Operation mode control method for multifunctional sterilizing and steam cleaning all-in-one machine

Abstract

The invention provides an operation mode control method for a multifunctional disinfection and steam cleaning all-in-one machine, and relates to the technical field of operation mode control, operation modes supported by the multifunctional disinfection and steam cleaning all-in-one machine are enumerated, a mode set is formed, and a mutual exclusion parallel rule and resource domain occupation mapping is established based on the mode set; the method comprises the steps of forming a conflict rule capable of being used for operation mode control, obtaining mode trigger input of the multifunctional sterilizing and steam cleaning all-in-one machine in the operation process, generating a to-be-processed operation mode, and identifying whether the to-be-processed operation mode conflicts with a current activated operation mode or not based on the conflict rule. And when conflicts occur, an operation mode control decision is executed according to the mode priority, so that the system can adapt to response differences of different loads and actuators, the mode switching stability and the process consistency are gradually improved, and safe and reliable conflict-free operation mode control is realized under a multi-task concurrent working condition.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of operation mode control, in particular to an operation mode control method for a multifunctional sterilization and cleaning steam washing all-in-one machine. BACKGROUND

[0002] In the existing multifunctional sterilization and cleaning steam washing all-in-one machine, the whole machine is usually composed of a steam generation and output assembly, a water supply and pump valve channel assembly, a spraying execution assembly, and a safety monitoring and linkage assembly. The steam generation and output assembly is used for heating cleaning medium and forming high-temperature and high-pressure steam. The water supply and pump valve channel assembly is used for realizing medium transportation such as water replenishment, circulation, switching, and discharge. The spraying execution assembly is used for spraying steam, clean water, or medicament to the target channel to the treatment site. The safety monitoring and linkage assembly is used for monitoring abnormal working conditions and triggering protection or linkage disposal when needed.

[0003] Based on the above structure, in the operation mode control of the existing multifunctional sterilization and cleaning steam washing all-in-one machine, the mode selection and stage flow state machine control mode are usually adopted to realize one-key operation. After receiving the start instruction of the local panel or the mobile terminal, the controller first enters the preparation stage, initializes the configuration of water replenishment, heating unit preheating, pump and valve group self-checking, and the like. Then, according to the preset process sequence, it enters the cleaning or sterilization operation stage, generates steam by controlling the heating power, and drives the pump and valve group to select the target channel and execute steam spraying, clean water flushing, or medicament adding. When the stage ends, the system enters the subsequent stages such as sewage discharge, pipeline flushing, blow-drying, and machine stop resetting according to the process advancement, and completes a complete operation cycle. In order to ensure the continuity of operation and the stability of parameters, in the engineering implementation, temperature and pressure adjustment, pump speed adjustment, valve control, remote communication, safety monitoring, and other task modules are usually run in parallel. Each module refreshes the control instruction at a fixed period, so that the device maintains the specified output capacity and action rhythm under different modes and different stages.

[0004] However, in the existing mode control process, under the scene of multi-mode parallel triggering and multi-task concurrent control, mode conflicts and control right contention problems are easily caused. On the one hand, although the core process flows such as cleaning, sterilization, and sewage discharge are advanced by the flow state machine, the stable pressure and temperature, pump and valve closed loop, channel switching, communication interaction, and safety linkage task modules need to be run in parallel. These modules will continuously refresh the control intention of the same actuator at a fixed period. On the other hand, the actual load of the device under different working conditions is in dynamic change, and the heating, steam transportation, and pump valve action have significant dynamic response lag characteristics, which leads to the fact that mode switching is not an ideal instantaneous exit and entry, but needs to go through a continuous process of suppressing inertia, eliminating residues, and completing resource handover.

[0005] The above problems specifically manifest that there is no unified mutual exclusion relationship and preemption rule between the core process mode and the safety linkage mode, and multiple modes may issue inconsistent or even opposing control instructions to the same executor (heater, steam valve, blowdown valve, pump and channel valve group, etc.) at the same time. For example, the blowdown phase should preferentially close the steam outlet and stop heating according to the safety specification to ensure safety, but the steady-state control task may continuously refresh the heating and pressure stabilizing instructions; the safety linkage such as emergency pressure relief and fire extinguishing needs to immediately take over the pump valve and output channel, but the jet control of the cleaning mode may continuously occupy the resources and write the valve position and pump speed target, and finally abnormal phenomena such as heating during blowdown, mutual opposition between pressure relief and pressure stabilization, and failure of the fire extinguishing linkage to timely preempt the cleaning output may occur.

[0006] From a technical point of view, the root cause of the problem lies in that the existing control logic does not establish a system-level multi-source trigger management and mode switching specification mechanism, does not uniformly queue and prioritize the multi-source trigger signals such as local, remote, process advancement and safety linkage, and leads to the dispersion of control rights among multiple tasks; and does not standardize the executor handover, resource recycling and state recovery strategy during mode switching at the system level, and the existing logic only defines the action sequence and parameter adjustment logic within a single mode, lacking global mutual exclusion and preemption rules between modes. This design defect objectively exists in the problem of mode conflict and control right contention, and it is difficult to completely solve the problem by simply repairing the local logic. SUMMARY

[0007] In order to solve the technical problems of mode conflict and control right contention existing in the prior art, the embodiments of the present application provide a running mode control method for a multifunctional sterilization and cleaning steam washing all-in-one machine. The technical solution is as follows: A running mode control method for a multifunctional sterilization and cleaning steam washing all-in-one machine is provided, which comprises the following steps: step one, enumerating the running modes supported by the multifunctional sterilization and cleaning steam washing all-in-one machine and forming a mode set, establishing mutual exclusion and parallel rules and resource domain occupation mapping based on the mode set, and forming conflict rules that can be used for running mode control; step two, obtaining mode trigger inputs of the multifunctional sterilization and cleaning steam washing all-in-one machine during running, generating a to-be-processed running mode, identifying whether the to-be-processed running mode conflicts with a currently activated running mode based on the conflict rules, and performing running mode control decision according to the mode priority when there is a conflict, and selecting to maintain the currently activated running mode or to perform preemption switching from a high-priority running mode to a low-priority running mode; step three, when it is determined to perform preemption switching, performing orderly exit of the currently activated running mode and establishing a unified safety baseline state, triggering a safety start sequence of the to-be-processed running mode and initializing it, so as to complete the conflict-free switching control of the running mode, and performing online update of the running mode control parameters according to the running effect feedback after the switching is completed.

[0008] The technical scheme provided by the embodiment of the present application has at least the following beneficial effects: (1) The present application enumerates the operation modes of the all-in-one machine, such as cleaning, sterilization, pollution discharge, self-cleaning, and emergency pressure relief and fire extinguishing, and establishes mode mutual exclusion / parallel relationship and resource domain occupation mapping, so that the key execution resources such as heating domain, steam domain, pump domain, valve path domain and medicament domain have unique control right constraints at the system level, thereby identifying and eliminating potential resource contention in the mode selection stage, avoiding multiple modes or multiple control threads from writing mutually contradictory target values to the heater, steam valve, pump and channel valve group at the same time, and causing instruction confrontation; at the same time, the local operation, remote instruction, process advancement and safety linkage and other multi-source trigger signals are unified and gathered and conflict identification and priority determination are completed at the same decision entry, so that high-priority modes such as emergency pressure relief and fire extinguishing can be determined as the only effective mode when a conflict occurs and take over the execution resources in time, and abnormal phenomena such as still heating, pressure relief and pressure stabilization being mutually antagonistic, fire linkage being unable to timely seize the cleaning output during the pollution discharge stage are inhibited, thereby solving the mode conflict and safety response uncertainty problems caused by the dispersion of control rights in the prior art; further, the mode switching is standardized as a transactional handover process of the switched mode orderly exiting to a unified safety baseline state to the target mode safety starting, the continuous refresh output of the switched mode is frozen, the output is turned off in order, the channel is isolated, the medium is stopped and the resources are recycled, and then the target mode initialization and smooth start are performed under the safety baseline state, thereby reducing the risk of valve path switching transient string, residual medium cross-mode carrying and executor dangerous posture leaving, and converting the switching process from uncontrollable instantaneous jump to verifiable and traceable continuous handover; finally, the exit and entry parameters are updated online according to the operation effect feedback, so that the system can adapt to different loads and executor response differences, gradually improve the mode switching stability and process consistency, and thereby realize safe, reliable and conflict-free operation mode control under multi-task concurrent working conditions.

[0009] (2) The application enumerates the running modes supported by the all-in-one machine, constructs a mode mutual exclusion relationship table, divides the resource domain, and maps the mode-resource domain occupation, thereby concretizing the mode conflict into a queryable rule of mutual exclusion plus resource domain contention at the system level, enabling the controller to quickly locate whether any two modes are allowed to run in parallel and the execution resource range of contention before mode decision, thereby avoiding the global loss caused by relying only on the internal logic of a single mode; further, the application configures priority for each mode and matches the preemption and recovery strategy, so that the safe linkage type high-priority mode has a determined takeover rule and fallback path when a conflict occurs, reducing uncertain behaviors caused by scattered control rights, such as the inability of the decontamination still heating, pressure relief and pressure stabilization confrontation, and fire linkage to take over in time. At the same time, the application unifies the local, remote, process advancement and safety linkage and other multi-source triggers into a standardized mode request data structure, and completes the deduplication and merging, intention conflict marking and resource domain set mapping in the same sampling period, and then generates an estimated conflict set in combination with the conflict rule to enter the queue ordering, so that the asynchronous triggers are converged into a manageable event stream before entering the control link, reducing the disturbance of repeated requests and contradictory requests to the state machine. Moreover, the running data is synchronously collected and time-aligned and consistency-arranged to form a multi-source state set, further extracting running load characteristics such as concurrent intensity, resource occupation and output inertia, and device response characteristics such as dynamic response and hysteresis and writing them into a shared cache, so that the mode arbitration is not only based on logical conflict decision, but also can combine the current load and actuator dynamic characteristics to more reasonably regulate the switching time and parameters, thereby improving the stability and consistency of mode switching under the conditions of multi-task concurrency and load fluctuation, substantially alleviating the mode conflict and control right contention problems caused by unordered multi-source triggers, invisible resource contention and unconsidered actuator dynamic lag in the prior art.

[0010] (3) The closed-loop mechanism of priority preemption, transaction gating, scripted handover, adaptive exit or entry, and online learning update enables the multifunctional disinfection and sterilization steam cleaning all-in-one machine to realize determined and controllable mode switching under the condition of multi-source triggering and multi-task concurrency: when the priority of the to-be-processed running mode is higher, the preemption is first confirmed and determined as the preemption mode, and the continuous refresh output of the preempted mode is frozen to avoid the stable pressure and temperature, pump valve closed loop and other threads from continuing to write the target value of the actuator to cause instruction confrontation; and the switching mark is a preemption transaction, and the gating is implemented on the newly added non-emergency request to prevent asynchronous events from being inserted during the switching process to cause race conditions and repeated switching, thereby solving the problem of non-convergence caused by multi-mode concurrent writing to the same actuator and control right contention in the prior art. Further, by generating a handover plan including an exit script, a safety baseline script and an entry script, and binding the target resource domain and the execution sequence, the switching process can drive the actuator to complete output shutdown, channel isolation and resource recovery in sequence, and then safely start the new mode under the unified safety baseline state, thereby reducing the risk of valve switching transient line, residual medium carrying across modes and dangerous actuator posture left over, and solving abnormal scenarios such as still heating during blowdown, pressure relief and stable pressure confrontation, and delayed fire extinguishing pipe connection caused by uncontrollable switching transients. At the same time, the exit tempo and execution mode are generated based on the running load feature vector and the device response feature vector, and the exit residual error is formed by accumulating the deviation and residual risk during the exit process, which is used to compensate and correct the entry tempo and execution mode, so that the exit and entry can match the current dynamic capability of the device, and the influence of output inertia and response lag on switching stability is suppressed. Finally, after the preemption mode is stably running, the stability representation data is collected and the similar switching parameters are updated, and the cumulative memory of the exit residual error is performed and the traceable log is recorded, so that the system has the ability of adaptive optimization across batches, continuously reduces the mode chattering and mis-switching probability, and realizes safe, stable and verifiable running mode control for complex working conditions. BRIEF DESCRIPTION OF DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating any inventive labor.

[0012] Figure 1 is a running mode control method flowchart for a multifunctional disinfection and sterilization steam cleaning all-in-one machine provided by the embodiments of the present application; Figure 2 is a conflict rule initialization flowchart of a multifunctional disinfection and sterilization steam cleaning all-in-one machine provided by the embodiments of the present application; Figure 3A mode triggering and conflict decision flowchart of the multifunctional sterilization and steam cleaning all-in-one machine provided in the embodiment of the present application; Figure 4 A mode switching and parameter optimization flowchart of the multifunctional sterilization and steam cleaning all-in-one machine provided in the embodiment of the present application; Figure 5 A running mode control schematic diagram of the multifunctional sterilization and steam cleaning all-in-one machine provided in the embodiment of the present application. DETAILED DESCRIPTION

[0013] The technical solutions in the present application will be described below with reference to the drawings.

[0014] In the embodiments of the present application, the words such as "example", "for example" are used to represent an example, illustration or description. Any embodiment or design scheme described as "example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present application, the meaning expressed by "and / or" can be both, or can be one of the two.

[0015] In order to make the technical problems, technical solutions and advantages of the present application clearer, the following will be described in detail with reference to the drawings and specific embodiments.

[0016] Embodiment one, the embodiment of the present application provides a running mode control method for a multifunctional sterilization and steam cleaning all-in-one machine. As shown in the running mode control method flowchart for the multifunctional sterilization and steam cleaning all-in-one machine, the processing flow of the method can include the following steps: Figure 1 The multifunctional sterilization and steam cleaning all-in-one machine includes a steam output and jet execution unit for generating high-temperature and high-pressure steam and implementing cleaning and sterilization on objects such as pipelines, oil fume purifiers, fans and oil fume hoods, a monitoring unit for monitoring the inside of the pipeline, a safety linkage unit for intelligently detecting fire and triggering automatic alarm and sprinkler fire extinguishing, and a remote monitoring and remote control unit for multi-terminal access; a controller uniformly schedules the above-mentioned units: in the cleaning and sterilization working condition, the steam jet is driven to clean the target part without dead angle and the monitoring unit is used to realize process visualization, in the safety working condition, the safety linkage unit is triggered by fire detection to preferentially take over the sprinkler fire extinguishing channel and implement automatic fire extinguishing, and at the same time, the mobile terminal monitoring and one-key operation are realized through remote monitoring and control, so as to complete the integrated and collaborative operation from steam cleaning and sterilization to endoscopy monitoring to fire alarm monitoring to automatic sprinkler fire extinguishing to remote monitoring and control.

[0017] ​The running modes provided by the multifunctional sterilization and steam cleaning all-in-one machine are enumerated and merged into a mode set. The running modes can include: a steam cleaning mode for implementing high-temperature and high-pressure steam cleaning on objects such as pipelines, oil fume purifiers, fans and oil fume hoods, an endoscopy monitoring mode for implementing endoscopy recording or monitoring inside the pipeline, a fire alarm monitoring and sprinkler fire extinguishing mode for intelligently detecting fire and automatically alarming and sprinkling to extinguish fire in real time, and a remote monitoring or remote one-key cleaning mode for multiple terminal devices.

[0018] After the enumeration is completed, the controller constructs a mode mutual exclusion relationship table based on the mode set. The mutual exclusion relationship table is a table for checking whether any two modes can exist at the same time. If two modes contend for the same type of key execution resource and their control targets are opposite to each other, they are marked as mutually exclusive. If the resource domains occupied by the two modes are different or the control targets are not in conflict, they are marked as parallel. For example, the fire alarm monitoring and sprinkler fire extinguishing mode mainly uses sprinkler liquid supply and fire extinguishing linkage, and usually requires to immediately take over the pump, valve and channel resources related to sprinkling. Therefore, it can be parallel with the endoscopy monitoring mode (which mainly occupies the camera lifting and video acquisition resources), but should be set as mutually exclusive or strong preemption with the steam cleaning mode (which also needs to occupy part of the channel valve group, pump or liquid supply resource and produce high-temperature medium output) to avoid the execution of cleaning injection and other actions during the fire extinguishing linkage, affecting the effectiveness and safety of fire extinguishing. The determination principle of the mutual exclusion directly serves the coexistence scene of system automatic alarm, fire extinguishing and one-key cleaning at any time.

[0019] In order to make the mutual exclusion relationship executable, the device execution components are divided into several resource domains according to the control objects. The control object refers to a specific object unit that the controller can directly issue a target value and close-loop control during running. For example, the heating unit and the steam valve can be classified as a steam supply control object. The resource domain refers to a set of actuators of the same type of control object. For example, the heating and steam related components form a heating and steam resource domain; the sprinkler and cleaning liquid supply related components form a pump, valve and channel resource domain; the endoscopy camera and lifting mechanism form a monitoring resource domain; the fire detection and alarm device forms a safety monitoring resource domain; the remote communication and multi-terminal access form a communication resource domain. Then, a mode and resource domain association mapping is established, that is, the resource domains necessarily occupied by each mode during running are registered. For example, the steam cleaning mode occupies the heating and steam resource domain and part of the pump, valve and channel resource domain; the fire alarm monitoring and sprinkler fire extinguishing mode occupies the safety monitoring resource domain and the pump, valve and channel resource domain when fire extinguishing is triggered; the remote monitoring or remote one-key cleaning mode mainly occupies the communication resource domain and issues a trigger instruction for the cleaning process; and the endoscopy monitoring mode occupies the monitoring resource domain to realize the endoscopy recording and monitoring inside the pipeline.

[0020] After the establishment of the mutual exclusion table and the resource domain mapping, mode priorities are configured for each operating mode, as well as preemption strategies and recovery strategies that match the priorities, and the mode set, mutual exclusion table, resource domain mapping, mode priority, preemption, and recovery strategy are integrated into queryable conflict rules. Among them, the mode priority is used to give a certain order of decision when a conflict occurs, for example, the fire alarm monitoring and sprinkler fire extinguishing mode can be set as the highest priority to ensure that the system has the highest preemption right under the demand of intelligent detection of fire, real-time automatic alarm, and fire extinguishing; while the steam cleaning mode, remote one-key cleaning trigger mode, etc. are in the process execution priority echelon, running without affecting the safety linkage. The preemption strategy is used to define how the high-priority mode takes over the resource domain, for example, forcibly taking over the pump valve channel resource domain and suspending the cleaning output that conflicts with it. The recovery strategy is used to define how to return to the original process after preemption, for example, after the fire is extinguished, it is restored to standby or reinitialized before entering the cleaning mode. The conflict rules are saved in the form of table entries or configuration files in the storage area accessible to the controller, and the operating mode control decision module can directly call them by querying-judging conflicts-comparing priorities-applying preemption and recovery strategies, so that multiple capabilities such as remote monitoring, endoscopic monitoring, automatic cleaning, and automatic fire extinguishing are coordinated into executable global control constraints.

[0021] The multifunctional disinfection and cleaning steam washing all-in-one machine device side has high-temperature and high-pressure steam cleaning capability, and supports full-system intelligent monitoring, remote monitoring, pipeline endoscopic monitoring, intelligent fire alarm, and automatic sprinkler fire extinguishing capabilities. At the same time, remote mobile phone monitoring and remote one-key cleaning can be realized through multiple terminal devices. In this scenario, the controller will continuously receive mode trigger inputs from different sources during operation, which at least include: local operation trigger input, such as panel button selection of steam cleaning or stop; remote instruction trigger input, such as mobile phone end initiated remote one-key cleaning or pause; process advancement trigger input, such as automatic advancement to pipeline flushing or subsequent stages such as purging after cleaning is completed; safety linkage trigger input, such as fire monitoring triggering sprinkler fire extinguishing linkage.

[0022] To avoid the dispersion of control caused by the differences in format and semantics of signals from different sources, the embodiment performs unified analysis and normalized mapping on the mode trigger input, converting it into a unified mode request data structure. The mode request data structure can be understood as a standardized request record inside the controller, which at least includes: target mode identification, indicating which mode the device is expected to switch to, such as steam cleaning mode, endoscopic monitoring mode, or sprinkler fire extinguishing mode; request source identification, indicating which type of source the request comes from, such as local, remote, process, or safety linkage; request intention identification, indicating the intention type such as start, stop, pause, or resume; and request generation timestamp, used to depict the request sequence and arbitration timing. For example, if the mobile phone end continuously clicks the remote one-key cleaning in a short time, multiple request records will be formed, with target mode = steam cleaning, source = remote, and intention = start; when the fire detection is triggered, the request record will be formed with target mode = sprinkler fire extinguishing, source = safety linkage, and intention = start.

[0023] In the same sampling period, the controller performs deduplication and merging processing on the mode request data structure to reduce jitter and improve the certainty of queue decision. Deduplication refers to folding repeated requests from the same request source, such as when the remote end repeatedly reports the same start steam cleaning request due to network jitter, only the latest or merged single is retained; merging refers to merging consecutive appearance of the same target mode within a short time into an effective request; conflict marking refers to marking requests with mutually contradictory intentions for the same target mode, such as receiving both start steam cleaning and stop steam cleaning within the same period, which is marked as intention conflict and processed by subsequent priority or gating mechanism. Through the above processing, the controller can arrange multiple source, multiple times, and multiple semantic trigger inputs into a group of request events that can be stably arbitrated.

[0024] Based on the control object, the mode request is mapped to a target resource domain set. The target resource domain set refers to a set of execution resources with the same type of control object, such as: the steam cleaning mode usually occupies the heating, steam supply resource domain and pump valve and channel resource domain, to realize high-temperature and high-pressure steam jet cleaning for pipes, oil smoke purifier, fan, and oil smoke cover; the endoscopic monitoring mode mainly occupies the endoscopic camera and monitoring resource domain, for pipe endoscopic video monitoring; the sprinkler fire extinguishing mode mainly occupies the safety linkage resource domain and pump valve and sprinkler channel resource domain after linkage triggering, to ensure that the automatic sprinkler fire extinguishing action is executed preferentially.

[0025] Figure 2The multi-functional sterilization and steam cleaning all-in-one machine conflict rule initialization flowchart provided by the embodiment of the application first starts the initialization conflict rule core task, enumerates all the running modes supported by the device and forms a complete mode set; a mode mutual exclusion relationship table is constructed based on the set, and it is clear whether any two running modes are mutually exclusive or parallel; then the various execution components of the device are divided into several resource domains according to the control objects, and an association mapping of each running mode and the corresponding occupied resource domain is established; then the priority of each running mode is configured, as well as the preemption strategy and the recovery strategy matched with the priority; finally, the mode set, the mutual exclusion relationship table, the resource domain mapping, the mode priority and the related strategies are integrated into the conflict rule that can be queried and called, and the core basis is provided for the conflict identification and control decision of the subsequent running mode.

[0026] After completing the resource domain mapping, the controller generates an estimated conflict set for each mode request according to the pre-established conflict rule (including the mode mutual exclusion or parallel relationship and the resource domain occupation mapping). The estimated conflict set refers to the prediction by the controller before queuing that if the request is executed, it may have mutual exclusion or resource contention with which current running mode or existing request in the queue. For example, when the device is executing steam cleaning, if the safety linkage generates a spray fire extinguishing request, its estimated conflict set at least contains the steam cleaning mode (occupying pump valve and channel resource domain); and if only an endoscopic monitoring request is generated, it can be predicted to be parallel or weakly mutually exclusive with steam cleaning (depending on the channel structure and safety strategy), so as to make the decision of allowing parallel, delaying execution or forced preemption by the subsequent arbitration.

[0027] In this embodiment, the system is in the process of oil fume pipeline steam cleaning operation, the controller receives mode requests from multiple sources such as the local panel, the mobile terminal remote one-key cleaning and fire alarm monitoring linkage, on the other hand, it takes a snapshot of the whole machine running state in each sampling period, so as to provide quantifiable basis for subsequent mode arbitration, preemption switching and parameter adaptive control.

[0028] Specifically, within the same sampling period k, where k represents the number of each sampling period, k = 1, 2, 3…, h, h is the total number of sampling periods, the controller collects operation data at least including: heating output state, such as whether the heating power instruction is consistent with the actual output; steam on-off state, such as whether the steam valve opening and closing is consistent with the steam permission state; water pump speed state, such as the pump speed instruction feedback; valve position state, such as the position code of the current connection of the channel valve group to the cleaning injection channel, the spray channel and the isolation position; channel occupation state, such as the channel resource mark currently occupied by which mode; task thread refresh state, such as whether the steady voltage and temperature thread, the pump speed control thread and the valve control thread generate new target value write actions in this period. Among them, the task thread refresh state is used to describe whether the control logic is still continuously writing target values, for example, the steady state control thread will periodically write the heating and valve position targets to maintain the steam during cleaning, and when the safety linkage is triggered, the write is required to be stopped and the control right is transferred.

[0029] In order to ensure the comparability of multi-source data, the controller performs time alignment and consistency arrangement on the above operation data: aligning the state values from different collection channels in the sampling period k to the same time window, eliminating obvious out-of-order and repeated records, and forming a multi-source state data set A of the period k , wherein A k represents the multi-source state set after arrangement in the kth period. For example, if there is a short delay in the valve position feedback, the controller will arrange it together with the valve position instruction, pump speed instruction and steam on-off state in the same period to form a snapshot, so as to avoid the misallocation of the valve position in the last period and the pump speed in the current period in the subsequent calculation.

[0030] After obtaining A k , the controller further calculates the operation load characteristics for describing multi-task concurrency and resource contention, and the operation load characteristic vector is defined as L k =[C k , O k , I k ], L k represents the operation load characteristic vector of the kth sampling period, C k represents the concurrency intensity representation of the kth sampling period, which is used to describe the active degree of the control thread actually generating target value write in the period, O k represents the resource occupation representation of the kth sampling period, which is used to describe the proportion of the resource domain occupied by the mode or the occupation situation of the key resource domain, I k represents the output inertia representation of the kth sampling period, which is used to describe the difficulty of the heating, steam or pump valve output to decay or change in a short time, and L kIt can be visually seen whether the current is in a high-concurrency, high-occupancy, high-inertia and switching-sensitive state: for example, when steam cleaning is in progress and the constant voltage and constant temperature thread is continuously refreshed, C k With I k Often high, prompting subsequent preemption switching to require more robust exit rhythm.

[0031] Among them, the concurrent intensity representation quantity is obtained as follows: by reading the refresh marks and write counts of each control thread in the same sampling period, the number of threads that have written target values in the current period is counted, and then divided by the total number of threads included in the statistics to obtain the concurrent intensity representation quantity; the resource occupation representation quantity is obtained as follows: a resource domain list (heating domain, steam domain, pump domain, channel domain, medicament domain, etc.) is defined in advance, and an occupation mark is generated in the same sampling period: the heating output is not zero, the heating domain occupation is 1; the steam is on, the steam domain occupation is 1; the pump speed is greater than zero, the pump domain occupation is 1; the channel occupation is occupied or the valve position is not in the isolation position, the channel domain occupation is 1; then the sum of each resource domain occupation mark is obtained, and then divided by the total number of resource domains to obtain the resource occupation representation quantity; the output inertia representation quantity is obtained as follows: when the controller requires the old mode to stop output, the time is counted from this time, until the old mode completely stops, and the number of continuous sampling periods is taken as the tail length, and then the tail length is divided by the maximum value of the tail length allowed by the technician to obtain a proportion, which is the output inertia representation quantity, the larger the proportion, the more difficult to quickly decay and reset, the stronger the output inertia.

[0032] The three elements of concurrent intensity, resource occupation, and output inertia are selected because they respectively depict the most critical risk sources during mode switching from the control layer, resource layer, and physical layer, and together determine the sensitivity and controllability of the switching process: among them, the concurrent intensity reflects how many control threads are continuously refreshing the executor target value within the same time window, which directly corresponds to the probability of control right contention, the higher the probability, the more likely it is to appear mutual coverage or antagonistic instructions; the resource occupation reflects how many key resource domains have been locked by the activated mode and the coupling degree between resource domains, the higher the degree, the smaller the space available for new mode takeover or reallocation, and the more likely it is to occur channel preemption and action mutual exclusion during switching; the output inertia reflects the difficulty of heating, steam transport, pump valve, and medium channel to decay or change state from the current output level within a short time, the greater the inertia, the less likely it is to complete instantaneously, and if directly switched, it is easy to produce residual steam, residual medium carry-in or valve transient cross connection. There is an obvious coupling relationship between the three: the higher the concurrent intensity usually means more closed-loop regulation is working, which often accompanies higher resource occupation; the higher the resource occupation usually corresponds to more complex output link and more full load output, thereby increasing the output inertia; and the greater the output inertia prolongs the exit time window, making concurrent writing and resource contention more likely to be exposed and amplified in the handover window. Therefore, the three are jointly constructed into the running load feature vector, which can cover the three root causes of control writing conflict, resource availability shortage, and physical dynamic non-instantaneousness without relying on a single index, so that the controller can determine whether the current switching is in a high-risk state and accordingly select a more robust exit tempo and handover strategy, thereby improving the stability and safety of preemption switching.

[0033] Meanwhile, the controller extracts the response features reflecting the difference in dynamic capability of the device from A k and constructs a device response feature vector R k =[D k , H k ], wherein R k represents the device response feature vector of the k-th sampling period; D k represents the dynamic response feature value of the k-th sampling period, which is used to depict the response speed and follow-up of the dynamic process such as valve switching, pump speed response, steam establishment / decay, etc.; H k represents the hysteresis feature value of the k-th sampling period, which is used to depict the degree of valve path delay, backlash, or feedback lag after instruction change.

[0034] The dynamic response characteristic value is obtained in the following manner: the target instruction and the feedback value of the actuator (for example, the target valve position and the feedback valve position, the target pump speed and the feedback pump speed) are read at the same sampling period, when the target instruction changes, the proportion of the feedback value approaching the target in the target change range in the current period is calculated, for example, the target valve position is 30 and the feedback valve position is 30 in the last period, the target valve position is adjusted to 80 in the current period, and the feedback valve position is increased to 50, the target change range is 50, the feedback value approaching the target is 20, the dynamic response characteristic value of the valve position in the current period is 20 / 50=0.4, the average of the dynamic response characteristic values of a plurality of positions is calculated, and the result is marked as the dynamic response characteristic value of the kth sampling period; the hysteresis characteristic value is obtained in the following manner: the target instruction and the feedback value are synchronously read in a plurality of continuous sampling periods, when the target instruction switches or adjusts, if the feedback value does not approach the target value or does not reach the expected position in the period, the period is recorded as a lag; the number of lags in the observation window is proportional to the total number of periods in the window, and the obtained proportion is taken as the hysteresis characteristic value, the larger the proportion, the more obvious the hysteresis, for example, the target valve position is switched from the cleaning channel position to the isolation position, the observation window is 5 sampling periods, if the feedback valve position remains at the original channel position and does not move to the isolation position in the first 3 periods, the number of lags is 3, and the hysteresis characteristic value is 3 / 5=0.6; if only the first period does not reach the position and the second period has started to move and reaches the position in the window, the number of lags is 1, and the hysteresis characteristic value is 1 / 5=0.2, indicating that the valve lag is lighter.

[0035] The dynamic response characteristic and the hysteresis characteristic are selected in the device response characteristic vector because the success or failure of mode switching and preemption handover essentially depends on whether the device can follow the control instruction in time and reach the position according to the instruction without tailing. The dynamic response characteristic is used to reflect the response speed and following ability of the execution link, and determines whether the exit or entry beat can be advanced according to the plan; the hysteresis characteristic is used to reflect the delay, back difference and feedback lag of the valve, pump and steam link in the positioning process, and determines whether it is easy to enter the next action when the valve does not reach the position, or to start the new output when the channel is not isolated, etc. during the switching process. The two are related to each other but have different focuses: the dynamic response measures how fast and whether it can follow, and the hysteresis measures whether it can reach the position; when the dynamic response decreases or the hysteresis increases, the achievable action beat of the device will be slower and the uncertainty will increase, therefore, joint modeling of the two can cover the speed and positioning reliability at the same time, and provide a direct basis for exit or entry parameter constraint and compensation.

[0036] The controller obtains the running load characteristic vector L k and the device response characteristic vector R kWrite to shared memory or cache area, so that it can be accessed by the mode arbitration module call. In this way, when the same time window appears, for example, the remote one-key cleaning request superimposes the fire linkage request, the mode arbitration can not only make priority decision based on the conflict rules, but also directly read the L k With R k Determine the exit rhythm of the preempted mode and the establishment method of the unified safety baseline state, so as to maintain the stability and consistency of the switching process under the working condition of coexistence of multi-task concurrency and dynamic difference of equipment.

[0037] In order to facilitate the description, only two typical mappings of output inertia control heating / pump speed rollback step, valve dynamic response and hysteresis control valve return isolation waiting time are taken as examples to illustrate the parameter generation mechanism; in actual implementation, each feature quantity in the running load feature vector and the equipment response feature vector can be associated to the corresponding exit or entry control parameter through the pre-set feature-control parameter mapping table, and the control is implemented on different execution components according to the mapping table. Specifically, the concurrency intensity in the running load can be mapped to the freezing range, the length of the gating window, the serialization degree of exit / entry action, etc., which is used to suppress multi-thread concurrent writing; the resource occupation in the running load can be mapped to the resource domain release sequence, interlocking condition and handover confirmation threshold, which is used to eliminate resource contention points; the output inertia in the running load can be mapped to steam valve shutdown buffer, pump stop delay and emptying / purging insertion time, etc., in addition to heating / pump speed rollback step, which is used to reduce residual tail. In addition to valve return isolation waiting time, the dynamic response feature in the equipment response can be mapped to valve opening step, pump speed climbing slope, heating start-up slope and target-feedback allowed deviation bandwidth, etc., which is used to ensure that the action rhythm meets the dynamic realizability; in addition to the waiting time to reach the position, the hysteresis feature in the equipment response can be mapped to the position confirmation strategy (such as whether to enable secondary confirmation, whether to enable the upper limit of the number of retransmissions, whether to enable conservative interlocking) and pre-circulation / pre-mixing strategy of the entry stage, etc., which is used to reduce the risk of misaction caused by feedback lag.

[0038] Because different preemption combinations involve different target resource domains, for example, steam cleaning to spray fire extinguishing is mainly affected by heating, steam, pump valve and channel resource domains, and components such as reagent addition and drying do not participate in handover or their control parameters are set as invalid items or default items in the mapping table in this mode combination; therefore, only the mapping items that are directly related to the resource contention points of this preemption and best reflect the mechanism are selected for illustration, and the remaining features and control parameters can still be enabled according to the mapping table under the corresponding components and mode combinations.

[0039] Figure 3The mode trigger and conflict decision flowchart of the multifunctional disinfection and sterilization steam cleaning all-in-one machine provided by the embodiment of the application is based on the integrated conflict rules that can be queried, starts the mode trigger input and conflict identification link, first acquires mode trigger inputs from multiple sources such as local operation, remote instruction, process promotion and safety linkage, and parses the unified mode request data structure containing target mode identification, request source and other information; then the request is mapped to the target resource domain set and the estimated conflict set is generated, written into the event queue and sorted, and the established conflict rules are called to match the mutual exclusion relationship between the pending mode and the current active mode; if no conflict is determined, the executable request is marked and the current active mode is maintained; if a conflict is determined, the priority decision link is entered: first mark the low-priority conflict request, execute the rejection / delay / queue strategy and maintain the current mode; if the pending mode has a higher priority, the preemption is confirmed to be established, the executor output of the preempted mode is frozen, and the mode handover plan is generated after the new mode request is executed and gated, to prepare for subsequent mode switching.

[0040] When the multifunctional disinfection and sterilization steam cleaning all-in-one machine is in the steam cleaning mode running state, the mode can be triggered by the mobile terminal remote one-key cleaning and written into the event queue; the controller binds the target resource domain set for the mode according to the conflict rules, such as the heating or steam output resource domain, the pump resource domain, the valve path and channel switching resource domain, and records the current occupied target resource domain set during the running.

[0041] At the same time, the device side fire monitoring triggers the safety linkage input, forms the mode request of the spray fire extinguishing mode, the target mode identification is spray fire extinguishing, and is also written into the event queue. The event queue is arranged at the front end according to the preset sorting rule, usually the safety linkage class first, the timestamp second, the controller extracts the head of the event queue, that is, extracts the pending running mode, reads the target mode identification, the target resource domain set and the estimated conflict set, and the estimated conflict set indicates that the request may be in conflict with which current running mode based on the conflict rules, for example, it is marked that it exists channel and pump valve resource contention with the steam cleaning mode.

[0042] The controller then reads the target mode identifier of the currently activated operation mode (steam cleaning) and its occupied resource domain set, and calls the conflict rule to perform mutual exclusion relationship matching: on the one hand, it matches whether the spray extinguishing mode-steam cleaning mode is mutually exclusive in the mode mutual exclusion relationship table; on the other hand, it checks whether the target resource domain sets of the two modes overlap according to the resource domain occupation mapping. If the matching result shows that there is no conflict, for example, only the endoscopic monitoring mode request is received at this time, which mainly occupies the monitoring resource domain, and does not overlap with the heating / steam and pump valve channel resource domain occupied by the steam cleaning, and the mutual exclusion relationship table is marked as parallel, then the controller marks the to-be-processed operation mode as executable request and writes it into the executable request list, and keeps the steam cleaning mode unchanged to enter continuous monitoring; otherwise, in this example, the spray extinguishing and the steam cleaning have common occupation of the pump and the channel, and the matching result determines that there is a conflict, and the controller enters the operation mode control decision according to the priority.

[0043] In the conflict decision stage, the controller first determines the resource domain contention point, that is, the intersection of the target resource domain set of the to-be-processed operation mode and the occupied resource domain set of the currently activated mode, for example, the contention point in this example can fall on the pump resource domain and the channel resource domain, the spray extinguishing needs to take over the spray channel and the liquid supply pump valve, and the steam cleaning also occupies the spray channel and the related pump valve.

[0044] Subsequently, the controller reads the mode priority of the spray fire extinguishing mode and compares it with the mode priority of the steam cleaning mode: if the priority of the to-be-processed operation mode is not higher than the current active mode, for example, a remote one-key cleaning request is received during the stable operation of the spray fire extinguishing mode, the to-be-processed operation mode is marked as a low-priority conflict request, and at least one of the rejection, delay, and queuing strategies is performed: when the to-be-processed request directly interferes with the safety or stability of the current active mode, and the execution condition is not met within a foreseeable time, for example, a remote one-key cleaning start request is received during the stable operation of the spray fire extinguishing mode, the request is strongly mutually exclusive with the pump / channel resource and belongs to a non-emergency type of intention, and the execution will weaken the fire extinguishing output or cause resource contention, at this time, the request is directly rejected, and the contention resource domain, mutual exclusion relationship, and current safety linkage mode are returned as the conflict reason; when the to-be-processed request itself is a reasonable demand, but must wait for a certain explicit condition to be met before it can be safely executed, for example, after the spray fire extinguishing is completed, the pump valve and channel need to be reset, the residual medium needs to be flushed or emptied, or the current transaction needs to be ended and the resource domain needs to be released and confirmed; at this time, the request is placed in a delayed waiting state, and the re-evaluation trigger condition is recorded, such as the end of the fire extinguishing transaction, the completion of the channel release, or the establishment of the safety baseline state, wherein the safety baseline state establishment refers to the following: after the preempted mode completes an orderly exit, the controller switches the control output of each actuator of the entire machine to a set of preset, handover, and mutually non-conflicting safety configurations, and confirms the release result of the key resource domain, so that the device returns from the occupation posture of a specific process mode to a neutral posture that can be safely taken over by any mode. In the safety baseline state, the heating and steam output are zeroed and kept off, the water pump is in a safe stop or standby state, the valve and channel valve group return to the isolation or closed position, the channel occupation marker and resource domain occupation record are emptied or set to a distributable state, and the valve position, pump stop state, and channel isolation effectiveness are verified, thereby eliminating hidden dangers such as residual steam, channel stringing, un-released resources, and actuators stopped in a dangerous posture, and providing definite and verifiable initial conditions for the subsequent resource application and safe start of the preempted mode; when the system allows multiple low-priority requests to be sequentially digested in order, and waiting does not cause the request to be invalid or unacceptable to the user experience, for example, multiple remote control type requests (querying the state, reserving cleaning, switching to endoscopic monitoring, etc.) are continuously received during the operation of the fire extinguishing mode, these requests can be queued and processed in order after the safety mode exits; at this time, the request is written to a delay queue and waits for subsequent execution according to the event timestamp or scheduling order (such as first-come-first-served, or after merging the same type, then serving).

[0045] When the priority of the to-be-processed operation mode is higher than that of the currently activated mode (in this case, the spray fire extinguishing is higher than the steam cleaning), the controller confirms that preemption is established, determines the spray fire extinguishing as the preempted mode and the steam cleaning as the preempted mode; and immediately freezes the continuous refresh output of the preempted mode to the actuator, freezing refers to prohibiting the steam cleaning related control thread from continuously writing the heating target value, the steam valve target value, the pump speed and the valve position target value, to prevent the fire extinguishing linkage instruction from resisting on the same actuator. Subsequently, the current switching is marked as a preempted transaction, and the newly added mode request is executed during the transaction (non-emergency request is delayed, merged or suspended), to avoid disturbance caused by asynchronous requests during the switching process.

[0046] Finally, when the spray fire extinguishing mode needs to preempt the steam cleaning mode, the controller does not directly change the mode flag, but generates a handover plan first, divides the whole switching into three continuous executable action scripts, and clearly indicates which resource domains each script controls and the execution sequence. The first segment is an exit script, which is used to let the preempted steam cleaning mode exit in sequence: first stop continuously writing the heating power, the steam valve opening, the pump speed and the injection channel valve position target value, and then execute the steam output shutdown, the channel valve group cut to the isolation position, the pump stop or speed reduction, the release of the pump domain, the valve road domain or the channel domain occupation, so that the cleaning mode no longer forms a continuous control on the key actuators. The second segment is a safety baseline script, which is used to unify the whole machine actuators to a handover safe state: confirm that the heating is zero, the steam is off, the pump is in safe stop, the valve road and the channel are in isolation and the occupation flag is empty, so as to ensure that there is no residual steam, channel connection or resource unreleased, and thus complete the establishment of the safety baseline state. The third segment is an entry script, which is used to let the preempted spray fire extinguishing mode start on the safety baseline state: apply for and obtain the pump domain, the valve road domain and the spray channel control right related to the spray, open the spray channel valve, start the liquid supply pump and establish stable spray output in the set order. After the controller writes the binding relationship between the above three scripts and their resource domains into the handover execution context, it drives the actuator action in the fixed order of exit-baseline-entry, and performs in-place or release confirmation after each segment is completed, finally realizing the conflict-free switching of the steam cleaning mode to the spray fire extinguishing mode.

[0047] At the kth sampling cycle, the sampling cycle is 0.2s, and the steam cleaning mode is in the sampling cycle. At this time, the running data collected is: the heating target power is 6.0kW, the heating feedback power is 5.7kW; the steam on-off state is on; the pump speed target is 2400rpm, the pump speed feedback is 2320rpm; the cleaning channel valve is in the injection position, and the spray channel valve is closed; the channel occupancy is "cleaning occupancy = 1". The controller generates the running load characteristics accordingly: the concurrent intensity is the number of threads written in the current cycle divided by the total number of monitored threads, for example, there are 4 threads written in the current cycle, and the total number of threads is 5, then the concurrent intensity = 4 / 5 = 0.8; the resource occupancy is the average value of the five occupancy marks of "heating work, steam on, pump speed > 0, valve position not isolated, channel occupied", and the five marks are all 1, then the resource occupancy = 5 / 5 = 1.0; the output inertia is the tailing time experienced after the exit instruction is issued until the heating = 0, the steam is off, the pump speed = 0 and the valve is back to isolation ÷ the observation time, for example, the historical last time of the same kind of exit tailing is 1.6s, and the observation time is taken as 2.0s, then the output inertia = 1.6 / 2.0 = 0.8. The running load characteristics composed of the above three are used to describe the current window congestion, full load, tailing, etc. Its effect on the exit parameter is: the larger the value, the more segmented, the slower the exit, and the more sufficient the waiting, otherwise it is easier to appear concurrent writing and residual output tailing in the switching window.

[0048] At the same time, the controller extracts the device response characteristics from the target instruction-feedback value in the same sampling cycle, and calculates the dynamic response and hysteresis by a reproducible proportion: the dynamic response characteristic value is calculated according to the feedback approaching target amplitude ÷ target change amplitude in the current cycle. For example, the controller is ready to cut the cleaning channel valve from the injection position to the isolation position, the valve position target changes from 30 to 80 (target change amplitude = 50), and the valve position feedback changes from 30 to 50 (feedback approaching target amplitude = 20), then the valve road dynamic response = 20 / 50 = 0.4; the pump speed target is reduced from 2400 to 2000 (target change amplitude = 400), and the pump speed feedback is reduced from 2320 to 2080 (approaching amplitude = 240), then the pump dynamic response = 240 / 400 = 0.6. The hysteresis characteristic value is calculated according to the number of cycles in which the instruction has changed but the feedback has not approached the target in the observation window ÷ the number of window cycles, for example, the observation window is taken as 5 sampling cycles, the valve position target has been switched, but the valve position feedback has not moved for the first 3 cycles, then the valve road hysteresis = 3 / 5 = 0.6; the pump speed target is reduced, and only the first cycle feedback does not decrease, then the pump hysteresis = 1 / 5 = 0.2. The above two types of response characteristics are used to represent the device following ability strong or weak, and the to-position hysteresis heavy or light, and their effects on the exit / entry parameters are: the smaller the dynamic response proportion, the larger the hysteresis proportion, which means that the same beat and step are more difficult to achieve, and the waiting time, segmented step and to-position confirmation must be made more conservative, otherwise there is a risk of valve not reaching position before entering the next action, and channel not isolated before starting new output.

[0049] When the fire safety linkage triggers the spray fire extinguishing mode and confirms that its priority is higher than the steam cleaning mode, the controller will jointly use the two types of vectors to generate the exit beat parameter and the exit execution mode parameter of the preempted mode, and explicitly associate the two: the operating load feature determines whether to slow down and how much to slow down, and the device response feature determines whether to exit and how long to wait at least.

[0050] The heating fall-back step in the exit beat parameter is corrected by output inertia, for example, take the base step 0.8kW×(1-0.5×output inertia), and substitute output inertia 0.8 to get heating fall-back step=0.8×(1-0.4)=0.48kW / 0.2s, so that the heating falls back in finer steps to reduce tailing; similarly, the pump speed fall-back step is 400rpm×(1-0.5×output inertia)=400×0.6=240rpm / 0.2s.

[0051] The valve isolation waiting time in the exit beat parameter is corrected by the valve path dynamic response and the valve path hysteresis, for example, take the nominal waiting 0.6s+1.0×valve path hysteresis+1.0×(1-valve path dynamic response), substitute valve path hysteresis 0.6 and valve path dynamic response 0.4 to get waiting time=0.6+0.6+0.6=1.8s, and require the valve position feedback to reach the isolation position during this waiting period, otherwise trigger the reissue instruction.

[0052] The exit execution mode parameter (i.e., how to organize the exit actions) is dominated by resource occupation and concurrency intensity: resource occupation 1.0 and concurrency intensity 0.8 indicate that there is a strong control contention risk in the handover window, so the sequence of first freezing writing, then cutting off steam, then reducing heat, then reducing pump, and finally isolating the channel and releasing the occupation is adopted, and the on-site confirmation plus timeout reissue mechanism is forcibly enabled; among them, freezing writing is used to directly eliminate the thread confrontation caused by concurrency intensity, cutting off steam is used to quickly reduce the risk of steam string and residual medium, and isolating the channel is used to achieve conflict-free release on the coupled link of pump and valve.

[0053] The generation principle of the above exit beat parameter is to explicitly map the output inertia and the valve path dynamic ability difference into the time scale and change rate of the exit process: when the output inertia is larger, it means that the heating, steam and pump valve output are difficult to quickly decay in a short time, and if a too large step-down step is used, it is easy to cause the exit tail to be heavier or to appear repeatedly, therefore the basic step-down step is contracted according to the increase of the output inertia, so that the heating power and the pump speed gradually decrease in finer steps, thereby reducing the exit transient impact and shortening the residual tail; when there is hysteresis and insufficient dynamic response in the valve path, it means that there is a delay in the valve position and feedback following, and if the waiting time in the exit beat is insufficient, the next action may be pushed forward when the valve is not isolated, which may cause a cross-line risk, therefore the valve return isolation waiting time is superimposed on the basis of the nominal waiting time, and a closed-loop mechanism of on-time confirmation to timeout retransmission is combined, to ensure that the exit action is verifiable and convergent. It should be noted that the above formula and numerical value are only example expressions for easy understanding, and the related coefficients, basic steps and nominal waiting time can be set by those skilled in the art according to the control period, actuator rated slope, typical on-time, medium inertia and safety specifications, and can be further adjusted or adaptively updated in the running process in combination with stability feedback.

[0054] It needs to be explained that the exit beat parameter is used to specify the time organization and change rate of each control action in the preemption mode during the exit process, which includes the sequence of each action, the minimum waiting time between actions, the segmented step and the falling slope of the heating power, the pump speed or the valve position, and the timeout threshold of on-time confirmation, etc., for ensuring that the exit process is pushed forward at a controllable pace; the exit execution mode parameter is used to specify how to specifically execute the same exit action, which includes whether to use direct shutdown or gradual step-down, whether to enable concurrent write freeze, whether to require valve position on-time confirmation and timeout retransmission, whether to disconnect the steam before isolating the channel or to stop the pump first, whether to insert auxiliary actions such as emptying, flushing or purging, and the confirmation rules of resource domain release, etc., for ensuring that the exit action is completed in a safe and verifiable manner on the specific actuator and medium link, thereby providing a stable premise for subsequent establishment of a unified safety baseline state and safe entry of a new mode.

[0055] When the above exit is executed in beat, the controller synchronously forms an exit residual, and establishes an explicit association between the residual and the entry parameter: the exit residual refers to the part that is not completely exited in the exit phase, which must be compensated by the entry parameter, otherwise the residual will be brought in by the new mode. In this embodiment, the exit residual is composed of three types of quantifiable data: valve return isolation on-time delay (for example, the valve position feedback reaches the isolation position 0.8s later than the entry isolation instruction), channel occupation release tail (for example, the cleaning occupation marker changes from 1 to 0 and takes 1s), and steam disconnection tail (for example, the steam on-off changes from on to off and takes 0.4s).

[0056] Subsequently, the controller triggers the safety start of the spray extinguishing mode, and the device sets the achievable boundary for the entry beat in response to the characteristics, and the exit residual makes additional delay or pre-action compensation for the entry beat.

[0057] The entry beat parameters are first subject to the device response constraints: the valve route dynamic response is 0.4, the valve route hysteresis is 0.6, the valve opening degree uses segmented valve opening, and is opened in two segments from 0% to 50% (0.3s) and then to 100% (0.5s), and at the end of each segment, the valve position feedback must reach the target opening degree within ±5% before entering the next segment; the pump starts with a small step, and climbs to 1800 rpm at 300 rpm / 0.2s.

[0058] The entry execution mode parameters are subject to the device response constraints, and the valve must be opened first and confirmed to be in place before the pump is started, and the pump is prohibited from starting first and then opening the valve, which directly corresponds to avoiding transient liquid supply errors in the hysteresis feature.

[0059] The entry parameters are further compensated for the exit residual, taking the maximum tail in the exit residual, i.e. max(0.8s, 1.0s, 0.4s) = 1.0s, as the handover delay, and after the spray valve is opened to the set position, the spray pump is started after an additional 1.0s; if the channel release tail ≥ 1.0s, a low-speed pre-circulation action is inserted during the waiting period, for example, 300 rpm for 0.6s and then stopped back to 0, and then the main climb is entered, which is used to offset the disturbance caused by the residual medium and the incomplete stabilization of the channel in the exit phase.

[0060] The setting principle of the above entry parameters is to first establish the achievable boundary for the new mode with the device response characteristics, and then compensate for the residual in the handover window with the exit residual: when the valve route dynamic response value is low and the hysteresis feature value is high, it indicates that the valve position has limited following amplitude for the command change and there is obvious lag in reaching the set position, if the valve is opened quickly at one time or the pump is started first and then the valve is opened, it is easy to produce transient liquid supply impact or misenter the wrong channel during the valve is not in place or the feedback lags, therefore, the entry beat uses segmented valve opening and sets a position confirmation threshold at the end of each segment, and at the same time, the pump starting step is converged to a small slope to reduce the dynamic impact when the output is established, and the execution mode of valve opening first and confirmation to be in place before starting the pump eliminates the uncertainty caused by hysteresis; on this basis, the exit residual reflects the tail and release lag that are not completely eliminated in the exit phase (such as channel occupation release tail, valve back isolation delay, steam cutoff tail, etc.), and if it is directly entered into the new mode without processing, the residual medium and the unstable channel will be brought into the new output, therefore, the maximum tail in the residual is taken as the handover delay and a low-speed pre-circulation is inserted when necessary, so that the new mode establishes a stable output under the condition that the channel is stable and the residual is released, thereby improving the certainty of the entry phase and the overall stability of the switching.

[0061] When the spray extinguishing mode enters stable operation, the controller updates the parameters online according to the operation effect feedback, and keeps consistent with the foregoing association: the stability characterization data such as the spray pump speed target 1800 rpm, the error after stabilization ±40 rpm, the spray valve in place time consumption 0.8 s and no back swing, and no channel occupation repeatedly within 5 s after switching. The controller takes the valve return isolation waiting time 1.8 s, the spray valve segmented interval 0.3 / 0.5 s, the handover delay 1 s, etc. as the parameter initialization value for the next similar occupation switching, and accumulates the exit residual error memory, for example, the moving average of the channel release tail is updated from 1 s to 0.9 s, so that the subsequent switching can directly give a more matched exit tempo, entry tempo and compensation action under the same type of device state, thereby realizing stable and verifiable conflict-free switching from the steam cleaning mode to the spray extinguishing mode.

[0062] After completing the online parameter update, the controller synchronously generates a switching log and traceable information, the switching log at least includes: switching event number, switching time stamp, request source type (local / remote / process promotion / safety linkage), current active mode and mode identification of the preemption mode, mode priority comparison result; the traceable information at least includes: resource domain list of this contention and resource domain release confirmation result, abnormal branch record (such as timeout, retransmission, interlock triggering) and its disposal result, thereby supporting post-mortem, responsibility positioning and parameter rollback; after completing log storage, the controller enters a continuous monitoring state and enters the next round of mode request aggregation and conflict identification process.

[0063] Figure 5 is the running mode control schematic diagram of the multifunctional disinfection and sterilization steam cleaning all-in-one machine provided by the embodiment of the application, which fully presents the whole-link linkage logic of the device from medium supply to function output, the solid line corresponds to the medium transmission pipeline, responsible for the physical transmission of water, steam and other substances, the dashed line corresponds to the signal control line, responsible for the transmission of electrical signals and control instructions, the diagram contains six function modules of heating unit (steam generator), sensing monitoring (steam pressure-temperature composite sensor, water level sensor), valve group regulation (cleaning channel valve group, steam valve), waterway pump, PC control system, nozzle device, wherein the heating unit is the steam source, the sensing module is responsible for parameter monitoring, the valve group module realizes path switching and steam regulation, the waterway pump provides water supply power, the PC control system serves as the dispatching center to link various components, and the nozzle device completes function execution; the device inputs mode instructions to the PC control system to retrieve corresponding parameters to the waterway pump for water supply and the heating unit for steam production to the sensing module for parameter feedback to the valve group for switching the path and regulating the steam to the nozzle for jetting output, thereby realizing precise control of three modes of cleaning, disinfection and initial fire extinguishing, different modes correspond to different steam parameters, and the device is mainly applied to scenarios such as catering back kitchens and food processing workshops, and can complete heavy oil stain cleaning, chemical residue-free disinfection and fire disposal.

[0064] The parameter adjustment on exit beat and entry beat in the embodiment is only illustrative example for demonstrating how to generate and correct the control parameters according to the operation load, device response and exit residual; the specific basic step, nominal waiting time and duration of each action are not limited, which can be set and calibrated by the person skilled in the art combined with the installation conditions and field constraints of the device, for example, determining the reasonable parameter range according to the heating unit power level and power supply capacity, pipe length and volume, valve group model and stroke time, pump type and pipe network resistance, spray end configuration and safety specification requirements, and the operation feedback can be further calibrated or adjusted after the device is put into operation to meet the stability and safety requirements in different installation environments.

[0065] Figure 4 is the mode switching and parameter optimization flowchart of the multifunctional disinfection and sterilization steam cleaning all-in-one machine provided by the embodiment of the application, first entering the mode switching and parameter updating core task, based on the device operation load feature vector and response feature vector, performing an orderly exit operation on the preempted mode; a unified safety baseline state is established during the exit process, and the exit residual is recorded; then the device executor control output is switched to the safety baseline configuration, and the entry beat parameters and entry execution mode parameters of the preempted mode are generated, constrained and compensated combined with the device response feature vector and the exit residual; after triggering the safety start sequence of the preempted mode to complete the initialization, the stability representation data of the mode switching quality is collected; based on the data, the exit and entry beat parameters of the next similar switching are updated online, and the exit residual is accumulated as the cross-batch deviation compensation; finally, the switching log and traceable information are stored, and the sustained monitoring state is entered, completing the entire mode switching and parameter optimization process.

[0066] In Example Two, under the same conditions as in Example One, if the multifunctional sterilization and cleaning steam washing machine is in the steam sterilization mode, it will enter the sterilization stage and maintain stable output triggered by the process. At this time, the target heating power is 5.0 kW, the feedback power is 4.8 kW, the steam on-off is on, the reagent addition valve is closed, the water pump speed target is 1800 rpm, the feedback is 1720 rpm, the sterilization channel valve is in the sterilization injection position, and the channel occupation state is "sterilization occupation = 1, sewage occupation = 0". During operation, the safety linkage detects an abnormality in the drainage circuit (such as backflow risk or abnormal liquid level in the drainage chamber), triggering a sewage mode request; the controller identifies, according to the conflict rules, that the sewage mode and the steam sterilization mode have resource contention points in the heating / steam resource domain, the pump resource domain, and the channel resource domain, and that the sewage mode has a higher priority than the sterilization mode, thus confirming the existence of a preemption, determining the sewage mode as the preemption mode and the steam sterilization mode as the preempted mode, and immediately freezing the continuous refresh output of the target values of the heating, steam valve, pump speed, and valve position related to the preempted mode, to prevent the sewage action and sterilization steady-state control from forming a confrontation on the same actuator; at the same time, this switch is marked as a preemption transaction, and a new non-emergency mode request is executed for gating processing to avoid the switch window being disturbed by asynchronous requests.

[0067] After confirming the preemption, the controller generates a handover plan, which divides the switch into three parts: an exit script, a safety baseline script, and an entry script. The exit script is used for the sterilization mode to exit in order, including steam output shutdown, heating rollback, sterilization channel isolation, pump speed rollback, and release of pump domain, valve domain, and channel domain occupation. The safety baseline script is used to return the entire machine to a safe state that can be taken over by the sewage, requiring zero heating, off steam, sterilization channel isolation and occupation marker reset, sewage channel remaining closed standby, and pump in safe stop / standby. The entry script is used for the sewage mode to apply for and obtain control of the sewage channel and drainage pump valve in the safety baseline state, in order to open the sewage valve, start the drainage pump, and establish a stable sewage flow. After writing the handover execution context, the controller drives the actuator actions in the order of exit-baseline-entry, and performs in-place confirmation and resource release confirmation after each part is completed, to ensure that the handover process is verifiable and convergent.

[0068] In the exit parameter generation, the controller first collects the running data in the kth sampling period (sampling period 0.2s) and forms the running load characteristics: there are 3 threads writing target values in this period, and the total number of threads is 5, so the concurrency intensity = 3 / 5 = 0.6; among the five occupation marks "heating work, steam is on, pump speed > 0, valve position is not isolated, channel is occupied", there are 5 items with value 1, so the resource occupation = 5 / 5 = 1; the historical last time from disinfection to pollution exit tail is 1.2s, and the observation time is 2.0s, so the output inertia = 1.2 / 2.0 = 0.6. At the same time, the controller extracts the equipment response characteristics: for example, the disinfection channel valve is planned to be cut from 30 to 80, and the valve position feedback changes from 30 to 55, so the valve route dynamic response = (55-30) / (80-30) = 25 / 50 = 0.5; the observation window is 5 periods, and the valve position target has changed but the feedback has not moved in the first 2 periods, so the valve route hysteresis = 2 / 5 = 0.4. Based on the above two types of vectors, the controller generates the exit rhythm parameters and the exit execution mode parameters, and reflects the association between the two: the running load characteristics are used to determine whether the exit needs to be segmented and slowed down, for example, the output inertia 0.6 makes the rollback step length need to be contracted, and the resource occupation 1.0 requires releasing the resource domain strictly in sequence, and the equipment response characteristics are used to determine the minimum waiting time and the confirmation strength of the valve back to isolation, for example, the hysteresis 0.4 requires extending the waiting time and enabling the timeout resend. For example, in the exit rhythm parameters, the heating rollback step length is 0.8kW x (1-0.5 x 0.6) = 0.8 x 0.7 = 0.56kW / 0.2s, and the pump speed rollback step length is 400rpm x (1-0.5 x 0.6) = 280rpm / 0.2s; the valve back isolation waiting time is 0.6s + 1.0 x 0.4 + 1.0 x (1-0.5) = 0.6 + 0.4 + 0.5 = 1.5s, and it is required that the valve position feedback reaches the isolation position within 1.5s, otherwise resend the isolation instruction and keep the steam off, the heating to zero, and the pump speed limited.

[0069] The exit execution mode parameters are organized in the order of first cutting off the steam, then reducing the heating, then reducing the pump, then isolating the valve, and then releasing the occupation, and the in-place confirmation and resource domain release confirmation are forcibly enabled to ensure that the front disinfection output link of the pollution mode has been reliably released.

[0070] In the exit process of the beat execution, the controller accumulates the exit residual to record the tail and release lag that are not completely eliminated in the exit phase, such as 0.6s of valve return isolation delay, 0.8s of channel occupancy zeroing tail, and 0.3s of steam disconnection tail. Then, the safety baseline script is entered, each actuator is switched to the preset safety baseline configuration, and the handover confirmation is completed: the heating target is 0kW, and the feedback is stable below 0.1kW, the steam on-off is off, the pump speed target is 0rpm, and the feedback is below 50rpm, the disinfection channel valve is in the isolation position and the disinfection occupancy is zeroed, and the blowdown channel valve is in the closed position standby. After the baseline state is completed, the controller triggers the blowdown mode to enter, and the relationship between the device response and the exit residual to the entering parameters is explained: the device response characteristics are used to constrain the starting beat of the blowdown valve and the blowdown pump, and ensure that the valve path is in place before the flow is established; the exit residual is used to determine the handover delay or pre-action to avoid the influence of residual steam / residual channel occupancy on the blowdown stability. For example, the entering beat parameters are first constrained by the valve path dynamic response of 0.5 and the lag of 0.4, the blowdown valve adopts segmented opening (0% to 60% for 0.4s, and then 60% to 100% for 0.4s), and the valve position feedback needs to meet the target opening degree ±5% at the end of each segment; the blowdown pump climbs to 1500rpm at 300rpm / 0.2s to establish the blowdown flow; the entering parameters are compensated according to the exit residual, and the maximum tail max(0.6s, 0.8s, 0.3s)=0.8s is taken as the handover delay, the blowdown pump is started after waiting for 0.8s after the blowdown valve is opened in place, and the steam is off and the heating is zero during the waiting period to prevent residual steam from interfering with the blowdown.

[0071] After the blowdown mode is stably running, the controller collects stability characterization data, such as the blowdown pump target of 1500rpm, the steady-state error of ±30rpm, the blowdown valve in-place time of 0.7s without backswing, and the channel occupancy state stable within 3s after switching without counter-write, according to which the exit beat and entering beat initialization values of the next disinfection to blowdown similar pre-emptive switching are updated, and the exit residual is accumulated and remembered, such as the moving average of the channel release tail being updated from 0.8s to 0.75s, and then the traceable log is generated to return to the continuous monitoring state. It should be noted that the step size, waiting time, valve segmented opening degree, and pump climbing slope in the embodiment are only illustrative examples, and the specific values can be calibrated and set by those skilled in the art in combination with the device installation conditions, pipeline resistance, valve group stroke time, pump type characteristics, and safety specification requirements.

[0072] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for controlling the operating mode of a multi-functional integrated steam cleaning and disinfection machine, characterized in that, The method includes: Step 1: Enumerate the operating modes supported by the multi-functional disinfection and steam cleaning integrated machine and form a mode set. Based on the mode set, establish mutually exclusive parallel rules and resource domain occupation mapping to form conflict rules that can be used for operating mode control. Step 2: Obtain the mode trigger input during the operation of the multi-functional disinfection steam cleaning integrated machine, generate the operating mode to be processed, identify whether the operating mode to be processed conflicts with the currently active operating mode based on the conflict rules, and execute the operating mode control decision according to the mode priority when there is a conflict, and choose to maintain the currently active operating mode or perform a preemptive switch of the high priority operating mode to the low priority operating mode. Step 3: When determining to perform preemptive switching, perform orderly exit of the currently active operating mode and establish a unified security baseline state, trigger the security startup sequence of the operating mode to be processed and initialize it to complete the conflict-free switching control of the operating mode. After the switching is completed, update the operating mode control parameters online based on the feedback of the operating effect.

2. The operation mode control method for a multi-functional disinfection and steam cleaning integrated machine according to claim 1, characterized in that, The specific process for forming conflict rules that can be used for operation mode control is as follows: The operating modes supported by the multi-functional disinfection and steam cleaning integrated machine are enumerated and a mode set is formed; A mutual exclusion table is constructed based on the set of patterns to identify the mutual exclusion or parallelism relationship between any two patterns. The actuators of the multi-functional disinfection and steam cleaning integrated machine are divided into several resource domains according to the controlled object; Establish an association mapping between each operating mode and the corresponding resource domain; Based on the mutual exclusion table and association mapping, a mode priority is configured for each operating mode, and a preemption strategy and recovery strategy corresponding to the mode priority are configured. The set of modes, mutual exclusion table, association mapping, mode priority, preemption strategy and recovery strategy are integrated and marked as queryable conflict rules for use in operation mode control decisions.

3. The operation mode control method for a multi-functional disinfection and steam cleaning integrated machine according to claim 1, characterized in that, The acquisition of the mode trigger input during the operation of the multi-functional disinfection and steam cleaning integrated machine specifically refers to: The mode trigger inputs include local operation trigger inputs, remote command trigger inputs, process advancement trigger inputs, and security linkage trigger inputs. The pattern trigger input is parsed and normalized, and the trigger input from different sources is converted into a unified pattern request data structure. The pattern request data structure includes a target pattern identifier, a request source identifier, a request intent identifier, and a request generation timestamp. The pattern request data structure within the same sampling period is subjected to deduplication and merging processing. The deduplication and merging processing refers to folding duplicate requests from the same request source, merging consecutive requests for the same target pattern, and marking conflicting request intentions. Based on the control object, the pattern request data structure is mapped to a set of target resource domains; Based on the conflict rules, an estimated conflict set is generated for the pattern request data structure; The pattern request, which includes the target resource domain set and the estimated conflict set, is written to the event queue and sorted according to the preset sorting rules. Operational data of the multi-functional disinfection and steam cleaning integrated machine were collected within the same sampling period.

4. The operation mode control method for a multi-functional disinfection and steam cleaning integrated machine according to claim 3, characterized in that, The collection of operational data from the multi-functional disinfection and steam cleaning integrated machine specifically refers to: The operational data includes heating output status, steam on / off status, water pump speed status, valve position status, channel occupancy status, and task thread refresh status. The running data is time-aligned and consistency-organized to form a multi-source state data set within the same sampling period; Based on the multi-source state data set, the concurrency intensity representation, resource occupancy representation, and output inertia representation are calculated and fused to generate a running load feature vector; Based on the multi-source state data set, dynamic response feature values ​​and hysteresis feature values ​​are extracted and fused to generate a device response feature vector; The runtime load feature vector and the device response feature vector are written to a shared storage area or cache area that can be accessed by mode arbitration.

5. The operation mode control method for a multi-functional disinfection and steam cleaning integrated machine according to claim 1, characterized in that, The process of identifying whether the running mode to be processed conflicts with the currently active running mode based on conflict rules is as follows: Extract the running modes to be processed from the event queue according to the sorting rules, and read the target mode identifier, target resource domain set and estimated conflict set corresponding to the running mode to be processed; Read the target mode identifier of the currently active running mode and the set of currently occupied target resource domains; The conflict rules are invoked to perform a mutual exclusion matching strategy between the pending running mode and the currently active running mode, and the matching result is obtained. When the matching result determines that there is no conflict, the pending running mode is marked as an executable request and written into the executable request list, while keeping the currently active running mode unchanged and entering a continuous monitoring state; When there is a conflict in the matching results, the operating mode control decision is executed according to the mode priority.

6. The operation mode control method for a multi-functional disinfection and steam cleaning integrated machine according to claim 5, characterized in that, The execution process of the operation mode control decision based on mode priority is as follows: Identify the resource domain contention point corresponding to the conflict. The resource domain contention point refers to the intersection of the target resource domain set of the running mode to be processed and the target resource domain set already occupied by the currently active running mode. Obtain the mode priority corresponding to the running mode to be processed and the mode priority corresponding to the currently active running mode, and perform a priority comparison to determine whether the mode priority corresponding to the running mode to be processed is higher than the mode priority corresponding to the currently active running mode. When the priority of the pending running mode is not higher than the priority of the currently active running mode, the pending running mode is marked as a low-priority conflict request, and a rejection policy and / or a delay policy and / or a queuing policy are selected to be executed to maintain the current active state, ensure that the control output of the occupied resource domain continues to be effective, and enter the continuous monitoring state. The rejection strategy refers to generating a rejection result along with conflict reason information; The delay strategy refers to setting a waiting state for the pending operation mode and recording the re-evaluation trigger conditions; The queuing strategy refers to writing the pending operation mode into a delayed queue and maintaining the event order or updating the scheduling order.

7. The operation mode control method for a multi-functional disinfection and steam cleaning integrated machine according to claim 5, characterized in that, The step of executing the operation mode control decision according to mode priority also includes: When the priority of the pending running mode is higher than the priority of the currently active running mode, the preemption is confirmed to be successful. The pending running mode is determined as the preemptive mode, and the currently active running mode is determined as the preempted mode. After confirming that the preemption is successful, the continuous refresh output of the preempted mode to the executor is frozen. The freezing means preventing the control thread of the preempted mode from continuing to write the target value to the executor. The pending running modes are marked as preemptive transactions, and gating processing is performed on new mode requests during the preemptive transaction. The gating processing refers to delaying the queuing, merging, or suspending the processing of non-emergency new mode requests to avoid being disturbed by asynchronous requests during the switching process. Based on the preempted mode and the preempted mode, a handover plan is generated. The handover plan refers to the exit script corresponding to the preempted mode, the unified security baseline state establishment script, and the entry script corresponding to the preempted mode. The exit script and the entry script are respectively bound to the target resource domain set and the execution order. The handover plan is written into the handover execution context, and the orderly handover execution process is started. The orderly handover execution process is used to drive the executor to act in the order of exiting the script, establishing the unified security baseline state, and entering the script, so as to achieve a conflict-free switch from the preempted mode to the preempted mode.

8. The operation mode control method for a multi-functional disinfection and steam cleaning integrated machine according to claim 1, characterized in that, The specific process of performing an orderly exit from the currently active operating mode and establishing a unified security baseline state is as follows: The running load feature vector and the device response feature vector are used as exit control inputs to generate the exit tick parameters and exit execution method parameters of the preempted mode. According to the exit rhythm parameters and exit execution method parameters, the control output of the preempted mode is exited in an orderly manner. During the orderly exit process, the exit residual is continuously monitored and used to optimize the establishment of a unified safety baseline state and the compensation of the new mode entry parameters.

9. The operation mode control method for a multi-functional disinfection and steam cleaning integrated machine according to claim 1, characterized in that, The specific process of triggering the secure startup sequence of the pending operation mode and initializing it is as follows: Switch the control outputs of each actuator of the multi-functional disinfection and steam cleaning integrated machine to the preset safety baseline configuration; Constraints are generated on the entry clock parameters and entry execution method parameters of the preemption mode based on the device response feature vector; Based on the exit residual, the entry cycle parameters and entry execution mode parameters are compensated and corrected, and the result of the compensation correction is used to select whether to insert a compensation action sequence to offset the residual effects of the exit phase.

10. The operation mode control method for a multi-functional disinfection and steam cleaning integrated machine according to claim 1, characterized in that, After the switching is completed, the operating mode control parameters are updated online based on the feedback of the operating effect. The specific update process is as follows: After completing this mode switch and entering stable operation in preemptive mode, collect and summarize stability characterization data reflecting the quality of the switch. Based on stability characterization data, update the exit beat parameters and entry beat parameters for the next similar switch; Perform cumulative residual update on the exit residual, and use the cumulative residual as cross-batch deviation compensation; Synchronously generate storage switch logs and traceability information. After completing log storage, enter continuous monitoring state and proceed to the next round of mode request aggregation and conflict identification.

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