System and method for judging in-place of swing rod of movable launching platform

Abstract

The invention provides an in-place judgment system and method for a swing rod of a movable launching platform, and the method comprises the steps: designing an acquisition circuit on the basis of the design of a single swing rod and double in-place switches, and transmitting the signals to a switching value input terminal of a PLC IO station; the PLC software carries out redundancy processing on the collected signals through a ladder diagram algorithm, and finally a judgment result that the swing rod is swung in place is given, redundancy is achieved, false triggering under the influence of a fault mode is considered, and when software logic cannot collect faults normally in any path, the in-place signals cannot be triggered by mistake; the in-place redundant switching signal of the swing rod can be effectively collected, the in-place condition of the swing rod can be effectively judged through a judgment method, and the application prospect is good.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology in the aerospace industry, and in particular to a system and method for judging the position of a swing arm of a movable launch platform. Background Art

[0002] Mobile launch platforms are widely used in aerospace, military, and civilian fields. As an important component of a mobile launch platform, the swing arm is one of the conditions for the launch of a carrier rocket to be swung out on time and smoothly. Therefore, its performance directly affects the success and safety of the launch mission. As one of the important signals of a mobile launch platform, the swing arm swing-in position signal, and its collection and judgment method are key design items of the electrical system of the mobile launch platform. The existing design often adopts a single collection and judgment scheme, which is prone to the risk of false triggering of the swing arm in position signal, and the accuracy and effectiveness of the signal are low. Therefore, providing a solution that can ensure the accuracy and effectiveness of the signal while ensuring the reliability and robustness of the transmission has become an urgent problem to be solved. Summary of the Invention

[0003] The present invention aims to provide a system and method for determining the position of a swing arm of a movable launch platform, which overcomes the above-mentioned problems or at least partially solves the above-mentioned problems.

[0004] To achieve the above object, the technical solution of the present invention is specifically implemented as follows:

[0005] One aspect of the present invention provides a system for determining whether a swing arm of a movable launch platform is in position, comprising:

[0006] The first limit switch and the second limit switch are arranged at the same swing arm in a preset manner, and the first limit switch and the second limit switch are configured so that when the swing arm has not swung open to reach a predetermined angle, the normally closed contact of the first limit switch is closed and the normally closed contact of the second limit switch is closed; when the swing arm has swung open to reach a predetermined angle, the normally closed contact of the first limit switch is opened and the normally closed contact of the second limit switch is opened;

[0007] The first limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the first IO station, the first limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the second IO station, the second limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the first IO station, and the second limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the second IO station. When the normally closed contact of the first limit switch is closed, the DI module terminal of the first IO station outputs a first normally closed signal of the first limit switch. When the normally closed contact of the first limit switch is opened, the DI module terminal of the first IO station outputs a first open signal of the first limit switch. When the normally closed contact of the second limit switch is closed, the DI module terminal of the second IO station outputs a first normally closed signal of the second limit switch; when the normally closed contact of the second limit switch is open, the DI module terminal of the second IO station outputs a first open signal of the second limit switch; when the normally closed contact of the first limit switch is closed, the DI module terminal of the second IO station outputs a second normally closed signal of the first limit switch; when the normally closed contact of the second limit switch is closed, the DI module terminal of the second IO station outputs a second normally closed signal of the second limit switch; when the normally closed contact of the first limit switch is open, the DI module terminal of the second IO station outputs a second open signal of the first limit switch; when the normally closed contact of the second limit switch is open, the DI module terminal of the second IO station outputs a second open signal of the second limit switch;

[0008] The first CPU station is configured to determine whether the swing arm of the movable launch platform is in position based on the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station, and generate a first in-position signal after determining that the swing arm of the movable launch platform is in position;

[0009] The second CPU station is used to determine whether the swing arm of the movable launch platform is in place based on the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station received, and generate a second in-place signal after determining that it is in place.

[0010] Optionally,

[0011] The first CPU station determines whether the swing arm of the movable launch platform is in place according to the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station received in the following manner:

[0012] The first CPU station receives the first disconnection signal of the first limit switch and the first disconnection signal of the second limit switch, and / or receives the second disconnection signal of the first limit switch and the second disconnection signal of the second limit switch, and determines that the swing arm is in place;

[0013] The second CPU station determines whether the swing arm of the movable launch platform is in place according to the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station received in the following manner:

[0014] The second CPU station receives the first disconnect signal of the first limit switch and the first disconnect signal of the second limit switch, and / or receives the second disconnect signal of the first limit switch and the second disconnect signal of the second limit switch, and determines that the swing arm is in place.

[0015] Optionally,

[0016] The first CPU station generates a first in-position signal by:

[0017] The first CPU station generates the first arrival signal after delaying for a preset time period;

[0018] The second CPU station generates the first in-position signal in the following manner:

[0019] The second CPU station generates the second arrival signal after delaying for a preset time period.

[0020] Optionally,

[0021] The first CPU station delays the preset time by:

[0022] Delay the preset time length through the delay filter;

[0023] The second CPU station delays the preset time by:

[0024] The delay filter is used to set the delay time.

[0025] Optionally,

[0026] The first CPU station is further configured to obtain a release signal and release the in-place signal;

[0027] The second CPU station is further configured to obtain a release signal and release the arrival signal.

[0028] Another aspect of the present invention provides a method for determining whether a swing arm of a movable launch platform is in place, comprising:

[0029] The first CPU station receives the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station; determines whether the swing arm of the movable launch platform is in place based on the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station; and generates a first in-place signal after determining that the swing arm of the movable launch platform is in place.

[0030] The second CPU station receives the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station; determines whether the swing arm of the movable launch platform is in place based on the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station; and generates a second in-place signal after determining that the swing arm of the movable launch platform is in place.

[0031] in:

[0032] The first limit switch and the second limit switch are arranged at the same swing arm in a preset manner. The first limit switch and the second limit switch are configured so that when the swing arm has not swung open to reach a predetermined angle, the normally closed contact of the first limit switch is closed and the normally closed contact of the second limit switch is closed. When the swing arm has swung open to reach a predetermined angle, the normally closed contact of the first limit switch is opened and the normally closed contact of the second limit switch is opened.

[0033] The first limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the first IO station, the first limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the second IO station, the second limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the first IO station, and the second limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the second IO station. When the normally closed contact of the first limit switch is closed, the DI module terminal of the first IO station outputs a first normally closed signal of the first limit switch. When the normally closed contact of the first limit switch is opened, the DI module terminal of the first IO station outputs a first open signal of the first limit switch. When the normally closed contact of the second limit switch is closed, the DI module terminal of the second IO station outputs the first normally closed signal of the second limit switch; when the normally closed contact of the second limit switch is disconnected, the DI module terminal of the second IO station outputs the first disconnect signal of the second limit switch; when the normally closed contact of the first limit switch is closed, the DI module terminal of the second IO station outputs the second normally closed signal of the first limit switch; when the normally closed contact of the second limit switch is closed, the DI module terminal of the second IO station outputs the second normally closed signal of the second limit switch; when the normally closed contact of the first limit switch is disconnected, the DI module terminal of the second IO station outputs the second disconnect signal of the first limit switch; when the normally closed contact of the second limit switch is disconnected, the DI module terminal of the second IO station outputs the second disconnect signal of the second limit switch.

[0034] Optionally,

[0035] The first CPU station determines whether the swing arm of the movable launch platform is in place according to the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station, including:

[0036] The first CPU station receives the first disconnection signal of the first limit switch and the first disconnection signal of the second limit switch, and / or receives the second disconnection signal of the first limit switch and the second disconnection signal of the second limit switch, and determines that the swing arm is in place;

[0037] The second CPU station determines whether the swing arm of the movable launch platform is in place according to the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station, including:

[0038] The second CPU station receives the first disconnect signal of the first limit switch and the first disconnect signal of the second limit switch, and / or receives the second disconnect signal of the first limit switch and the second disconnect signal of the second limit switch, and determines that the swing arm is in place.

[0039] Optionally,

[0040] The first CPU station generating a first in-position signal includes:

[0041] The first CPU station generates the first arrival signal after delaying for a preset time period;

[0042] The second CPU station generates a first arrival signal comprising:

[0043] The second CPU station generates the second arrival signal after delaying for a preset time period.

[0044] Optionally,

[0045] The preset delay time of the first CPU station includes:

[0046] Delay preset time length through delay filter;

[0047] The preset delay time of the second CPU station includes:

[0048] The delay filter is used to set the delay time.

[0049] Optionally, the method further comprises:

[0050] The first CPU station obtains a release signal and releases the in-position signal;

[0051] The second CPU station obtains a release signal and releases the arrival signal.

[0052] It can be seen that, through the movable launch platform pendulum in-place judgment system and method provided by the present invention, an acquisition circuit is designed on the basis of the design of a single pendulum dual-in-place switch, and is sent to the switch input terminal of the PLC IO station; the PLC software performs redundant processing on the acquired signal through a ladder diagram algorithm, and finally gives a judgment result of whether the pendulum is swung into place. The present invention plays a redundant role and takes into account false triggering under the influence of fault mode. When any path cannot normally collect faults, the software logic will not falsely trigger the in-place signal; the redundant switch signal of the pendulum in-place can be effectively acquired, and the in-place status of the pendulum can also be effectively judged through the judgment method, which has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions of 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 paying any creative work.

[0054] Figure 1A schematic diagram of the structure of a system for determining the position of a swing arm of a dynamic launch platform provided by an embodiment of the present invention;

[0055] Figure 2 A schematic diagram of the arrangement of the rod limit switch provided in an embodiment of the present invention;

[0056] Figure 3 A circuit diagram of a swing arm limit switch acquisition circuit provided in an embodiment of the present invention;

[0057] Figure 4 The embodiment of the present invention provides a ladder diagram for designing software for the swing arm to be in place. DETAILED DESCRIPTION

[0058] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0059] Figure 1 The structure diagram of the swing arm in position judgment system of the movable launch platform provided by the embodiment of the present invention is shown. Figure 1 The embodiment of the present invention provides a system for determining whether the swing arm of a mobile launch platform is in position, comprising:

[0060] The first limit switch and the second limit switch are arranged at the same swing arm in a preset manner, and the first limit switch and the second limit switch are configured so that when the swing arm has not swung open to reach a predetermined angle, the normally closed contact of the first limit switch is closed and the normally closed contact of the second limit switch is closed; when the swing arm has swung open to reach a predetermined angle, the normally closed contact of the first limit switch is opened and the normally closed contact of the second limit switch is opened;

[0061] The first limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the first IO station, the first limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the second IO station, the second limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the first IO station, and the second limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the second IO station. When the normally closed contact of the first limit switch is closed, the DI module terminal of the first IO station outputs a first normally closed signal of the first limit switch. When the normally closed contact of the first limit switch is opened, the DI module terminal of the first IO station outputs a first open signal of the first limit switch. When the normally closed contact of the second limit switch is closed, the DI module terminal of the second IO station outputs a first normally closed signal of the second limit switch; when the normally closed contact of the second limit switch is open, the DI module terminal of the second IO station outputs a first open signal of the second limit switch; when the normally closed contact of the first limit switch is closed, the DI module terminal of the second IO station outputs a second normally closed signal of the first limit switch; when the normally closed contact of the second limit switch is closed, the DI module terminal of the second IO station outputs a second normally closed signal of the second limit switch; when the normally closed contact of the first limit switch is open, the DI module terminal of the second IO station outputs a second open signal of the first limit switch; when the normally closed contact of the second limit switch is open, the DI module terminal of the second IO station outputs a second open signal of the second limit switch;

[0062] The first CPU station is configured to determine whether the swing arm of the movable launch platform is in position based on the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station, and generate a first in-position signal after determining that the swing arm of the movable launch platform is in position;

[0063] The second CPU station is used to determine whether the swing arm of the movable launch platform is in place based on the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station received, and generate a second in-place signal after determining that it is in place.

[0064] The present invention can determine whether the rocker arm is truly in place. Each rocker arm has two limit switches as a measurement basis for whether the rocker arm has reached the expected position (in place). Specifically, the movable launch platform is composed of several rocker arms. For a single rocker arm, two sets of redundant limit switches (1# limit switch and 2# limit switch) are designed, which can be installed on the upper part of the rocker arm cylinder. When the cylinder drives the rocker arm to swing open and reach the expected angle, the striker installed on the cylinder simultaneously hits the two sets of redundant limit switches of the rocker arm to trigger the trigger signal of the rocker arm limit switch. The schematic diagram of the rocker arm limit switch arrangement is shown in the attached figure. Figure 2shown.

[0065] In the present invention, when the swing arm is in place, the normally closed contact on each limit switch is disconnected, and the electric control system can set two groups of CPU stations to redundantly collect the normally closed contact status of the DI module, and generate an in-place signal that can be sent to the lower computer software. Figure 3 shown.

[0066] As an optional implementation of the embodiment of the present invention,

[0067] The first CPU station determines whether the swing arm of the movable launch platform is in place according to the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station received in the following manner:

[0068] The first CPU station receives the first disconnection signal of the first limit switch and the first disconnection signal of the second limit switch, and / or receives the second disconnection signal of the first limit switch and the second disconnection signal of the second limit switch, and determines that the swing arm is in place;

[0069] The second CPU station determines whether the swing arm of the movable launch platform is in place according to the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station received in the following manner:

[0070] The second CPU station receives the first disconnect signal of the first limit switch and the first disconnect signal of the second limit switch, and / or receives the second disconnect signal of the first limit switch and the second disconnect signal of the second limit switch, and determines that the swing arm is in place.

[0071] Specifically, when a sway arm swings into position, the normally closed contact signal of limit switch #1 is connected to the DI module terminals of IO station 1 (PNS1) and IO station 2 (PNS1), generating two sets of position-in-position signals, I00005 and I00205. Similarly, the normally closed contact of limit switch #2 is connected to the DI module terminals of IO station 1 (PNS1) and IO station 2 (PNS1), generating two sets of position-in-position signals, I00006 and I00206. When designing the CPU station software, the same position-in-position signals (such as I00005 and I00205) from different IO stations are combined using AND logic to ensure that both signals are triggered simultaneously for the signal to be considered normal. This effectively prevents false triggering of the position-in-position signal due to a single fault. For the position-in-position signals from different sensors, OR logic is used to ensure that as long as one set of sensors receives the position-in-position signal, the sway arm is considered to have swung into position. This ensures that the swing arm can normally trigger the swing-in-position signal when receiving any sensor signal, and also prevents false operation caused by a "false signal" from any sensor.

[0072] As an optional implementation of the embodiment of the present invention,

[0073] The first CPU station generates a first in-position signal by:

[0074] The first CPU station generates the first arrival signal after delaying for a preset time period;

[0075] The second CPU station generates the first in-position signal in the following manner:

[0076] The second CPU station generates the second arrival signal after delaying for a preset time period.

[0077] in,

[0078] The first CPU station delays the preset time by:

[0079] Delay preset time length through delay filter;

[0080] The second CPU station delays the preset time by:

[0081] The delay filter is used to set the delay time.

[0082] As an optional implementation of the embodiment of the present invention,

[0083] The first CPU station is further configured to obtain a release signal and release the in-place signal;

[0084] The second CPU station is further configured to obtain a release signal and release the arrival signal.

[0085] Specifically, the calculated signal of the present invention can be passed through a time delay filter (TON) to generate the final swing arm in place signal M00204. The software also designs the self-locking signal and release signal M00206 of M00204. The algorithm design ladder diagram code is as follows Figure 4 shown.

[0086] In specific implementation, the present invention considers redundant design, and each sensor signal is received by two DI modules respectively, and the two DI modules are placed on different PNS stations, such as Figure 3 As shown, this ensures that damage to any module or failure of the PNS station will not result in the loss of both signals.

[0087] like Figure 3 As shown in the figure, the signal of the first limit switch is connected to the No. 5 terminal of the TB terminal of the 660 module (DI module), and becomes two switch variables I00005 and I00205 when entering the CPU station. The signal of the second limit switch is connected to the No. 6 terminal of the TB terminal of the 660 module, and becomes two switch variables I00006 and I00206 when entering the CPU station. Figure 4 The goal is to connect M00204 on the right. It is 1 when the pendulum is not in place and 0 when it is in place. Therefore, the software code connects the two normally closed signals in series. When both are 0, they are connected to the input of TON. Different sensors perform OR logic. Any signal from the two lines I00005 and I00006 is transmitted to the input of TON. TON performs delay filtering. It takes a sufficient amount of time to consider the pendulum in place signal valid to avoid false triggering caused by short-term interference.

[0088] In terms of hardware, each 660 module (DI module) is plugged into a TB terminal. One of the two wires of the first sensor switch signal is connected to point 5 of the TB terminal, and the other sensor is connected to point 6; the other end is connected to the common negative pole.

[0089] From the software side, the variable connected to terminal 5 of the 660 module on the left is defined as I00005, and the variable connected to terminal 6 is defined as I00006; the 660 module on the right is similar, the variable connected to terminal 5 is defined as I00205, and the variable connected to terminal 6 is defined as I00206. These four variables are used as input in the software as follows Figure 4 The ladder logic shown calculates M00204 as the output.

[0090] Among them, M00204 has a self-locking function. As long as M00204 is connected, it can keep itself open through the third line. If you want to change M00204 to 0, you can only change M00026 normally closed from 1 to 0 (initial value is 1) to disconnect it.

[0091] The present invention analyzes the fault contingency plan and processing involving the swing arm good in place signal based on the circuit design and judgment method, and formulates a fault contingency plan table as shown in Table 1.

[0092] Table 1 Fault contingency plan for swing arm in position signal

[0093]

[0094]

[0095] The algorithm design described above provides redundancy while also preventing false triggering under fault conditions. The software logic will not falsely trigger the in-position signal in the event of a single IO station or limit switch failure, resulting in a Grade I fault.

[0096] It can be seen that the movable launch platform pendulum in-place judgment system provided by the embodiment of the present invention designs an acquisition circuit based on the design of a single pendulum dual-in-place switch, and sends it to the switch input terminal of the PLC IO station; the PLC software performs redundant processing on the acquired signal through a ladder diagram algorithm, and finally gives a judgment result of whether the pendulum is swung into place. The present invention plays a redundant role and takes into account false triggering under the influence of fault mode. When any path cannot collect faults normally, the software logic will not falsely trigger the in-place signal; it can effectively acquire the redundant switch signal of the pendulum in-place, and can also effectively judge the in-place status of the pendulum through the judgment method, and has good application prospects.

[0097] The present invention is further described below with a specific example:

[0098] When implementing the present invention, firstly, the actual swing rod is controlled to swing into position, and the original position signal of the swing rod is collected by the CPU station, and then the signal is transmitted to the CPU station by the attached Figure 4 The software code processes and filters the collected signals and finally obtains the position signal of the pendulum.

[0099] The swing arm signal circuit design for a mobile launch platform of the present invention takes into account various practical usage scenarios and features reliability, stability, and robustness. It can be widely applied not only to various mobile launch platforms but also to other fields requiring precise control. Furthermore, due to its high reliability and robustness, the present invention has a promising market prospect.

[0100] The present invention will be further described below with reference to examples.

[0101] On-site test verification was carried out. The swing arm was in the initial position. Under different fault modes, the swing arm in place signal status was shown in Table 2.

[0102] Table 2 Fault truth table when the swing arm in position signal is not triggered

[0103]

[0104] For different failure modes, a modified truth table analysis was conducted, and the results are shown in Tables 3 and 4. Because the swing arm signal state is consistent in the single IO station failure mode and the TB module failure mode in a single IO station, these two failure modes are combined in Table 3.

[0105] Table 3 IO station fault swing good signal truth table

[0106]

[0107]

[0108] As can be seen from Table 3, only in the case of a degree II fault where both IO stations PNS1 and PNS2 have problems, the swing arm signal is abnormal, while in other cases the status can be displayed correctly.

[0109] Table 4. Truth table of pendulum arm good signal in pendulum arm limit switch disconnection fault mode

[0110]

[0111] As can be seen from Table 4, only when both switch 1 and switch 2 have problems with the second degree fault are abnormal, and the status can be displayed correctly in other cases.

[0112] Field test results have proven that the software can avoid the risk of erroneous triggering of the swing arm in position signal when a single PNS module or a single switch fails.

[0113] On the other hand, the present invention further provides a method for determining whether a swing arm of a mobile launch platform is in place, which uses the above-mentioned system for determining whether a swing arm of a mobile launch platform is in place to perform the determination.

[0114] It can be seen that the method for judging whether the swing arm is in place on a movable launch platform provided by an embodiment of the present invention designs an acquisition circuit based on the design of a single swing arm dual-in-place switch, and sends it to the switch input terminal of the PLC IO station; the PLC software performs redundant processing on the acquired signal through a ladder diagram algorithm, and finally gives a judgment result of whether the swing arm is in place. The present invention plays a redundant role and takes into account false triggering under the influence of fault mode. When any path cannot normally collect faults, the software logic will not falsely trigger the in-place signal; the redundant switch signal of the swing arm in place can be effectively acquired, and the in-place status of the swing arm can also be effectively judged through the judgment method, which has good application prospects.

[0115] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A system for determining whether a swing arm of a mobile launch platform is in position, characterized in that: include: The first limit switch and the second limit switch are arranged at the same swing arm in a preset manner, and the first limit switch and the second limit switch are configured so that when the swing arm has not swung open to reach a predetermined angle, the normally closed contact of the first limit switch is closed and the normally closed contact of the second limit switch is closed; when the swing arm has swung open to reach a predetermined angle, the normally closed contact of the first limit switch is opened and the normally closed contact of the second limit switch is opened; The first limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the first IO station, the first limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the second IO station, the second limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the first IO station, and the second limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the second IO station. When the normally closed contact of the first limit switch is closed, the DI module terminal of the first IO station outputs a first normally closed signal of the first limit switch. When the normally closed contact of the first limit switch is opened, the DI module terminal of the first IO station outputs a first open signal of the first limit switch. When the normally closed contact of the second limit switch is closed, the DI module terminal of the second IO station outputs a first normally closed signal of the second limit switch; when the normally closed contact of the second limit switch is open, the DI module terminal of the second IO station outputs a first open signal of the second limit switch; when the normally closed contact of the first limit switch is closed, the DI module terminal of the second IO station outputs a second normally closed signal of the first limit switch; when the normally closed contact of the second limit switch is closed, the DI module terminal of the second IO station outputs a second normally closed signal of the second limit switch; when the normally closed contact of the first limit switch is open, the DI module terminal of the second IO station outputs a second open signal of the first limit switch; when the normally closed contact of the second limit switch is open, the DI module terminal of the second IO station outputs a second open signal of the second limit switch; The first CPU station is configured to determine whether the swing arm of the movable launch platform is in position based on the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station, and generate a first in-position signal after determining that the swing arm of the movable launch platform is in position; The second CPU station is used to determine whether the swing arm of the movable launch platform is in place based on the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station received, and generate a second in-place signal after determining that it is in place.

2. The system according to claim 1, wherein: The first CPU station determines whether the swing arm of the movable launch platform is in place according to the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station received in the following manner: The first CPU station receives the first disconnection signal of the first limit switch and the first disconnection signal of the second limit switch, and / or receives the second disconnection signal of the first limit switch and the second disconnection signal of the second limit switch, and determines that the swing arm is in place; The second CPU station determines whether the swing arm of the movable launch platform is in place according to the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station received in the following manner: The second CPU station receives the first disconnect signal of the first limit switch and the first disconnect signal of the second limit switch, and / or receives the second disconnect signal of the first limit switch and the second disconnect signal of the second limit switch, and determines that the swing arm is in place.

3. The system according to claim 2, characterized in that The first CPU station generates a first in-position signal by: The first CPU station generates the first arrival signal after delaying for a preset time period; The second CPU station generates the first in-position signal in the following manner: The second CPU station generates the second arrival signal after delaying for a preset time period.

4. The system according to claim 3, characterized in that The first CPU station delays the preset time by: Delay the preset time length through the delay filter; The second CPU station delays the preset time by: The delay filter is used to set the delay time.

5. The system according to claim 4, characterized in that The first CPU station is further configured to obtain a release signal and release the in-place signal; The second CPU station is further configured to obtain a release signal and release the arrival signal.

6. A method for determining whether the swing arm of a mobile launch platform is in place, characterized in that: include: The first CPU station receives the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station; Determining whether the swing arm of the movable launch platform is in place according to the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station; generating a first in-place signal after determining that the swing arm of the movable launch platform is in place; The second CPU station receives the output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station; determines whether the swing arm of the movable launch platform is in place based on the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station; and generates a second in-place signal after determining that the swing arm of the movable launch platform is in place. in: The first limit switch and the second limit switch are arranged at the same swing arm in a preset manner. The first limit switch and the second limit switch are configured so that when the swing arm has not swung open to reach a predetermined angle, the normally closed contact of the first limit switch is closed and the normally closed contact of the second limit switch is closed. When the swing arm has swung open to reach a predetermined angle, the normally closed contact of the first limit switch is opened and the normally closed contact of the second limit switch is opened. The first limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the first IO station, the first limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the second IO station, the second limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the first IO station, and the second limit switch is connected to the first CPU station and the second CPU station respectively through the DI module terminal of the second IO station. When the normally closed contact of the first limit switch is closed, the DI module terminal of the first IO station outputs a first normally closed signal of the first limit switch. When the normally closed contact of the first limit switch is opened, the DI module terminal of the first IO station outputs a first open signal of the first limit switch. When the normally closed contact of the second limit switch is closed, the DI module terminal of the second IO station outputs the first normally closed signal of the second limit switch; when the normally closed contact of the second limit switch is disconnected, the DI module terminal of the second IO station outputs the first disconnect signal of the second limit switch; when the normally closed contact of the first limit switch is closed, the DI module terminal of the second IO station outputs the second normally closed signal of the first limit switch; when the normally closed contact of the second limit switch is closed, the DI module terminal of the second IO station outputs the second normally closed signal of the second limit switch; when the normally closed contact of the first limit switch is disconnected, the DI module terminal of the second IO station outputs the second disconnect signal of the first limit switch; when the normally closed contact of the second limit switch is disconnected, the DI module terminal of the second IO station outputs the second disconnect signal of the second limit switch.

7. The method according to claim 6, characterized in that The first CPU station determines whether the swing arm of the movable launch platform is in place according to the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station, including: The first CPU station receives the first disconnection signal of the first limit switch and the first disconnection signal of the second limit switch, and / or receives the second disconnection signal of the first limit switch and the second disconnection signal of the second limit switch, and determines that the swing arm is in place; The second CPU station determines whether the swing arm of the movable launch platform is in place according to the received output signal of the DI module terminal of the first IO station and the output signal of the DI module terminal of the second IO station, including: The second CPU station receives the first disconnect signal of the first limit switch and the first disconnect signal of the second limit switch, and / or receives the second disconnect signal of the first limit switch and the second disconnect signal of the second limit switch, and determines that the swing arm is in place.

8. The method according to claim 7, characterized in that The first CPU station generating a first in-position signal includes: The first CPU station generates the first arrival signal after delaying for a preset time; and the second CPU station generates the first arrival signal including: The second CPU station generates the second arrival signal after delaying for a preset time period.

9. The method according to claim 8, characterized in that The preset delay time of the first CPU station includes: Delay the preset time length through the delay filter; The preset delay time of the second CPU station includes: The delay filter is used to set the delay time.

10. The method according to claim 9, characterized in that Also includes: The first CPU station obtains a release signal and releases the in-position signal; The second CPU station obtains a release signal and releases the arrival signal.

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