 150 can be slower than that of the first processor 140, so as to save energy consumption and reduce costs.

[0036] According to the embodiment of the present disclosure, redundant control of the sorting machine control system 100 can be realized through the first processor 140 and the second processor 150, and the first processor 140 is used as the main processor to realize the processing of digital information and the control of the execution unit 110. The second processor 150 can be used as a sub-processor. In the case of a failure of the first processor 140, as a backup path, the processing of digital information and the control of the execution unit 110 can be realized through the second processor 150. In addition, the operation status of the first processor 140 can be continuously monitored through the information interaction between the second processor 150 and the first processor 140. When the first processor 140 fails, the second processor 150 can obtain the fault information in time, and the sorting machine control system 100 can switch the communication path in time. The second processor 150 performs data processing and control, which can effectively prevent the execution unit 110 from malfunctioning due to the failure of the first processor 140, making the sorting machine control system 100 more stable and reliable, and ensuring the continuous and safe operation of the sorting machine control system 100. By setting the data exchange unit 120, the data exchange unit 120 can be used as a transfer of signals between various units. For the sorting machine control system 100 including the first processor 140 and the second processor 150, it is avoided that the first processor 140 and the second processor 150 are directly connected to the instruction unit 130 and the execution unit 110, respectively, which can save the number of interfaces of each unit and facilitate the installation and assembly of the sorting machine control system 100. Through the data exchange unit 120, it is possible to achieve centralized management and transmission of data and signals, optimize the structure of the sorting machine control system 100, and make the data and signal transmission between various units of the sorting machine control system 100 safer and more stable. The sorting machine control system 100 provided in this embodiment can effectively improve the stability and reliability of the sorting machine control system 100, so that the sorting machine is set in a harsh environment such as a mine, and the signal transmission has higher reliability, avoiding equipment shutdown and erroneous sorting due to processor failure and signal interruption. It can effectively improve the safety of the sorting machine control system 100, make the operation of the sorting machine more reliable, and switch the communication path in time when the main processor fails, so that the system can continue to operate efficiently, enhance the emergency response capability of the sorting machine control system 100, and ensure that the sorting machine can operate stably during the separation and sorting process of materials with higher efficiency and stability.

[0037] In some embodiments, Figure 2 As shown, the communication connection mode between the first processor 140 and the execution unit 110 may include: the first processor 140 is communicated with the execution unit 110 in real time; and / or the first processor 140 is communicated with the execution unit 110 through the data exchange unit 120.

[0038] In some of the embodiments, the first processor 140 can be connected to the execution unit 110 in real-time communication, so that the first processor 140 can directly send a control signal to the execution unit 110, thereby controlling the execution unit 110 to perform a sorting operation. Through the real-time communication connection between the first processor 140 and the execution unit 110, better real-time performance can be achieved, so that the signal transmission between the first processor 140 and the execution unit 110 is more efficient, and the real-time response capability of the sorting machine is improved. Through this embodiment, through the real-time communication between the first processor 140 and the execution unit 110, the real-time performance of signal transmission can be improved, so that the sorting function of the sorting machine has a faster response speed.

[0039] In some of the embodiments, the first processor 140 can also be connected to the execution unit 110 through the data exchange unit 120, and the control signal of the first processor 140 can be first sent to the data exchange unit 120, and then transmitted to the execution unit 110 by the data exchange unit 120. By transferring the control signal through the data exchange unit 120, the signal transmission between the first processor 140 and the execution unit 110 is made more stable. Through the communication connection mode between the first processor 140 and the execution unit 110 through the data exchange unit 120 provided in this embodiment, the signal transmission between the first processor 140 and the execution unit 110 is more stable, so that the sorting machine control system has higher reliability.

[0040] In some embodiments, the communication connection mode between the first processor 140 and the execution unit 110 may include: the first processor 140 and the execution unit 110 are connected in real-time communication, and the first processor 140 is connected in communication with the execution unit 110 through the data exchange unit 120. The communication connection between the first processor 140 and the execution unit 110 may include two forms: real-time communication connection and connection through the data exchange unit 120. The communication connection between the first processor 140 and the execution unit 110 may also be switched between these two forms according to demand. Specifically, in the general operating state, and when the response speed of the sorting of the data exchange unit 120 is required to be high, the first processor 140 can be directly connected to the execution unit 110 through a real-time communication connection. This form can transmit control signals more quickly, with low signal delay, and can meet the real-time requirements of the sorting machine control system 100. In some cases, such as when the sorting machine is set in a more complex environment, the real-time communication between the first processor 140 and the execution unit 110 may be disturbed, resulting in the disconnection of the real-time communication between the first processor 140 and the execution unit 110, but the first processor 140 itself has not failed. In this case, the first processor 140 can transmit the control signal to the data exchange unit 120, and then the data exchange unit 120 transmits the control signal to the execution unit 110, so that the first processor 140 controls the execution unit 110. In this form, the data exchange unit 120 is used as a transfer for the communication between the first processor 140 and the execution unit 110, which can avoid the failure of real-time communication and enable the first processor 140 to switch the alternative communication line in time. In the case that the first processor 140 has not failed, the real-time communication between the first processor 140 and the execution unit 110 fails, and the second processor 150 may not be able to monitor the fault information. Through the provision of this embodiment, the first processor 140 can transmit the control signal to the execution unit 110 through the communication connection with the data exchange unit 120 and the communication connection between the data exchange unit 120 and the execution unit 110, and the communication line is switched in time to avoid the shutdown and misoperation of the sorting machine, thereby effectively improving the reliability and safety of the sorting machine control system 100.

[0041] Through the embodiments of the present disclosure, through the real-time communication between the first processor 140 and the execution unit 110, the real-time performance of signal transmission can be improved, so that the sorting function of the sorting machine has a faster response speed. The communication form in which the control signal is transmitted to the data exchange unit 120 by the first processor 140, and then the control signal is transmitted to the execution unit 110 by the data exchange unit 120, can make the communication between the first processor 140 and the execution unit 110 more stable and reliable. Through the two forms of real-time communication between the first processor 140 and the execution unit 110 and the transit communication through the data exchange unit 120, the communication path can be switched more flexibly, avoiding the situation where the real-time communication between the first processor 140 and the execution unit 110 fails and cannot be switched to the second processor 150 to realize communication, and can provide additional alternative communication paths to avoid the shutdown or malfunction of the sorting machine caused by communication failure, so that the sorting machine control system 100 has higher reliability and safety.

[0042] In some embodiments, the digital information may include: command signals, measurement data, such as Figure 3 , Figure 4 As shown, the instruction unit 130 may include: a user interface 131 and a measurement unit 132 .

[0043] The user interface 131 is connected to the data exchange unit 120 for communication, and is used to send a command signal to the first processor 140 and / or the second processor 150 through the data exchange unit 120. The command unit 130 may include a user interface 131 that enables interaction between the user and the sorting machine control system 100. The data exchange unit 120 may enable the user to actively control the sorting machine control system 100 through the user interface 131. The user may actively send a command signal through the user interface 131, and transmit the command signal to the relevant unit of the sorting machine control system 100. The user interface 131 may be connected to the data exchange unit 120 for communication, so that the user interface 131 can transmit a command signal to the data exchange unit 120. The data exchange unit 120 may send a command signal to the first processor 140 or the second processor 150 according to the operation status of the first processor 140 and the second processor 150, or send a command signal to the first processor 140 and the second processor 150 at the same time. When the first processor 140 operates normally, the data exchange unit 120 can directly transmit the instruction signal to the first processor 140 for processing. When the first processor 140 fails, the second processor 150 processes the instruction signal and controls the execution unit 110. Therefore, in this case, the instruction signal can be transmitted to the second processor 150 for processing through the data exchange unit 120. In addition, in some cases, the processing of the instruction signal by the first processor 140 will produce errors, and the instruction signal can be sent to the first processor 140 and the second processor 150 at the same time through the data exchange unit 120, so that the first processor 140 and the second processor 150 can process the instruction signal at the same time. Through the communication connection between the first processor 140 and the second processor 150, the processing results of the first processor 140 and the second processor 150 can be compared, so as to determine whether the second processor 150 has a processing error, so as to switch the communication line in time to avoid malfunction of the sorting machine and improve the safety and reliability of the sorting machine. The user interface 131 can be a control panel. Through the data exchange unit 120, information such as the operating status of the execution unit 110, the first processor 140, and the second processor 150 can be transmitted to the control panel, so that the operating status of each unit can be displayed on the control panel, allowing the user to more easily understand whether the operating device of each unit in the control system of the sorting machine has a fault, and can perform maintenance and replacement in time.

[0044] The measuring unit 132 is connected to the data exchange unit 120 for sending the measurement data to the first processor 140 and / or the second processor 150 through the data exchange unit 120. The instruction unit 130 may also include the measuring unit 132, which may be a part of the identification device in the sorting machine. The measuring unit 132 may obtain the measurement data by identifying and measuring the material through the sorting machine. The measurement data may be an image, size information or color information of the material. The first processor 140 and the second processor 150 may process the measurement data, so as to determine the classification of each material in the sorting machine. The first processor 140 and the second processor 150 may determine the control signal to the execution unit 110 according to the classification of the material. The measuring unit 132 may be connected to the data exchange unit 120 for communication, so that the measuring unit 132 may transmit the measurement data to the data exchange unit 120. The data exchange unit 120 may send the measurement data to the first processor 140 or the second processor 150, or send the measurement data to both the first processor 140 and the second processor 150 at the same time, according to the operation status of the first processor 140 and the second processor 150. When the first processor 140 operates normally, the data exchange unit 120 may directly transfer the measurement data to the first processor 140 for processing. When the first processor 140 fails, the second processor 150 processes the measurement data and controls the execution unit 110. Therefore, in this case, the measurement data may be transferred to the second processor 150 for processing through the data exchange unit 120. In addition, in some cases, the first processor 140 may produce errors in processing the measurement data. The measurement data may be sent to the first processor 140 and the second processor 150 at the same time through the data exchange unit 120, so that the first processor 140 and the second processor 150 can process the measurement data at the same time. Through the communication connection between the first processor 140 and the second processor 150, the processing results of the first processor 140 and the second processor 150 can be compared, so as to determine whether a processing error occurs in the second processor 150, thereby switching the communication line in time to avoid malfunction of the sorting machine and improve the safety and reliability of the sorting machine.

[0045] Through the sorting machine control system 100 provided in this embodiment, it is possible to send different forms of command signals to the first processor 140 and the second processor 150 through the user interface 131 and the measuring unit 132. The user interface 131 allows the user to actively send command signals to the control system, and send command signals to the first processor 140 and the second processor 150 through the data exchange unit 120 to adapt to different operating conditions. Through the user interface 131, the convenience of the user's operation of the sorting machine control system 100 can be improved. In addition, through the user interface 131, the user can also monitor the operating status of each unit in real time, so as to maintain the sorting machine control system 100 in a timely manner. Through the measuring unit 132, the key characteristics of the material can be collected in real time as measurement data, and the measurement data can be sent to the first processor 140 and the second processor 150 for processing through the data exchange unit 120. Through the data exchange unit 120, the command signal or measurement data can be sent to the first processor 140 or the second processor 150 respectively, or sent to the first processor 140 and the second processor 150 at the same time according to different situations, so that the transmission of the command signal is more flexible and can adapt to different operating states.

[0046] Second, as Figure 5 As shown, the present disclosure further provides a control method of a sorting machine control system 100, which is applied to the sorting machine control system 100 of any of the aforementioned embodiments and may include: steps S210 to S250.

[0047] Step S210, digital information is sent to the data exchange unit 120 through the instruction unit 130. The instruction unit 130 can be connected to the data exchange unit 120 for communication. The instruction unit 130 can send the digital information to the first processor 140 and the second processor 150 for processing through the communication connection with the data exchange unit 120, so as to enable the first processor 140 and the second processor 150 to control the execution unit 110 based on the processing result of the digital information. Specifically, the instruction unit 130 can send the relevant information of the material entering the sorting machine as digital information to the data exchange unit 120, so that the data exchange unit 120 can obtain the digital information and send the digital information to the first processor 140 and the second processor 150 for processing.

[0048] Step S220, the digital information is sent to the first processor 140 and the second processor 150 through the data exchange unit 120. The first processor 140 may be the main processor of the sorting machine control system 100, and the second processor 150 may be the sub-processor of the sorting machine control system 100. That is, after the sorting machine control system 100 starts to run, the digital information provided by the data exchange unit 120 is first processed by the first processor 140, and a control signal is sent to the execution unit 110 through the first processor 140 to control the execution unit 110 to perform the sorting operation. The second processor 150, which is a sub-processor, may not perform data processing when the first processor 140 is operating normally to save energy. When the first processor 140 of the sorting machine is operating normally, the data exchange unit 120 may only send the digital information to the first processor 140, so that the first processor 140 can process the digital information. When the sorting machine is operating normally, the second processor 150 may also perform data processing simultaneously with the first processor 140. The digital information may also be sent synchronously to the first processor 140 and the second processor 150, so that the first processor 140 and the second processor 150 synchronously process the digital information, so that in the event of a failure of the first processor 140, the communication path can be quickly changed to the second processor 150, so that data processing and control of the execution unit 110 are performed by the second processor 150. By synchronously sending the digital information to the first processor 140 and the second processor 150 so that both perform data processing at the same time, the response and processing time of the second processor 150 can be effectively reduced, the response speed can be improved, and real-time communication path switching can be achieved when the first processor 140 fails and switches to the second processor 150 for operation.

[0049] Step S230, the first processor 140 controls the execution unit 110 to perform a sorting operation based on the digital information. The first processor 140 can receive the digital information provided by the instruction unit 130 and forwarded by the data exchange unit 120. The first processor 140 can process the digital information to determine the sorting operation that the execution unit 110 needs to perform accordingly. The first processor 140 can determine the control signal sent to the execution unit 110 based on the processing result of the digital information. The digital information can be an image of each material in the sorting machine or a feature of the material, etc. The first processor 140 can process the digital information to determine the category of the corresponding material based on the digital information, thereby determining the sorting operation that the execution unit 110 needs to perform correspondingly based on the category of the material, thereby determining the control signal sent by the first processor 140 to the execution unit 110. The first processor 140 can be connected to the execution unit 110 through real-time communication, so that the first processor 140 can directly send a control signal to the execution unit 110, so that the execution unit 110 responds to the control signal and performs the sorting operation, which has better real-time performance. In addition, the first processor 140 can also be communicatively connected with the data exchange unit 120, so that the first processor 140 sends a control signal to the data exchange unit 120, and after the data exchange unit 120 receives the control signal, it sends the control signal to the execution unit 110, and after the execution unit 110 receives the control signal, it performs a sorting operation according to the control signal.

[0050] Step S240, through the second processor 150, based on the communication connection with the first processor 140, the working state of the first processor 140 is determined. The second processor 150 can be connected to the first processor 140 in communication and continuously exchange information. The first processor 140 and the second processor 150 can send signals to each other at regular intervals, so as to determine the working states of the first processor 140 and the second processor 150 through the communication connection between the first processor 140 and the second processor 150. The second processor 150 can determine the working state of the first processor 140 based on the communication connection with the first processor 140. When the communication connection between the second processor 150 and the first processor 140 is disconnected, the second processor 150 cannot receive the information of the first processor 140, or the first processor 140 actively sends a fault signal to the second processor 150, etc., it can be determined that the first processor 140 has a fault and is in a fault state. When the first processor 140 maintains a communication connection and information exchange with the second processor 150, it can be determined that the first processor 140 is in a normal operating state.

[0051] Step S250, in response to the first processor 140 being in a faulty state, the second processor 150 controls the execution unit 110 to perform a sorting operation based on the digital information. The fault of the first processor 140 may include: the first processor 140 cannot receive and process the digital information, or the first processor 140 cannot send a control signal to the execution unit 110 to control the execution unit 110 to perform a sorting operation, etc. When the first processor 140 fails, the communication path can be switched to the second processor 150, and the second processor 150 can receive the digital information forwarded by the data exchange unit 120. The second processor 150 can process the digital information, and determine the sorting operation that the execution unit 110 needs to perform according to the processing result of the digital information, and the second processor 150 can determine the control signal to be sent to the execution unit 110. The second processor 150 can send the control signal to the data exchange unit 120, and send the control signal to the execution unit 110 through the data exchange unit 120, and the execution unit 110 can receive the control signal and perform the corresponding sorting operation according to the control signal.

[0052] Through the control method of the sorting machine control system 100 provided in this embodiment, the redundant communication structure composed of the first processor 140 and the second processor 150 can ensure that the first processor 140 can quickly switch to the second processor 150 to complete the control task after a failure occurs, avoiding the shutdown or malfunction of the execution unit 110 of the sorting machine control system 100, thereby improving the reliability of the sorting machine operation and ensuring the continuous operation of the sorting machine. Through the real-time communication connection between the first processor 140 and the execution unit 110, the execution unit 110 can be directly controlled, so that the response speed of the execution unit 110 is faster and the delay is low, so that the sorting machine has better real-time performance during the material sorting process, and can meet the real-time requirements for high-speed sorting operations. At the same time, by setting the data exchange unit 120, communication between the units can be realized, and the sorting machine control system 100 can include real-time communication and communication transferred through the data exchange unit 120, and can realize the switching of multiple communication paths to adapt to the operation requirements under complex application scenarios. When the real-time communication between the first processor 140 and the execution unit 110 is disturbed or interrupted, the execution unit 110 can be controlled by the second processor 150. The second processor 150 is connected to the data exchange unit 120 for communication, and the data exchange unit 120 is connected to the execution unit 110 for communication. The data exchange unit 120 is used to realize the transfer of control signals between the second processor 150 and the execution unit 110, which can effectively avoid the shutdown of the sorting machine caused by the failure of communication between the first processor 140 and the execution unit 110, and enhance the adaptability of the sorting machine control system 100 to complex operating environments. At the same time, by setting the data exchange unit 120 to realize the signal transfer between the first processor 140, the second processor 150, the instruction unit 130 and the execution unit 110, it can be avoided that each unit establishes a direct communication connection, resulting in an increase in the number of communication interfaces and poor stability of the sorting machine control system 100. By setting the data exchange unit 120, the number of communication interfaces of each unit can be effectively reduced, so that the stability of the sorting machine control system 100 is higher, and there is better communication efficiency and real-time performance. In addition, by setting the data exchange unit 120, according to the communication connection between the data exchange unit 120 and other units, when the sorting machine control system 100 fails, the unit that fails can be quickly determined for debugging and maintenance. The control method of the sorting machine control system 100 provided by this embodiment can maintain high stability, reliability and safety during operation through the redundant design of the communication connection, so that the sorting machine can also have high reliability during the process of sorting materials.

[0053] In some embodiments, the instruction unit 130 may include a measurement unit 132, and the digital information may include measurement data. The measurement unit 132 may be a part of the identification device in the sorting machine, and the measurement unit 132 may obtain the measurement data by identifying and measuring the material through the sorting machine. The measurement data may be an image of the material, or may be key features such as size information or color information. Figure 6 As shown, step S250, in response to the first processor 140 being in a fault state, the second processor 150 controls the execution unit 110 to perform a sorting operation based on digital information, and may also include: steps S251 to S253.

[0054] Step S251, the measurement data is sent to the second processor 150 through the data exchange unit 120. The measurement unit 132 can send the measurement data to the data exchange unit 120. When the first processor 140 is in a faulty state, the communication connection between the data exchange unit 120 and the first processor 140 may be disconnected, resulting in the data exchange unit 120 being unable to send the measurement data to the first processor 140. The data exchange unit 120 can send the measurement data to the second processor 150 so that the second processor 150 can process the measurement data. When the first processor 140 is in a faulty state, the communication connection between the data exchange unit 120 and the first processor 140 may remain connected, but the first processor 140 fails and cannot process the measurement data, or cannot control the execution unit 110 according to the measurement data. In this case, the data exchange unit 120 can only send the measurement data to the second processor 150 to prevent the first processor 140 from receiving the measurement data and sending an erroneous control signal to the execution unit 110, causing the sorting machine to malfunction during the sorting process.

[0055] Step S252: Send a control signal to the data exchange unit 120 based on the measurement data through the second processor 150. The second processor 150 can receive the measurement data provided by the data exchange unit 120, and determine the control signal to be sent to the execution unit 110 based on the measurement data. The second processor 150 can use the data exchange unit 120 as a transfer of the control signal, and the second processor 150 can send the control signal to the data exchange unit 120, so that the data exchange unit 120 can continue to transmit the control signal to the execution unit 110 after receiving the control signal.

[0056] Step S253, the control signal is transmitted to the execution unit 110 through the data exchange unit 120. The data exchange unit 120 can receive the control signal sent by the second processor 150, and transmit the control signal to the execution unit 110. After receiving the control signal, the execution unit 110 can perform corresponding actions according to the control signal, thereby performing corresponding sorting operations, so that the sorting machine control system 100 can control the sorting machine to achieve correct and rapid sorting of materials.

[0057] Through the control method of the sorting machine control system 100 provided in this embodiment, when the first processor 140 fails, the measurement data sent by the measurement unit 132 can be transmitted to the second processor 150 through the data exchange unit 120, and the measurement data can be processed by the second processor 150, and the control signal can be determined according to the processing result and sent to the data exchange unit 120, and finally the control signal can be sent to the execution unit 110 through the data exchange unit 120 to control the execution unit 110. Through the data exchange unit 120, communication resources can be dynamically allocated according to the operating status of the first processor 140, and the communication path of the second processor 150 can be switched in time when the first processor 140 fails, which can effectively avoid the shutdown and erroneous operation of the sorting machine control system 100, thereby effectively improving the stability and accuracy of the sorting machine during the sorting process. Through steps S251 to S253, the data exchange unit 120 can reduce the communication conflicts between the units in the sorting machine control system 100 when the first processor 140 fails, thereby improving the fault tolerance of the sorting machine control system 100 and making the sorting machine control system 100 more reliable.

[0058] In some embodiments, Figure 7 As shown, step S240, determining the working state of the first processor 140 through the second processor 150 based on the communication connection with the first processor 140, may include: steps S241 to S244.

[0059] Step S241, receiving and processing the measurement data by the first processor 140 to obtain a first processing result. The data exchange unit 120 can send the measurement data received by the measurement unit 132 to the first processor 140. The first processor 140 is in a working state, and can receive the measurement data provided by the data exchange unit 120, and process the measurement data, so that the first processor 140 can obtain the first processing result.

[0060] Step S242, receiving and processing the measurement data by the second processor 150 to obtain a second processing result. The data exchange unit 120 can synchronously send the measurement data received by the measurement unit 132 to the second processor 150. The second processor 150 can also be in a working state, and the first processor 140 and the second processor 150 can work at the same time. The second processor 150 can receive the measurement data provided by the data exchange unit 120, process the measurement data, and enable the second processor 150 to obtain a second processing result.

[0061] Step S243, based on the communication connection between the second processor 150 and the first processor 140, the first processing result is compared with the second processing result. Through the communication connection between the first processor 140 and the second processor 150, the first processing result can be sent to the second processor 150, and the first processing result and the second processing result are compared by the second processor 150 to determine whether the first processing result and the second processing result are the same, thereby determining the operating state of the first processor 140. The second processing result can also be sent to the first processor 140 through the communication connection between the first processor 140 and the second processor 150, and the first processing result and the second processing result are compared by the first processor 140 to determine whether the first processing result and the second processing result are the same, thereby determining the operating state of the first processor 140. In addition, the first processing result and the second processing result can also be sent to the data exchange unit 120 respectively, so that the data exchange unit 120 compares the first processing result with the second processing result.

[0062] Step S244, if the first processing result is different from the second processing result, it is determined that the first processor 140 has failed. Since the first processor 140 can be a processor that mainly performs data processing and execution unit 110 control, and the second processor 150 does not need to continuously obtain measurement data for processing, in some cases, the first processor 140 is prone to failure, resulting in errors in the data processing results, thereby causing errors in the control signal sent to the execution unit 110, resulting in malfunction of the execution unit 110, affecting the sorting accuracy of the sorting machine. Therefore, the second processor 150 can periodically process the same measurement data as the first processor 140 to obtain the second processing result as the standard result. The first processing result obtained by the first processor 140 processing the measurement data is compared with the result of the second processor 150 as the standard result. When the first processing result is the same as the second processing result, it can be considered that the first processor 140 has no errors and failures and is in a normal operating state. When the first processing result is different from the second processing result, it can be considered that the first processor 140 has failed. In this case, the first processor 140 can stop controlling the execution unit 110, and the second processor 150 can be switched in time to receive the measurement data and control the execution unit 110 according to the processing result of the measurement data, so as to avoid errors in the sorting machine control system 100 and thus avoid errors in the sorting process of the sorting machine.

[0063] Through the control method of the sorting machine control system 100 provided in this embodiment, the first processor 140 and the second processor 150 can process the same measurement data at the same time, and ensure the accuracy of data processing by comparing the results. When there is a difference between the first processing result and the second processing result, the sorting machine control system 100 can promptly identify and judge the fault state of the first processor 140, and quickly switch to the second processor 150 receiving the measurement data for processing, and realize the generation and transmission of control signals through the second processor 150. Through the communication between the second processor 150 and the first processor 140, the real-time monitoring and accurate judgment of the working state of the first processor 140 can be realized, which can effectively improve the safety and stability of the system. In this way, the sorting machine can effectively avoid the sorting error caused by the erroneous processing of the first processor 140 during operation, thereby ensuring the continuity and accuracy of the material sorting process.

[0064] In some embodiments, step S240, determining the operating status of the first processor 140 through the second processor 150 based on the communication connection with the first processor 140, may also include: receiving a fault notification issued by the first processor 140 through the second processor 150, and determining that the first processor 140 is in a fault state; and / or, in response to the second processor 150 being disconnected from the communication with the first processor 140, determining that the first processor 140 is in a fault state.

[0065] The second processor 150 receives the fault notification sent by the first processor 140, and determines that the first processor 140 is in a fault state. For example, if the communication connection between the first processor 140 and the second processor 150 is normal, but the first processor 140 itself fails, the first processor 140 can actively send a fault notification to the second processor 150. The second processor 150 can receive the fault notification sent by the first processor 140, and thus determine that the first processor 140 is in a fault state.

[0066] In response to the second processor 150 disconnecting the communication with the first processor 140, it is determined that the first processor 140 is in a fault state. In the normal working state of the sorting machine control system 100, the first processor 140 and the second processor 150 can maintain a communication connection and exchange information. When the communication connection between the second processor 150 and the first processor 140 is disconnected, the second processor 150 cannot receive the signal sent by the first processor 140, and it can be determined that the first processor 140 is in a fault state.

[0067] The control method of the sorting machine control system 100 provided in this embodiment can quickly and accurately identify and respond to different types of faults in the first processor 140. Through this embodiment, the first processor 140 can actively send a fault notification to the second processor 150 when detecting its own fault, so that the fault detection of the first processor 140 has better real-time performance, and the fault detection of the first processor 140 has a certain degree of initiative, so that the second processor 150 can be quickly started to take over the task, effectively reducing the system downtime or the risk of malfunction, thereby improving the safety and stability of the sorting machine during the sorting process. Through this embodiment, the state monitoring of the first processor 140 can be achieved through the communication connection between the first processor 140 and the second processor 150. When the communication between the first processor 140 and the second processor 150 is disconnected, it can be quickly determined whether the first processor 140 is in a fault state. There is a better response speed for fault conditions such as accidental power failure of the first processor 140, abnormal communication line or other fault notifications that cannot be actively sent. Through the control method provided in this embodiment, a multi-level fault detection mechanism can be implemented, thereby significantly improving the safety and stability of the sorting machine control system 100, ensuring that the sorting machine can still maintain efficient and reliable sorting operations in relatively harsh working environments.

[0068] In some embodiments, Figure 8 As shown, the communication connection mode between the first processor 140 and the execution unit 110 may include: connecting through real-time communication, and connecting through the data exchange unit 120; the control method may include: steps S261 to S263.

[0069] Step S261, the first processor 140 sends a control signal to the execution unit 110 through a real-time communication connection. The first processor 140 and the execution unit 110 can be connected through real-time communication, so that the first processor 140 directly sends the control signal to the execution unit 110, so that the execution unit 110 can receive the control signal faster and perform the corresponding sorting operation, with better real-time performance, and the signal transmission between the first processor 140 and the execution unit 110 is more efficient, so that the sorting machine control system 100 has a shorter signal transmission time and faster response efficiency, thereby improving the efficiency of the sorting machine in performing material sorting.

[0070] Step S262, in response to the real-time communication connection between the first processor 140 and the execution unit 110 being disconnected, the first processor 140 sends a control signal to the data exchange unit 120. In some cases, the real-time communication connection between the first processor 140 and the execution unit 110 may be disturbed and disconnected. In the case where the real-time communication connection between the first processor 140 and the execution unit 110 is disconnected, the first processor 140 may also send a control signal to the data exchange unit 120, thereby transmitting the control signal to the execution unit 110 through the data exchange unit 120, so as to realize the control of the execution unit 110 by the first processor 140.

[0071] In step S263, the data exchange unit 120 transmits the control signal to the execution unit 110. The data exchange unit 120 can receive the control signal sent by the first processor 140, and transmit the control signal to the execution unit 110. The execution unit 110 can receive the control signal provided by the data exchange unit 120, and perform the corresponding sorting operation according to the control signal.

[0072] In addition, when the real-time communication between the first processor 140 and the execution unit 110, and the indirect communication between the first processor 140 and the execution unit 110 through the data exchange unit 120, are disconnected, the digital signal sent by the instruction unit 130 can be received and processed by the second processor 150. The second processor 150 can send an instruction signal to the data exchange unit 120 according to the processing result, and transmit the instruction signal to the execution unit 110 through the data exchange unit 120 to control the execution unit 110.

[0073] Through the control method of the sorting machine control system 100 provided in this embodiment, it is possible to ensure efficient control and stable operation of the execution unit 110 in a variety of communication scenarios. In step S261, through the real-time communication connection between the first processor 140 and the execution unit 110, the rapidity and directness of the control signal transmission can be ensured, thereby achieving efficient real-time response to the sorting operation. In steps S262 and S263, when the real-time communication connection is interrupted, it can be switched to a method of indirectly transmitting the control signal issued by the first processor 140 through the data exchange unit 120, which can effectively avoid sorting operation errors caused by communication interruption. Through this embodiment, when the real-time communication connection between the first processor 140 and the execution unit 110 is interrupted, but the data processing of the first processor 140 and the communication connection with the data exchange unit 120 are normal, a feasible communication line is added, providing further redundant communication measures. Finally, when both direct and indirect communication between the first processor 140 and the execution unit 110 fails, the second processor 150 can take over the data processing of the first processor 140 and the control task of the execution unit 110, and control the execution unit 110 through the data exchange unit 120. This multi-level communication connection and switching mechanism can enhance the fault tolerance and operation stability of the sorting machine control system 100, and significantly improve the sorting efficiency and reliability of the sorting machine.

[0074] In some embodiments, the instruction unit 130 may further include a user interface 131. The user interface 131 may be connected to the data exchange unit 120. The user interface 131 may be a control panel, and may obtain the information of each unit by interacting with the first processor 140, the second processor 150, and other units. Fig. 9 As shown, the control method may further include: step S271 to step S273.

[0075] Step S271, in response to the fault state of the first processor 140, the fault information of the first processor 140 is transmitted to the data exchange unit 120. When the first processor 140 fails, the second processor 150 can obtain the fault information of the first processor 140 through the communication connection between the second processor 150 and the first processor 140. The second processor 150 can upload the acquired fault information of the first processor 140 to the data exchange unit 120. In addition, when the first processor 140 fails, but the communication connection between the first processor 140 and the data exchange unit 120 is still maintained, the first processor 140 can also actively send the fault information to the data exchange unit 120.

[0076] Step S272: The fault information of the first processor 140 is transmitted to the user interface 131 through the data exchange unit 120. The data exchange unit 120 can receive the fault information of the first processor 140 and transmit the working information of the first processor 140 to the user interface 131. The user interface 131 can receive the fault information and display the specific fault content on the relevant interface, such as the first processor 140 cannot process data, the communication connection is disconnected, the processing delay timeout, etc., so as to help the user quickly locate and handle the problem.

[0077] Step S273, in response to the fault information, an alarm is issued through the user interface 131. The user interface 131 can be a user interaction interface such as a control panel. After receiving the fault information, the user interface 131 can issue an alarm, such as a sound alarm and a light alarm, to remind the user that the corresponding unit in the sorting machine control system 100 has a fault, so as to facilitate subsequent troubleshooting and maintenance by the user. Through the sorting machine control system 100 of this embodiment, when a fault occurs in the first processor 140, the fault information can be obtained in time, and the user can be clearly prompted and alarmed through the user interface 131. It can improve the fault handling capability of the sorting machine control system 100, facilitate users to troubleshoot faults, and further improve the operating efficiency and reliability of the sorting machine.

[0078] In some embodiments, Fig.10 As shown, the control method may further include: step S281 to step S283.

[0079] In step S281, the data exchange unit 120 receives a first control signal sent by the first processor 140 and a second control signal sent by the second processor 150. The first processor 140 may receive a digital signal transmitted by the data exchange unit 120 and sent by the instruction unit 130. According to the digital signal, the first processor 140 may determine a first control signal for controlling the actuator to perform a sorting operation. The second processor 150 may receive a digital signal transmitted by the instruction unit 130 and transmitted by the data exchange unit 120. The digital signal is completely consistent with the digital signal received by the first processor 140. According to the digital signal, the second processor 150 may determine a second control signal for controlling the actuator to perform a sorting operation. The data exchange unit 120 may receive a first control signal transmitted by the first processor 140 and a second control signal transmitted by the second processor 150 corresponding thereto.

[0080] In step S282, the data exchange unit 120 determines that the first control signal or the second control signal is a target instruction. The data exchange unit 120 can compare the received first control signal and the second control signal to confirm the target instruction. Among them, the target instruction is an instruction that enables the execution unit 110 to correctly perform the sorting operation. When the first control signal is consistent with the second control signal, the data exchange unit 120 can use any one of the first control signal or the second control signal as the target instruction, thereby ensuring the accuracy and consistency of the control signal. If the first control signal is inconsistent with the second control signal, the data exchange unit 120 can select the control signal issued by the processor in normal operation as the target instruction based on the received status information of the first processor 140 and the second processor 150.

[0081] In step S283, the data exchange unit 120 transmits the target instruction to the execution unit 110. The data exchange unit 120 can send the target instruction to the execution unit 110 through the communication connection with the execution unit 110. The execution unit 110 can receive the target instruction and perform the corresponding sorting operation according to the target instruction, so that the sorting machine can correctly sort the materials.

[0082] Through the control method of this embodiment, the first processor 140 and the second processor 150 process the same digital information at the same time, so that the first processor 140 and the second processor 150 realize redundant signal processing. The first control signal sent by the first processor 140 and the second control signal sent by the second processor 150 are compared and screened by the data exchange unit 120, and the target instruction is finally determined, which can ensure the operating reliability of the sorting machine control system 100, enable the sorting machine to correctly realize the sorting of materials, and reduce the risk of misoperation caused by processor failure or signal conflict.

[0083] In a third aspect, the present disclosure further provides a sorting device, which is controlled by a sorting machine control system 100 as in any of the aforementioned embodiments. The sorting device may include: a feeding device, an identification device and a sorting device.

[0084] The feeding device is used to transport materials and feed materials to subsequent devices. The feeding device may include material transport equipment in the form of a vibrating conveyor or a belt conveyor, which is used to stably and continuously transport materials to the identification device, so as to disperse the materials and avoid the accumulation or uneven distribution of materials affecting subsequent identification and separation and sorting.

[0085] The recognition device is used to recognize the material fed by the feeding device, and transmits the recognition result of the recognition device to the data exchange unit 120 through the instruction unit 130. The recognition device obtains the image or key features of each material, such as size, shape, color, etc., through image acquisition and feature recognition. The recognition device itself can analyze the image, extract the key features of the material and determine the category of the material, or the recognition device can send these key features to a special data processing unit for processing to finally determine the category of the material. The recognition device may include an instruction unit 130, which can send the key features or material category to the data exchange unit 120 in the form of digital information through the instruction unit 130, so that the data can be processed later by the first processor 140 and the second processor 150.

[0086] The sorting device receives the control signal through the execution unit 110, so that the sorting device sorts the materials. The sorting device may include a blowing mechanism, a push plate mechanism or a mechanical arm and other components for separating different types of materials from each other. The sorting device may receive the control signal provided by the data exchange unit 120 or the control signal directly provided by the first processor 140 through the execution unit 110 to physically separate different types of materials. Specifically, when the execution unit 110 receives the control signal, the mechanical arm may move along a specified trajectory to grab the material, or may spray gas to the material according to the control signal through the blowing mechanism to blow the material into the corresponding sorting channel.

[0087] The sorting machine provided by this embodiment can provide the sorting machine control system 100 and control method in the aforementioned embodiment, realize redundant communication through the first processor 140 and the second processor 150, and can realize communication, data processing and control of the execution unit 110 through the second processor 150 when the signal connection between the first processor 140 and other units fails or the first processor 140 itself fails, so that the sorting machine can continue to operate and avoid shutdown. The sorting machine provided by this embodiment can effectively improve the stability and safety of the material sorting process, and avoid the failure of the first processor 140 affecting the sorting operation. It can continuously ensure the normal operation of the sorting machine and improve the reliability of the sorting machine in the material sorting process.

[0088] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0089] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0090] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0091] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. A sorting machine control system, comprising: An execution unit, used for executing a sorting operation; A data exchange unit, communicatively connected with the execution unit; an instruction unit, communicatively connected to the data exchange unit, and configured to send digital information to the data exchange unit; A first processor, in communication with the data exchange unit and the execution unit, and configured to control the execution unit to perform a sorting operation based on the digital information; The second processor is communicatively connected with the data exchange unit and the first processor, and is used for monitoring the operation status of the first processor, and is used for communicating with the execution unit when the first processor fails, and controlling the execution unit to perform a sorting operation based on the digital information.

2. The sorting machine control system according to claim 1, wherein: The communication connection mode between the first processor and the execution unit includes: The first processor is connected to the execution unit for real-time communication; and / or, The first processor is communicatively connected to the execution unit via the data exchange unit.

3. The sorting machine control system according to claim 1, wherein: The digital information includes: command signals and measurement data, and the command unit includes: A user interface, communicatively connected to the data exchange unit, and configured to send a command signal to the first processor and / or the second processor via the data exchange unit; The measuring unit is communicatively connected to the data exchange unit, and is used to send the measuring data to the first processor and / or the second processor through the data exchange unit.

4. A control method of a sorting machine control system, applied to the sorting machine control system according to any one of claims 1 to 3, comprising: Sending digital information to the data exchange unit through the instruction unit; sending the digital information to the first processor and the second processor through the data exchange unit; Controlling the execution unit to perform a sorting operation based on the digital information by the first processor; Determining, by the second processor, an operating state of the first processor based on a communication connection with the first processor; In response to the first processor being in a fault state, the second processor controls the execution unit to perform a sorting operation based on the digital information.

5. The control method of the sorting machine control system according to claim 4, wherein: The instruction unit includes a measurement unit, the digital information includes measurement data, and in response to the first processor being in a fault state, the second processor controls the execution unit to perform a sorting operation based on the digital information, and further includes: sending the measurement data to the second processor through the data exchange unit; sending, by the second processor, a control signal to the data exchange unit based on the measurement data; The control signal is transmitted to the execution unit through the data exchange unit.

6. The control method of the sorting machine control system according to claim 5, wherein: The determining, by the second processor, the working state of the first processor based on the communication connection with the first processor includes: Receiving and processing the measurement data by the first processor to obtain a first processing result; Receiving and processing the measurement data by the second processor to obtain a second processing result; Comparing the first processing result with the second processing result based on the communication connection between the second processor and the first processor; If the first processing result is different from the second processing result, it is determined that the first processor fails.

7. The control method of the sorting machine control system according to claim 4, wherein: The determining, by the second processor, the working state of the first processor based on the communication connection with the first processor further includes: Receiving, by the second processor, a fault notification sent by the first processor, and determining that the first processor is in the fault state; and / or, In response to the second processor being disconnected from communication with the first processor, it is determined that the first processor is in the fault state.

8. The control method of the sorting machine control system according to claim 4, wherein: The communication connection between the first processor and the execution unit includes: connecting through real-time communication and connecting through the data exchange unit; the control method includes: The first processor sends a control signal to the execution unit via a real-time communication connection; In response to the real-time communication connection between the first processor and the execution unit being disconnected, the first processor sending a control signal to the data exchange unit; The data exchange unit transmits the control signal to the execution unit.

9. The control method of the sorting machine control system according to claim 4, wherein: The instruction unit also includes a user interface, wherein the control method further includes: In response to a fault state of the first processor, transmitting fault information of the first processor to the data exchange unit; transmitting the fault information of the first processor to the user interface through the data exchange unit; In response to the fault information, an alarm is issued through the user interface.

10. The control method of the sorting machine control system according to claim 4, wherein: The control method further comprises: The data exchange unit receives a first control signal sent by the first processor and a second control signal sent by the second processor; The data exchange unit determines that the first control signal or the second control signal is a target instruction; The data exchange unit transmits the target instruction to the execution unit.

11. A sorting device, controlled by the sorting machine control system according to any one of claims 1 to 3, the sorting device comprising: A feeding device, used to transport materials and feed the materials to subsequent devices; an identification device, used for identifying the material fed by the feeding device, and transmitting the identification result of the identification device to the data exchange unit through the instruction unit; The sorting device receives the control signal through the execution unit, so that the sorting device sorts the material.

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