Rescue lighting based on fluorescence reaction mechanism

Abstract

The application provides a rescue lighting lamp based on a fluorescence reaction mechanism and belongs to the field of rescue lighting lamps. A comprehensive deviation signal is synchronously input into a proportional operation path, an integral operation path and a differential operation path to respectively generate a proportional correction amount proportional to a current deviation, an integral correction amount proportional to a historical deviation cumulative value and a differential correction amount proportional to a deviation change rate. The proportional correction amount, the integral correction amount and the differential correction amount are linearly superimposed to generate a motor drive control amount. The output rotating speed and the rotating phase of a servo motor are dynamically adjusted based on the motor drive control amount, so that the reciprocating swing frequency and the amplitude of a swing assembly converge to a preset stable interval to maintain the fluorescence reaction of an illumination assembly to continuously proceed. The application realizes self-dependent chemical luminescence without external power supply.

Description

Technical Field

[0001] This invention relates to the field of distress lights, and more specifically, to distress lights based on a fluorescence response mechanism. Background Technology

[0002] Safety is always a top priority in our daily lives. Whether it's outdoor adventure, night driving, or mining operations, a reliable and durable lighting device is essential. Currently, most mainstream lighting devices on the market use LED technology, which has a long lifespan and high efficiency. In addition, to improve ease of use, these lights are usually equipped with rechargeable batteries, allowing users to charge them via power banks, solar panels, or vehicle power sources when camping or working outdoors.

[0003] The existing technology still has the following drawbacks: Traditional LED lights rely on battery power. In real emergency rescue scenarios, the reliability of lighting equipment often faces more severe tests. If users encounter situations such as getting lost in the wild, power outages in mines, or vehicles breaking down at night, they may not be able to obtain external power in time to provide timely lighting, which increases the difficulty of seeking help.

[0004] Therefore, a distress light based on the fluorescence reaction mechanism is proposed. Summary of the Invention

[0005] The purpose of this invention is to address the problem that traditional LED lights rely on battery power, which poses a significant challenge to their reliability in real emergency rescue scenarios. In situations such as getting lost in the wild, experiencing a power outage in a mine, or having a vehicle break down at night, users may not be able to obtain external power in time, thus failing to provide timely illumination and increasing the difficulty of seeking help. This invention provides a rescue light based on the fluorescence response mechanism to solve the aforementioned problems.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solution: The present invention is as follows: a distress light based on the fluorescence reaction mechanism, comprising: a housing, wherein an illumination component that generates illumination light based on the fluorescence reaction mechanism is disposed inside the housing, and an oscillating component that drives the illumination component to oscillate back and forth to maintain the luminescence reaction is disposed on one side of the illumination component; The lighting assembly includes six sets of liquid storage tanks bolted to the inner wall of the housing, each set having a connecting pipe fixedly connected to its bottom. Two sets of bent pipes are symmetrically arranged and fixedly installed at the bottom of each connecting pipe, with a reaction flask fixedly installed at the other end of each bent pipe. The oscillation assembly includes an oscillation rod fixedly connected to the top of the reaction flask. A servo motor is fixedly installed on the inner wall of the housing, and a turntable is fitted to the output end of the servo motor. A limit rod is fixedly installed on the turntable, and a limit groove is formed on the oscillation rod, which engages with the limit groove. The servo motor is electrically connected to a control unit, which periodically collects real-time data from the reaction flask. The system calculates the swing angle and real-time angular velocity, and then calculates the comprehensive deviation signal between the real-time swing parameters and the preset target swing parameters. This comprehensive deviation signal is synchronously input into the proportional, integral, and differential calculation paths to generate a proportional correction proportional to the current deviation, an integral correction proportional to the accumulated historical deviation, and a differential correction proportional to the rate of change of deviation, respectively. The proportional, integral, and differential corrections are linearly superimposed to generate the motor drive control quantity. Based on this motor drive control quantity, the output speed and rotation phase of the servo motor are dynamically adjusted to bring the reciprocating swing frequency and amplitude of the swing component to a preset stable range, thereby maintaining the continuous fluorescence response of the lighting component.

[0007] As a preferred technical solution of the present invention, six sets of mounting rings are bolted to the outer side wall of the shell, and the six sets of mounting rings are arranged in a one-to-one correspondence with the liquid storage tank. A rotating rod is rotatably connected inside each of the six sets of mounting rings. The rotating rod passes through the side wall of the shell and extends into the interior of the corresponding connecting pipe. A valve plate is fixedly installed at the end of the rotating rod, and the valve plate is located in the internal flow channel of the connecting pipe.

[0008] As a preferred embodiment of the present invention, the top of the reaction flask is symmetrically fitted with a sealing plug, the end of the bent tube passes through the sealing plug and is connected to the interior of the reaction flask, and the bent tube has a margin between the connecting tube and the reaction flask.

[0009] As a preferred embodiment of the present invention, a fixing hoop is bolted to the inner wall of the housing, the fixing hoop is sleeved on the outside of the connecting pipe, and the fixing hoop is located on one side of the rotating rod.

[0010] As a preferred technical solution of the present invention, a limiting plate is bolted to the inner side wall of the housing, an annular groove is provided on the limiting plate, a fixing pin is fixedly connected to the top of the limiting plate, the swing rod is rotatably connected to the fixing pin, and the swing rod swings in the annular groove.

[0011] As a preferred embodiment of the present invention, a cover plate is snapped onto the top of the housing, the cover plate is located on one side of the liquid storage tank, and a polarizing plate is embedded in the side wall of the housing.

[0012] As a preferred embodiment of the present invention, the control unit periodically acquires the real-time swing angle and real-time angular velocity of the reaction flask, and calculates the comprehensive deviation signal between the real-time swing parameters and the preset target swing parameters, including: The control unit reads the original electrical signals from the angle sensor and angular velocity sensor installed at the pivot point of the swing arm at a preset sampling frequency, performs sliding window filtering on the original electrical signals to remove high-frequency noise from mechanical vibration, and obtains the filtered real-time swing angle and real-time angular velocity. The angle deviation component is obtained by subtracting the real-time swing angle from the preset target swing angle, and the angular velocity deviation component is obtained by subtracting the real-time angular velocity from the preset target angular velocity. The angle deviation component and the angular velocity deviation component are weighted and summed based on the preset state fusion weight coefficient to generate a comprehensive deviation signal.

[0013] As a preferred technical solution of the present invention, the comprehensive deviation signal is synchronously input into the proportional calculation path, integral calculation path, and derivative calculation path to generate a proportional correction amount proportional to the current deviation, an integral correction amount proportional to the historical cumulative deviation value, and a derivative correction amount proportional to the deviation change rate, respectively; the proportional correction amount, integral correction amount, and derivative correction amount are linearly superimposed to generate the motor drive control quantity, including: In the proportional calculation path, the comprehensive deviation signal at the current sampling time is multiplied by the preset proportional gain coefficient to obtain the proportional correction amount; In the integral operation path, the comprehensive deviation signal within the continuous sampling period is accumulated and multiplied by the sampling period time and the preset integral gain coefficient. When the absolute value of the accumulated result exceeds the preset integral anti-saturation threshold, the accumulated value is clamped to the integral anti-saturation threshold to obtain the integral correction amount. In the differential operation path, the difference between the combined deviation signal at the current sampling time and the previous sampling time is calculated and divided by the sampling period time to obtain the deviation change rate. After multiplying the deviation change rate by the preset differential gain coefficient, it is input into a first-order inertial low-pass filter for smoothing to obtain the differential correction amount. The proportional correction, integral correction, and derivative correction are algebraically added to generate the initial drive signal. The output amplitude is limited and the dead zone of the servo motor is compensated for on the initial drive signal. It is then linearly mapped into a pulse width modulation duty cycle signal, which is used as the drive interface for outputting the motor drive control quantity to the servo motor.

[0014] As a preferred technical solution of the present invention, the output speed and rotation phase of the servo motor are dynamically adjusted based on the motor drive control quantity, so that the reciprocating oscillation frequency and amplitude of the oscillating component converge to a preset stable range, thereby maintaining the continuous fluorescence response of the lighting component, including: The control unit outputs the motor drive control quantity to the servo driver. The servo driver adjusts the amplitude of the output current and the commutation timing according to the pulse width modulation duty cycle signal, thereby driving the servo motor to generate corresponding torque and angular displacement. The servo motor drives the turntable to rotate synchronously. The circular motion is converted into the reciprocating swing of the swing arm through the sliding engagement of the limit rod in the limit groove. The control unit tracks the zero-crossing phase point and peak position of the swing arm in real time. When the actual oscillation frequency deviates from the preset stable range or the amplitude shows a decay or overshoot trend, the control unit dynamically corrects the output polarity switching threshold of the motor drive control quantity based on the current phase difference and deviation change rate to compensate for mechanical transmission lag and reaction liquid flow resistance disturbance. The fluorescent reaction solution in the storage tank is periodically injected into the reaction bottle through the connecting tube and the curved tube by reciprocating oscillation, so that the mixing frequency of the reaction solution and the reagent in the bottle is stabilized at the preset chemical reaction excitation threshold, thus maintaining the continuous luminescence of the fluorescence reaction.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: This application uses a control unit to periodically collect the real-time swing angle and angular velocity of the reaction bottle, calculate the comprehensive deviation signal, and synchronously input proportional, integral, and derivative calculation paths. These are then linearly superimposed to generate the motor drive control quantity, dynamically adjusting the output speed and rotation phase of the servo motor. This ensures that the reciprocating swing frequency and amplitude of the swing component converge to a preset stable range. This control logic effectively compensates for the nonlinear effects of changes in the viscosity of the reaction liquid, mechanical transmission hysteresis, and environmental disturbances. It ensures that the mixing frequency of the fluorescent reaction liquid injected into the reaction bottle through the connecting pipe and bend is stable at the chemical reaction excitation threshold, avoiding a sudden drop in light intensity due to excessive reaction consumption or insufficient mixing. This maintains continuous and uniform fluorescence, extending the effective working time of the lighting device during long-duration rescue missions.

[0016] The symmetrical layout of six liquid storage tanks, combined with the bottom connecting pipe and double-bend flow guiding structure, forms a stable periodic fluid migration path under preset oscillation conditions, promoting full contact and diffusion between the reaction liquid and the reagents inside the bottles. The sliding engagement of the limiting rod and the oscillating rod limiting groove efficiently converts the continuous circular motion of the turntable into the precise reciprocating motion of the oscillating rod, avoiding the dead point jamming and impact loads present in traditional crank-connecting rod mechanisms. The synergistic effect of these structures reduces fatigue wear of mechanical transmission components, ensures balanced force distribution and pipe connection sealing during the oscillation process of multiple reaction bottles, effectively prevents loosening of connecting pipes, detachment of bends, or leakage of reaction liquid due to violent shaking or long-term vibration, and enhances the structural robustness of the device in complex search and rescue environments.

[0017] The control unit processes the comprehensive deviation signal through three computational paths and outputs a pulse width modulation duty cycle signal. Combined with output amplitude limiting and servo motor dead-zone compensation mechanisms, this enables the drive system to possess rapid response and anti-overshoot characteristics. When the rescue site encounters carrier vibrations, sudden temperature changes, or abrupt changes in fluid resistance due to the consumption of reaction fluid, the system can track the zero-crossing phase point and peak position of the swing in real time, dynamically correcting the polarity switching threshold of the drive control quantity and automatically offsetting the interference of external disturbances on the swing trajectory. This adaptive closed-loop control mechanism ensures that the lighting components can maintain preset swing parameters even under harsh conditions, avoiding light flicker or interruption of response, providing a highly reliable continuous light source for low-light emergency scenarios such as nighttime search and rescue, underground exploration, and water rescue. Attached Figure Description

[0018] Figure 1 A schematic diagram of the structure of the distress light based on the fluorescence reaction mechanism provided by the present invention; Figure 2 A partial structural schematic diagram of the distress light based on the fluorescence reaction mechanism provided by the present invention; Figure 3 This is a partially enlarged structural schematic diagram of the distress light based on the fluorescence reaction mechanism provided by the present invention; Figure 4 An exploded view of the lighting component of a distress light based on a fluorescence reaction mechanism provided by the present invention; Figure 5 An exploded view of the swing assembly of a distress light based on the fluorescence reaction mechanism provided by the present invention.

[0019] The diagram shows: 1. Housing; 2. Lighting assembly; 201. Liquid storage tank; 202. Connecting pipe; 203. Bend; 204. Reaction flask; 3. Swing assembly; 301. Swing rod; 302. Servo motor; 303. Turntable; 304. Limiting rod; 305. Limiting groove; 4. Mounting ring; 5. Rotating rod; 6. Valve plate; 7. Sealing plug; 8. Fixing clamp; 9. Limiting plate; 10. Annular groove; 11. Fixing pin; 12. Cover plate; 13. Polarizing film. Detailed Implementation

[0020] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby providing a clearer and more explicit definition of the scope of protection of the present invention.

[0021] Example: Figures 1 to 5As shown, this embodiment proposes a distress light based on the fluorescence reaction mechanism, comprising: a housing 1, an illumination component 2 that generates illumination light based on the fluorescence reaction mechanism is disposed inside the housing 1, and an oscillating component 3 that drives the illumination component 2 to oscillate back and forth to maintain the luminescence reaction is disposed on one side of the illumination component 2; the illumination component 2 includes a liquid storage tank 201 bolted to the inner wall of the housing 1, the number of liquid storage tanks 201 is six sets, and the bottom of each set of liquid storage tanks 201 is fixedly connected to a connecting pipe 202, the bottom of the connecting pipe 202 is fixedly installed with a bent pipe 203, the number of bent pipes 203 is two sets and symmetrically arranged, and the other end of the bent pipe 203 is fixedly installed with a reaction bottle 204. In use, reaction flask 204 is equipped with three ports. Six sets of storage tanks 201 contain reaction solution A, reaction solution B, catalyst, red fluorescent agent, green fluorescent agent, and blue fluorescent agent, respectively. One set of bent pipes 203 connects the three storage tanks 201 containing reaction solution A, reaction solution B, and catalyst to the first port of reaction flask 204, while another set of bent pipes 203 connects the three storage tanks 201 containing red, green, and blue fluorescent agents to the second port of reaction flask 204. Reaction solution A, reaction solution B, and catalyst react under gravity through the first set of bent pipes... The red, green, and blue fluorescent agents flow into the first port of the reaction bottle 204 through tube 203, where they mix and undergo a fluorescent reaction, emitting light. Simultaneously, red, green, and blue fluorescent agents flow into the second port of the reaction bottle 204 through the second set of bent tubes 203, mixing with the reaction solution. The output light color is adjusted through the principle of superposition of the three primary colors, achieving an adjustable brightness and color distress signal output. The specific components of reaction solution A are fluorescein solution, reaction solution B are adenosine triphosphate solution, the catalyst is luciferase solution, and the red, green, and blue fluorescent agents are water-soluble organic fluorescent dyes, such as rhodamine B, sodium fluorescein, and basic blue.

[0022] like Figure 2 and Figure 5 As shown, the swing assembly 3 includes a swing rod 301 fixedly connected to the top of the reaction bottle 204, a servo motor 302 fixedly installed on the inner side wall of the housing 1, a turntable 303 installed at the output end of the servo motor 302, a limit rod 304 fixedly installed on the turntable 303, a limit groove 305 is opened on the swing rod 301, and the limit rod 304 is inserted into the limit groove 305. In use, the limiting rod 304 is offset from the rotation center of the turntable 303. When the servo motor 302 drives the turntable 303 to rotate, the limiting rod 304 makes a circular motion around the center of the turntable 303. At the same time, the limiting rod 304 slides back and forth in the limiting groove 305, which drives the swing rod 301 and the reaction bottle 204 to swing back and forth. During the swinging process, the liquid components in the reaction bottle 204 are continuously shaken, so as to achieve full mixing of reaction solution A, reaction solution B, catalyst and three fluorescent agents, ensuring that the fluorescence reaction proceeds uniformly and stably, and avoiding local incomplete reaction or fluctuation of luminescence intensity caused by uneven mixing.

[0023] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, six sets of mounting rings 4 are bolted to the outer side wall of the housing 1. The six sets of mounting rings 4 are arranged one-to-one with the liquid storage tank 201. A rotating rod 5 is rotatably connected inside each of the six sets of mounting rings 4. The rotating rod 5 passes through the side wall of the housing 1 and extends into the interior of the corresponding connecting pipe 202. A valve plate 6 is fixedly installed at the end of the rotating rod 5. The valve plate 6 is located in the internal flow channel of the connecting pipe 202. In use, when the user rotates the connecting rod, the rotating rod 5 drives the valve plate 6 to rotate synchronously within the connecting pipe 202. When the plane of the valve plate 6 is parallel to the axis of the connecting pipe 202, the liquid can flow normally. When the plane of the valve plate 6 is perpendicular to the axis of the connecting pipe 202, the flow channel is blocked and the liquid stops flowing. By rotating the rotating rod 5 at different positions, the on / off state and flow rate of reaction solution A, reaction solution B, catalyst, and three fluorescent agents (red, green, and blue) can be controlled separately, thereby achieving precise control of the luminous brightness and luminous color. The user can finely adjust the mixing ratio of reaction solution A, reaction solution B, and catalyst according to the distress distance and ambient light conditions, thereby continuously changing the luminous brightness. At the same time, the flow rate ratio of the three fluorescent agents can be adjusted independently to achieve stepless color mixing and output any color light from red to purple.

[0024] like Figure 4 As shown, the top of the reaction flask 204 is symmetrically fitted with sealing plugs 7. The end of the bent tube 203 passes through the sealing plugs 7 and is connected to the interior of the reaction flask 204. The bent tube 203 has a certain amount of space between the connecting tube 202 and the reaction flask 204. In use, the sealing plugs 7 isolate the interior of the reaction flask 204 from the external environment, preventing the mixed liquid inside the reaction flask 204 from splashing out during the shaking process. When the reaction flask 204 shakes, the reserved space in the bent tube 203 can be stretched or compressed, absorbing the relative movement between the reaction flask 204 and the fixed connecting tube 202, and preventing the bent tube 203 from breaking due to repeated pulling.

[0025] like Figure 1 , Figure 2 and Figure 3 As shown, a fixing clamp 8 is bolted to the inner wall of the housing 1. The fixing clamp 8 is fitted onto the outer side of the connecting pipe 202 and is located on one side of the rotating rod 5. In use, the fixing clamp 8 firmly fixes the connecting pipe 202 to the inner wall of the housing 1, restricting the radial sway and axial movement of the connecting pipe 202, so that the connecting pipe 202 always remains in a fixed position.

[0026] like Figure 2 and Figure 5As shown, a limiting plate 9 is bolted to the inner wall of the housing 1. An annular groove 10 is provided on the limiting plate 9, and a fixing pin 11 is fixedly connected to the top of the limiting plate 9. The swing rod 301 is rotatably connected to the fixing pin 11, and the swing rod 301 swings within the annular groove 10. In use, when the swing rod 301 is driven, it reciprocates around the fixing pin 11 under the constraint of the annular groove 10. The end point of the annular groove 10 limits its maximum swing angle.

[0027] like Figure 1 and Figure 2 As shown, a cover plate 12 is snapped onto the top of the housing 1, and the cover plate 12 is located on one side of the liquid storage tank 201. A polarizer 13 is embedded in the side wall of the housing 1. In use, when the reaction liquid or fluorescent agent in the liquid storage tank 201 is exhausted, the user can open the cover plate 12 to replenish the corresponding liquid in the liquid storage tank 201. The natural light emitted by the fluorescent reaction passes through the polarizer 13 and is converted into linearly polarized light with a specific vibration direction for output.

[0028] Working Principle: This invention provides a distress light based on the fluorescence reaction mechanism. During use: Under gravity, reaction solutions A and B, along with the catalyst, flow into the first port of the reaction bottle 204 through the first set of bends 203; simultaneously, red, green, and blue fluorescent agents flow into the second port of the reaction bottle 204 through the second set of bends 203; rotating the connecting rod 5 causes the valve plate 6 to rotate synchronously within the connecting pipe 202. When the plane of the valve plate 6 is parallel to the axis of the connecting pipe 202, the liquid can flow normally. When the line is perpendicular, the flow channel is blocked and the liquid stops flowing. By rotating the rotating rod 5 at different positions, the on / off state and flow rate of reaction solution A, reaction solution B, catalyst, and three fluorescent agents (red, green, and blue) can be controlled respectively, thereby achieving precise control of the luminescence brightness and color. The servo motor 302 is started, and the motor drives the turntable 303 to drive the swing rod 301 to swing back and forth. The swing rod 301 drives the reaction bottle 204 to swing synchronously. The liquid components in the reaction bottle 204 are fully mixed in the continuous shaking, triggering the fluorescence reaction and emitting light.

[0029] In a preferred embodiment of the present invention, the control unit periodically acquires the real-time swing angle and real-time angular velocity of the reaction flask, and calculates the comprehensive deviation signal between the real-time swing parameters and the preset target swing parameters, including: The control unit reads the raw electrical signals from the angle sensor and angular velocity sensor installed at the pivot point of the swing arm at a preset sampling frequency. It performs sliding window filtering on the raw electrical signals to remove high-frequency noise from mechanical vibrations, obtaining the filtered real-time swing angle and real-time angular velocity. This includes: ensuring rigid coaxial mounting of the angle sensor and angular velocity sensor at the pivot point where the swing arm and fixed pin engage, with the detection axis of the angle sensor perfectly aligned with the rotation axis of the swing arm to avoid angle detection errors caused by misalignment; and ensuring the sensitive axis of the angular velocity sensor is perfectly perpendicular to the swing plane of the swing arm to ensure that only the angular velocity signal in the swing direction is collected, shielding against vibration interference from other directions. The sensors and control unit are connected via shielded signal cables with single-end grounding to prevent electromagnetic interference from entering the signal link during device operation. After power-on, the control unit initializes the core microcontroller, signal acquisition interface, and sensor communication link, writes preset range, output resolution, and communication parameters to the sensor, completes sensor self-test, and enters standby sampling mode after confirming no hardware faults and normal communication link.

[0030] When the sampling action is triggered, the control unit sends a synchronous reading command to both the angle sensor and the angular velocity sensor simultaneously. This ensures that both sensors collect swing state data at exactly the same moment, avoiding time misalignment between the angle and angular velocity data. The angle sensor converts the angular position information of the current swing arm relative to the reference zero point into a corresponding electrical signal, and the angular velocity sensor converts the instantaneous angular rate information of the current swing arm into a corresponding electrical signal. The control unit receives the raw electrical signals output by both sets of sensors completely through the signal acquisition interface, completing the reading of the raw data.

[0031] The system checks whether the data exceeds the sensor's preset measurement range. If out-of-range data is detected, it is considered an invalid signal. Next, it checks whether the communication frames returned by the sensor contain verification errors or abnormal fault codes. If communication abnormalities are detected, the signal is also considered invalid. If invalid data is detected during verification, the control unit immediately discards the abnormal data and uses the valid data from the previous sampling period as a temporary replacement value. Simultaneously, it records the fault information in the internal fault log to prevent invalid data from interfering with subsequent filtering and calculation processes. If the verification passes, the raw data enters the subsequent filtering process.

[0032] The control unit internally has two independent, fixed-length buffer queues, used to store raw angle and angular velocity data collected from multiple consecutive sampling cycles, respectively. The length of the buffer queues is the window length of the sliding window, which was set during the equipment debugging phase based on the high-frequency characteristics of mechanical vibration. This effectively filters out high-frequency noise without causing excessive data delay. After each set of valid raw data is read, the control unit writes the new angle raw data to the end of the angle buffer queue and removes the oldest set of data from the queue. The same operation is performed to write the new angular velocity raw data to the angular velocity buffer queue and simultaneously remove the old data, ensuring that the two buffer queues always maintain a fixed number of continuously sampled data, forming a sliding window that continuously slides forward with the sampling process.

[0033] The control unit removes abnormal jump values ​​from all raw angle data within the current sliding window, filters out discrete data that significantly deviate from the overall numerical distribution range, and then performs a stabilization and averaging process on the remaining valid angle data to obtain the filtered real-time swing angle value. Using the same sliding window processing logic, it performs outlier removal and stabilization processing on the raw angular velocity data within the window to obtain the filtered real-time swing angular velocity value. After filtering, the control unit stores the obtained real-time swing angle and real-time angular velocity values ​​in a dedicated internal result register for direct use in subsequent deviation calculations. Simultaneously, it completes all operations for the current sampling cycle, waits for the next timer interrupt to trigger, and repeats the entire process from reading the synchronization signal to outputting the filtering result, achieving continuous and stable acquisition and noise reduction of swing state data.

[0034] The angular deviation component is obtained by subtracting the real-time swing angle from the preset target swing angle, and the angular velocity deviation component is obtained by subtracting the real-time angular velocity from the preset target angular velocity. This includes: pre-writing complete preset target swing parameters in the non-volatile memory chip of the control unit, including the preset target swing angle and preset target angular velocity corresponding to different phases throughout the reciprocating swing stroke; simultaneously writing the mechanical zero-point calibration parameters and direction definition rules of the swing arm, where the center equilibrium position of the swing arm is taken as the angle zero point, swinging to one extreme position is the positive direction, and swinging to the other extreme position is the negative direction, and the direction definition of the angular velocity perfectly matches the swing angle. Each time the device starts running, the control unit first executes the swing reference zero-point calibration process: driving the swing arm to the two ends of the mechanical limit, and then returning to the center equilibrium position, confirming the physical zero-point reference of the swing arm, ensuring that the preset target swing parameters and the real-time acquired swing data are based on the exact same zero-point reference and direction definition, avoiding deviation calculation errors caused by reference misalignment.

[0035] In each sampling cycle, after filtering the real-time swing angle and real-time angular velocity, the control unit identifies the current swing phase and stroke direction of the swing arm based on the current real-time swing angle value and its trend. It determines whether the swing arm is in a forward swing stroke (moving from zero to the limit position) or a reverse swing stroke (swinging back from the limit position to zero), and simultaneously confirms the specific position range of the swing arm within the current stroke. Based on the identified swing phase, stroke direction, and position range, the control unit retrieves the preset target swing angle and preset target angular velocity from the non-volatile memory chip, ensuring that the target parameters and the real-time swing state are at the same stroke node, thus guaranteeing the relevance and accuracy of the deviation calculation.

[0036] The control unit calculates the angle deviation component based on the same reference and phase values: the real-time swing angle value obtained after filtering in the current sampling period is compared with the preset target swing angle value in the corresponding phase. The comparison result is the angle deviation component of the current sampling period. The positive or negative attribute of the deviation component directly represents the direction of deviation of the real-time swing angle relative to the target value, and the magnitude of the value directly represents the magnitude of the position deviation.

[0037] After the angle deviation component is calculated, the control unit immediately verifies the validity of the value: it checks whether the deviation value exceeds the preset maximum reasonable range. If it exceeds the range, it indicates that the swing mechanism has mechanical jamming, abnormal sensor data, or other faults. The corresponding abnormal protection logic is immediately triggered, and the deviation value is locked within the reasonable range. Secondly, the trend of the deviation value is verified and compared with the historical angle deviation data of multiple consecutive sampling periods. It is confirmed that the trend of the change is consistent with the motion logic of the swing mechanism and there are no abnormal jumps. After the verification is passed, the angle deviation component is stored in a dedicated deviation register.

[0038] The calculation of the angular velocity deviation component is performed synchronously with the calculation of the angle deviation component within the same sampling period. The control unit, based on values ​​defined in the same phase and direction, compares the real-time swing angular velocity value obtained after filtering in the current sampling period with the preset target angular velocity value retrieved at the corresponding phase. The comparison result is the angular velocity deviation component for the current sampling period. The positive or negative attribute of this deviation component represents the trend of the real-time swing velocity relative to the target velocity, and the magnitude of the value represents the magnitude of the velocity deviation. After completing the calculation of the angular velocity deviation component, the control unit performs a validity check consistent with the angle deviation component, and additionally performs a synchronization check of the two deviation components. This confirms that the changing trends of the angle deviation component and the angular velocity deviation component conform to the motion law of the swing mechanism, and that there are no individual data anomalies. After passing the check, the angular velocity deviation component and the angle deviation component are synchronously stored in the deviation register, completing the entire deviation component calculation process for this sampling period, awaiting call from the subsequent comprehensive deviation signal generation stage.

[0039] Based on preset state fusion weighting coefficients, the angle deviation component and the angular velocity deviation component are weighted and summed to generate a comprehensive deviation signal. This includes: according to the motion control characteristics of the swing mechanism, the sensitivity requirements of the fluorescence response to the swing parameters, and the control priority under different operating conditions, multiple sets of state fusion weighting coefficients are pre-written into the non-volatile memory chip of the control unit. Each set of coefficients includes the angle weighting coefficient of the corresponding angle deviation component and the angular velocity weighting coefficient of the corresponding angular velocity deviation component. At the same time, each set of coefficients is matched with the corresponding operating condition scenario.

[0040] The angular deviation component reflects the static deviation of the swing position and determines the control accuracy of the swing amplitude; the angular velocity deviation component reflects the dynamic trend of the swing motion and determines the system's response speed to external disturbances. The sum of the two sets of weighting coefficients is a fixed value to ensure that the numerical range of the comprehensive deviation signal after weighted fusion is stable and controllable. Specifically, under stable operating conditions, priority is given to ensuring the control accuracy of the swing position, so a higher weight is allocated to the angular deviation component; under external disturbance conditions, priority is given to ensuring the system's anti-disturbance response speed, so a higher weight is allocated to the angular velocity deviation component; under start-up and vibration conditions, a balance is struck between swing stability and position accuracy, so a balanced weight is allocated to both components.

[0041] The system reads historical data and trends of two sets of deviation components from multiple consecutive sampling periods. Combined with the running time, oscillation frequency, and amplitude stability of the oscillating mechanism, it determines whether the equipment is currently in the startup phase (oscillation initiation), the stable operating phase (uniform oscillation), or an abnormal operating condition due to external disturbances such as bumps, impacts, or sudden changes in fluid resistance. After completing the operating condition identification, the control unit retrieves the angle weighting coefficient and angular velocity weighting coefficient that perfectly match the current operating condition from the storage chip. Simultaneously, it verifies the validity of the two sets of weighting coefficients, confirming that the coefficient values ​​are within a preset reasonable range and that there is no data loss or error. After successful verification, the system proceeds to the subsequent weighted fusion stage.

[0042] The angle deviation component calculated in the current sampling period is matched with the angle weighting coefficient under the corresponding working condition to obtain the weighted value of the angle deviation. Then, the angular velocity deviation component in the same sampling period is matched with the angular velocity weighting coefficient under the corresponding working condition to obtain the weighted value of the angular velocity deviation. The entire calculation process is based on the deviation data and weighting coefficients at the same moment, without time misalignment, ensuring the accuracy of the fusion result.

[0043] After calculating the two weighted values, the control unit sums the angle deviation weighted value and the angular velocity deviation weighted value. The final result is the comprehensive deviation signal for the current sampling period. This comprehensive deviation signal integrates the static deviation information of the swing arm's current position and the dynamic trend information of its motion, enabling it to comprehensively and accurately characterize the degree of comprehensive deviation of the current swing parameters relative to the preset target parameters. It checks whether the signal value is within the preset reasonable range to avoid overshooting in subsequent control loops due to exceeding the limits. Secondly, it compares the trend of the comprehensive deviation signal across multiple consecutive sampling periods to confirm that it conforms to the motion logic of the swing mechanism and that there are no abnormal jumps. Simultaneously, it verifies the correlation between the signal and the original deviation components to confirm that the fusion result accurately reflects the deviation of the swing state.

[0044] The control unit stores the generated comprehensive deviation signal into a dedicated internal control register for direct use in subsequent PID control calculations. Simultaneously, it stores the comprehensive deviation signal, corresponding weighting coefficients, and original deviation component data into a historical data cache, providing data support for subsequent operating condition identification and parameter self-tuning. After completing all operations, the control unit ends the comprehensive deviation signal generation process for the current sampling cycle and waits for the next sampling cycle, repeating the entire process from operating condition identification to comprehensive deviation signal output to achieve continuous and dynamic updates of the oscillation state deviation.

[0045] In a preferred embodiment of the present invention, the comprehensive deviation signal is synchronously input into the proportional calculation path, the integral calculation path, and the derivative calculation path to generate a proportional correction amount proportional to the current deviation, an integral correction amount proportional to the historical cumulative deviation value, and a derivative correction amount proportional to the deviation change rate, respectively; the proportional correction amount, the integral correction amount, and the derivative correction amount are linearly superimposed to generate the motor drive control quantity, including: In the proportional calculation path, the comprehensive deviation signal at the current sampling time is multiplied by a preset proportional gain coefficient to obtain the proportional correction amount, including: Multiple preset proportional gain coefficients are pre-written into the non-volatile memory chip of the control unit, and each coefficient is matched with a corresponding operating condition scenario. Specifically, during the device startup and oscillation phase, a relatively conservative low proportional gain coefficient is configured to avoid overshoot in the oscillation amplitude and mechanical impact, ensuring a smooth and controllable startup process. During the stable operation phase, a standard proportional gain coefficient adapted to normal operating conditions is configured to ensure the control accuracy of the oscillation amplitude and frequency. When encountering disturbances such as external bumps and impacts or sudden changes in the fluid resistance of the reaction liquid, a higher proportional gain coefficient is configured to improve the system's deviation correction speed and quickly offset parameter deviations caused by external disturbances. During device power-on initialization, the control unit first reads the default standard proportional gain coefficient and stores it in the internal dedicated proportional calculation register. Simultaneously, it completes the initialization of the communication interface and data link for the proportional calculation path, and enters standby mode after confirming there are no parameter anomalies or hardware faults.

[0046] Within each fixed sampling period, after the comprehensive deviation signal is generated, validated, and written to the dedicated control register, the proportional calculation path will trigger calculation actions synchronously with the integral and derivative calculation paths. The control unit retrieves the fully validated valid comprehensive deviation signal for the current sampling moment from its dedicated register, and simultaneously retrieves the current operating condition information of the equipment from the operating condition identification module. It confirms the proportional gain coefficient matching the current operating condition, ensuring that the gain parameters used in the calculation are fully adapted to the current equipment operating state and control requirements. After data retrieval, the control unit performs a second validity check on the retrieved comprehensive deviation signal and proportional gain coefficient, confirming that both sets of data are within a preset reasonable range, without data corruption, value exceeding limits, or polarity reversal. After successful verification, the formal calculation phase begins.

[0047] After verification, the control unit, within the current sampling period, uses the synchronously retrieved comprehensive deviation signal as a basis, combined with the proportional gain coefficient matched to the operating conditions, to calculate the proportional correction. The entire calculation process is based entirely on real-time data at the current sampling moment, without introducing any historical deviation data, ensuring that the output magnitude of the proportional correction is completely proportional to the absolute value of the current comprehensive deviation signal. The positive or negative attribute of the comprehensive deviation signal directly determines the output polarity of the proportional correction, thereby achieving an immediate, zero-delay linear response to the current deviation. The specific response logic is as follows: when the comprehensive deviation is positive, the proportional correction outputs a corresponding positive correction value, driving the servo motor to move in the direction of eliminating the positive deviation; when the comprehensive deviation is negative, the proportional correction outputs a corresponding negative correction value, driving the servo motor to move in the direction of eliminating the negative deviation; when the comprehensive deviation is zero, the proportional correction synchronously outputs a zero value, without generating any additional correction action, avoiding abnormal jitter near the zero position.

[0048] The system checks whether the proportional correction value is within the preset reasonable output range to avoid abnormal correction values ​​caused by excessive gain coefficients or deviations exceeding limits, thus preventing drive signal overshoot after subsequent multi-path superposition. Secondly, it compares the output polarity of the proportional correction value with the polarity of the comprehensive deviation signal to confirm a perfect match and no polarity reversal errors. Simultaneously, it combines historical proportional correction value data from multiple consecutive sampling periods to verify whether the current value's trend conforms to the motion logic of the swing mechanism, without any abnormal jumps or abrupt fluctuations. After successful verification, the control unit stores the proportional correction value obtained in this calculation into a dedicated internal PID calculation result register for direct use in subsequent linear superposition stages. Simultaneously, it stores the comprehensive deviation signal, gain coefficient, and correction value results in the historical data buffer, providing data support for subsequent control parameter self-tuning and fault diagnosis, completing all operations of the proportional calculation path for this sampling period.

[0049] In the integral operation path, the comprehensive deviation signal within a continuous sampling period is accumulated and multiplied by the sampling period time and a preset integral gain coefficient. When the absolute value of the accumulated result exceeds the preset integral anti-saturation threshold, the accumulated value is clamped to the integral anti-saturation threshold to obtain the integral correction amount. This includes: pre-writing complete integral operation-related parameters, including the preset integral gain coefficient, the preset integral anti-saturation threshold, and the fixed sampling period time parameter, in the non-volatile memory chip of the control unit, and configuring integral gain adaptation schemes for different operating conditions. Specifically, under stable operating conditions, a standard integral gain coefficient is configured to ensure the long-term control accuracy of the oscillation parameter; under start-up and large disturbance conditions, a lower integral gain coefficient is configured to avoid excessively rapid integral accumulation leading to oscillation overshoot, and the integral accumulation action can even be temporarily limited; after the oscillation parameter has fully converged to the target range, the integral gain coefficient can be appropriately increased to enhance the ability to eliminate static deviations. When the device is powered on and initialized, the control unit completes the full process initialization of the integral calculation path: reads the default integral gain coefficient, integral anti-saturation threshold and sampling period time parameters, and stores them in a dedicated integral calculation register; at the same time, a dedicated integral accumulation value buffer is opened in the internal memory to store the deviation accumulation calculation results within the continuous sampling period. During initialization, the value of this buffer is completely cleared to ensure that there are no historical residual integral accumulation values ​​when the device starts up, and to avoid abnormal correction actions during the startup phase.

[0050] Within each fixed sampling period, the integral calculation path and the proportional calculation path synchronously trigger calculation actions. They retrieve the comprehensive deviation signal, validated for validity at the current sampling moment, from the control unit's dedicated register. Simultaneously, they retrieve the integral gain coefficient matching the current operating condition, the fixed sampling period time parameter, the integral anti-saturation threshold, and the historical integral accumulation results stored in the integral accumulation value buffer after the end of the previous sampling period. After data retrieval, the control unit performs a full-dimensional validity check on all retrieved data: confirming that the comprehensive deviation signal, integral gain coefficient, and sampling period time are all within preset reasonable ranges, and confirming that there are no data overflows, storage errors, or polarity reversals in the historical integral accumulation values. Once the checks pass, the integral accumulation calculation phase begins.

[0051] Based on the comprehensive deviation signal of the current sampling period, combined with a fixed sampling period time parameter, the time accumulation calculation of the deviation amount for the current period is completed. The calculation result is then matched with a preset integral gain coefficient to obtain the new integral increment for the current sampling period. Subsequently, this new integral increment is added to the historical integral accumulation value retained from the previous sampling period to obtain the updated initial integral accumulation value for the current sampling period. The entire calculation process fully covers the comprehensive deviation signal of all valid sampling periods from device startup to the current moment, ensuring that the final integral accumulation value is completely proportional to the total accumulation of historical deviations. This achieves complete elimination of long-term static deviations of the oscillation parameters. Even small steady-state deviations that cannot be eliminated by the proportional element can be gradually corrected to zero through continuous integral accumulation.

[0052] After calculating the initial integral accumulation value, the control unit immediately performs an integral anti-saturation clamping operation to prevent system saturation and runaway caused by excessive integral accumulation. Integral saturation refers to a situation where, even when the drive signal has reached its output limit and the servo motor has reached its maximum output capacity, the deviation is still not eliminated, and the integral continues to accumulate. This results in the system needing a longer time to release the excessive integral accumulation when the deviation reverses, leading to serious overshoot and oscillation problems.

[0053] The complete clamping process is as follows: The absolute value of the initial integral cumulative value obtained from the current calculation is compared with the preset integral anti-saturation threshold to determine whether the cumulative value exceeds the threshold limit. If the absolute value of the initial integral cumulative value is less than or equal to the integral anti-saturation threshold, it means that the cumulative value is within a reasonable and controllable range, and no clamping processing is required. The initial integral cumulative value is directly used as the final effective integral cumulative value. If the absolute value of the initial integral cumulative value exceeds the integral anti-saturation threshold, a clamping operation is immediately performed. Based on the positive or negative attribute of the initial integral cumulative value, the final effective integral cumulative value is locked to the integral anti-saturation threshold with the same polarity as the value. No matter how much the cumulative value exceeds the threshold, it will not exceed the limit range. At the same time, when the system detects that the drive signal has triggered output limiting or the swing mechanism has reached mechanical limit, the control unit will pause the reverse deviation integral accumulation action to further avoid the aggravation of integral saturation. After completing the anti-saturation clamping processing, the final effective integral cumulative value is the integral correction amount for the current sampling period.

[0054] In the differential operation path, the difference between the combined deviation signal at the current sampling time and the previous sampling time is calculated and divided by the sampling period time to obtain the deviation change rate. This deviation change rate is then multiplied by a preset differential gain coefficient and input to a first-order inertial low-pass filter for smoothing, yielding the differential correction amount. This includes: pre-writing complete differential operation-related parameters in the non-volatile memory chip of the control unit, including the preset differential gain coefficient, the filter coefficient of the first-order inertial low-pass filter, and the fixed sampling period time parameter. Different differential gain adaptation schemes for different operating conditions are also configured. Specifically, under stable operating conditions, a standard differential gain coefficient is configured to balance overshoot suppression capability and noise sensitivity; under start-up and large disturbance conditions, a higher differential gain coefficient is configured to enhance the ability to predict changes in oscillation trends and avoid large overshoots in oscillation amplitude and frequency; during the stable uniform oscillation phase, the differential gain coefficient can be appropriately reduced to decrease interference from mechanical vibration and high-frequency noise from the sensor. The default differential gain coefficient, filter coefficient, and sampling period time parameters are read and stored in the differential operation register. At the same time, two dedicated buffers are opened in the internal memory. One is used to store the effective comprehensive deviation signal of the previous sampling period, and the other is used to store the filtered differential operation result of the previous sampling period. During initialization, the values ​​of both buffers are completely cleared to ensure that there is no historical residual data interfering with the operation when the device starts up.

[0055] Within each fixed sampling period, the differential operation path, along with the proportional and integral operation paths, synchronously triggers calculations. It retrieves the validated composite deviation signal for the current sampling moment from the control unit's dedicated register, and simultaneously retrieves the validated composite deviation signal from the previous sampling period from the historical data buffer. It then retrieves the differential gain coefficient, fixed sampling period time parameter, low-pass filter coefficient, and the filtered differential result data retained from the previous sampling period, all matching the current operating condition. After data retrieval, the control unit performs a full-dimensional validity check on all retrieved data: confirming that the composite deviation signals for both the current and previous periods are valid data, with no missing or incorrectly stored data, and confirming that parameters such as the differential gain coefficient and filter coefficient are within preset reasonable ranges.

[0056] The difference between the comprehensive deviation signal in the current sampling period and the comprehensive deviation signal in the previous sampling period is calculated to obtain the deviation change amplitude within two consecutive sampling periods. This deviation change amplitude is then matched with a fixed sampling period time parameter to obtain the instantaneous rate of change of the comprehensive deviation signal at the current sampling moment, which is the deviation change rate. The magnitude of this deviation change rate directly reflects how fast the comprehensive deviation signal changes; a larger value indicates a faster deviation change and more drastic dynamic fluctuations in the oscillation state. The positive or negative attribute of the deviation change rate directly reflects the trend of deviation change; a positive value indicates that the deviation is continuously increasing and the oscillation state is continuously deviating from the target value, while a negative value indicates that the deviation is gradually decreasing and the oscillation state is converging towards the target value, thereby achieving accurate prediction of the future trend of the oscillation state.

[0057] After calculating the deviation change rate, the control unit processes the deviation change rate with the matched differential gain coefficient to obtain the original value of the differential operation. The magnitude of the original value is directly proportional to the deviation change rate, thereby achieving a linear response to the deviation change trend. The faster the deviation changes, the larger the differential correction amount, and the stronger the reverse correction force of the early output, thus effectively suppressing system overshoot.

[0058] However, since differential operations are extremely sensitive to high-frequency noise, mechanical vibrations of the swing mechanism, high-frequency noise collected by sensors, and power supply fluctuations can all cause drastic spikes in the original differential value, severely interfering with normal drive control and even causing high-frequency jitter in the servo motor. Therefore, after completing the calculation of the original differential value, the control unit immediately inputs it into a preset first-order inertial low-pass filter for smoothing. The original differential value obtained in the current sampling period is compared with the differential result after filtering and smoothing in the previous sampling period. This difference is then matched with preset filter coefficients to obtain the incremental value of the current filtering. This incremental value is then superimposed with the filtered differential result of the previous sampling period to obtain the differential correction amount after smoothing in the current sampling period. This filtering process can effectively suppress differential spikes caused by high-frequency noise, completely preserve the effective trend signal of deviation changes, and avoid causing excessive delay to the effective trend signal, thus balancing the trend prediction capability and anti-interference capability of differential operations.

[0059] After completing the filtering and smoothing process, the control unit immediately performs multi-dimensional validity verification on the obtained differential correction: It checks whether the value of the differential correction is within the preset reasonable output range to avoid exceeding the limit; secondly, it compares the changing trend of the differential correction with the actual changing trend of the comprehensive deviation signal to confirm that the two are perfectly matched and there are no abnormalities such as trend reversal; simultaneously, it verifies the differential correction data for multiple consecutive sampling periods to confirm that there are no abnormal spikes or jumps and that the filtering effect meets expectations. After successful verification, the control unit stores the obtained differential correction in the PID calculation result register, in the same storage area as the proportional and integral corrections, for use in subsequent linear superposition stages; simultaneously, it updates the comprehensive deviation signal of the current sampling period into the historical deviation buffer and updates the filtered differential correction into the filtering result buffer, completely overwriting the historical data of the previous period, serving as the basis for the differential calculation of the next sampling period, thus completing all operations of the differential calculation path for this sampling period.

[0060] The proportional, integral, and derivative correction values ​​are algebraically added to generate the initial drive signal. Output amplitude limiting and servo motor dead-zone compensation are applied to this initial drive signal, which is then linearly mapped to a pulse-width modulation duty cycle signal. This signal serves as the drive interface for outputting motor drive control quantities to the servo motor, including: The non-volatile memory chip of the control unit is pre-written with complete parameters related to drive signal generation, including the upper and lower threshold values ​​of the drive signal output amplitude, the dead-zone voltage threshold of the servo motor, the mapping range and linear correspondence of the PWM duty cycle, and output limiting adaptation schemes for different operating conditions. Specifically, during the device startup and vibration phase, a relatively conservative output amplitude threshold is configured to limit the maximum output torque of the motor and avoid mechanical shock during startup. Under stable operation and disturbance conditions, a standard amplitude threshold matching the rated parameters of the motor is configured to ensure the full-range response capability of the motor. When the swing mechanism is detected approaching the mechanical limit, the output amplitude threshold is temporarily reduced to prevent damage caused by the mechanism colliding with the limit component. During device power-on initialization, the control unit completes the entire initialization process for this stage: reading the default output limiting threshold, dead-zone compensation parameters, and PWM mapping parameters, storing them in a dedicated drive control register, and simultaneously completing the hardware initialization of the PWM output interface and communication link configuration. After confirming normal interface communication and the absence of hardware faults, it enters standby mode.

[0061] Within each fixed sampling period, once the correction values ​​for the proportional, integral, and derivative operation paths have been calculated, validated, and written to the PID calculation result register, the control unit immediately triggers the drive signal generation action. The proportional, integral, and derivative correction values ​​for the current sampling period are synchronously retrieved from the register, and algebraically added linearly to obtain the initial drive signal. During the superposition process, the positive or negative attributes of the three correction values ​​directly determine their contribution direction to the initial drive signal. The final initial drive signal simultaneously integrates the instantaneous deviation response capability of the proportional stage, the static deviation elimination capability of the integral stage, and the overshoot suppression capability of the derivative stage, fully representing the total correction control quantity that the system needs to output within the current sampling period. After completing the superposition calculation, the control unit performs a preliminary validity check on the initial drive signal, confirming that the signal value has no operational overflow and that the polarity perfectly matches the correction requirements of the comprehensive deviation signal. After passing the check, it proceeds to the subsequent output amplitude limiting processing stage.

[0062] After generating the initial drive signal, the control unit immediately performs output amplitude limiting to prevent the drive signal from exceeding the rated operating range of the servo motor and servo driver, which could lead to motor overload, mechanical impact, hardware damage, or other malfunctions. The value of the generated initial drive signal is compared with preset upper and lower threshold values ​​for the output amplitude. If the initial drive signal value is between the upper and lower threshold values, the signal is within a safe and reasonable range, and no limiting is required; the initial drive signal is directly used as the limited valid drive signal. If the initial drive signal value exceeds the upper threshold, the valid drive signal is immediately locked to the upper threshold. If the initial drive signal value is below the lower threshold, the valid drive signal is immediately locked to the lower threshold. This limiting process ensures that the final output drive signal always remains within the safe operating range of the servo motor, and regardless of the sum of the three correction values, it will not exceed the motor's rated load capacity, thus guaranteeing equipment operational safety from a hardware perspective.

[0063] After amplitude limiting is completed, the control unit immediately performs servo motor dead-zone compensation on the limited valid drive signal to eliminate control errors caused by the nonlinear dead-zone characteristics of the servo motor. Servo motors have inherent control dead zones. When the absolute value of the input drive signal is less than the dead-zone threshold, the motor will not produce the corresponding output torque, leading to control lag, decreased swing accuracy, and small oscillations near zero in the swing mechanism. The impact of the dead zone is amplified, especially when the swing parameters are close to the target value; therefore, precise correction is required through dead-zone compensation.

[0064] The absolute value of the limited effective drive signal is compared with a preset servo motor dead zone threshold to determine if the signal is within the dead zone range. If the absolute value of the drive signal is greater than or equal to the dead zone threshold, the signal is completely outside the dead zone range, and the motor can respond normally to the drive signal without additional compensation; the original drive signal value is retained. If the absolute value of the drive signal is greater than zero but less than the dead zone threshold, the signal is within the dead zone range, and the motor cannot generate the corresponding output torque. In this case, a dead zone compensation value of the corresponding polarity is superimposed on the original signal based on the polarity of the drive signal, so that the absolute value of the compensated drive signal just exceeds the dead zone threshold, ensuring that the motor can generate the corresponding output torque and completely eliminating the control dead zone. If the value of the drive signal is zero, no compensation operation is performed to avoid abnormal jitter near the zero position. After dead zone compensation is completed, the control unit performs amplitude verification on the compensated drive signal again to ensure that the compensated signal is still within the preset amplitude limiting range. After the verification passes, the PWM duty cycle mapping stage begins.

[0065] After dead-zone compensation, the control unit converts the final effective drive signal into a pulse-width modulation (PWM) duty cycle signal that the servo driver can directly recognize, according to a preset linear mapping relationship. The mapping process strictly follows a one-to-one linear correspondence: the preset lower threshold of the drive signal corresponds to the minimum output value of the PWM duty cycle, the upper threshold corresponds to the maximum output value, the zero-point drive signal corresponds to the median value of the PWM duty cycle, and the positive and negative polarities of the drive signal correspond to the output phase of the PWM signal and the rotation direction of the motor. This achieves a deviation-free linear conversion between the drive signal value and the PWM duty cycle. The control unit outputs this PWM duty cycle signal to the servo driver of the servo motor in real time through a dedicated drive interface. The servo driver adjusts the amplitude of the output current and the commutation timing based on the received duty cycle signal, driving the servo motor to generate the corresponding torque and angular displacement, completing the complete closed-loop control action for this sampling cycle. Simultaneously, the control unit stores the generated initial drive signal, the effective drive signal after amplitude limiting compensation, and the PWM duty cycle signal in a historical data buffer, providing data support for subsequent system status monitoring, control parameter self-tuning, and fault diagnosis, completing all operations in this stage.

[0066] In a preferred embodiment of the present invention, the output speed and rotation phase of the servo motor are dynamically adjusted based on the motor drive control quantity, so that the reciprocating oscillation frequency and amplitude of the oscillating component converge to a preset stable range, thereby maintaining the continuous fluorescence response of the lighting component, including: The control unit outputs the motor drive control signal to the servo driver. The servo driver adjusts the amplitude of the output current and the commutation timing according to the pulse width modulation duty cycle signal to drive the servo motor to generate corresponding torque and angular displacement. This includes: After the control unit completes the mapping and generation of the PWM duty cycle signal, it does not output it directly. First, it performs a final safety check on the drive signal: 1) Checks whether the PWM duty cycle value is within the preset safe output range, without exceeding limits or data corruption; 2) Checks whether the output polarity of the drive signal matches the control requirements of the current oscillation cycle, without logical errors such as polarity reversal; 3) Checks the hardware communication status of the servo drive link, confirming that the interface has no short circuits, open circuits, or communication faults. After all checks pass, the control unit generates a PWM pulse signal that perfectly matches the mapping result through internal high-precision timer hardware, and simultaneously generates a motor direction control signal corresponding to the polarity of the drive signal. The two signals are transmitted to the servo driver through a shielded differential cable. The shield is grounded at one end to prevent electromagnetic interference from complex environments such as the field and underground from entering the signal link, ensuring the transmission accuracy of control commands.

[0067] After receiving the PWM signal and direction control signal, the servo driver's signal interface first uses an opto-isolation module to physically isolate the high-voltage and low-voltage signals, blocking external interference signals from entering the core driver circuit. Then, the signals are shaped and filtered to reconstruct distortion-free PWM pulses and direction commands. The core control chip inside the driver analyzes the reconstructed signals in real time, accurately calculating the duty cycle of the PWM signal. Simultaneously, it identifies the target rotation direction of the motor, converting the digital control commands into analog motor control reference values. Furthermore, it retrieves the servo motor's rated parameters stored within the driver, providing a reference for subsequent current regulation and commutation control.

[0068] After the driver completes the control command parsing, it synchronously starts the internal dual closed-loop control logic. First, it executes the closed-loop adjustment of the current loop: the driver uses a built-in current sampling circuit to collect the real-time current value of the three-phase windings of the servo motor, compares it with the parsed current reference value, and dynamically adjusts the switching conduction time of the power inverter module based on the comparison result, thereby precisely controlling the current amplitude output to the motor windings. The PWM duty cycle is linearly related to the output current amplitude; the larger the duty cycle, the higher the output current amplitude, and the greater the torque the motor can output. When the oscillating mechanism needs to overcome fluid resistance and compensate for mechanical hysteresis, the control unit increases the duty cycle of the drive control quantity, and the driver synchronously increases the output current amplitude, increasing the motor's output torque. When the oscillation is in a stable and uniform speed state, the driver stabilizes the current amplitude at a low power consumption level, reducing the overall energy consumption of the equipment. Simultaneously, the driver has built-in overcurrent, overload, and overheat protection mechanisms. When the output current exceeds the motor's rated threshold, it immediately triggers current limiting protection to prevent motor burnout and ensure the safe operation of the equipment in emergency scenarios.

[0069] When currents of corresponding amplitude and timing are applied to the three-phase windings of the motor, the stator generates a synchronous rotating magnetic field, driving the rotor permanent magnet to rotate synchronously, converting electrical energy into mechanical energy. The output torque and angular displacement are perfectly matched to the control commands. The magnitude of the torque is determined by the output current amplitude, directly determining the motor's ability to overcome load resistance; the magnitude of the angular displacement is determined by the duration of the PWM signal and the motor speed, directly corresponding to the rotation angle of the turntable; the direction of rotation is determined by the direction control signal, corresponding to the swing direction of the swing arm. The motor's output shaft is rigidly connected to the turntable's central shaft via a high-rigidity coupling, eliminating transmission backlash and elastic deformation. The motor's output torque and angular displacement are transmitted to the turntable without delay or deviation, ensuring complete synchronization between the turntable's rotation and the motor's rotation. Simultaneously, the motor's built-in encoder feeds back the rotor's position, speed, and torque signals to the driver and control unit in real time, forming a bottom-level position and speed closed loop. This ensures that the motor's actual output is completely consistent with the control commands, providing accurate feedback data for the upper-level swing parameter closed-loop control.

[0070] The servo motor drives the turntable to rotate synchronously. The circular motion is converted into the reciprocating swing of the swing rod through the sliding engagement of the limit rod in the limit groove. The control unit tracks the zero-crossing phase point and peak position of the swing rod in real time. This includes: when the servo motor drives the turntable to rotate synchronously and coaxially, the limit rod that is eccentrically fixed on the turntable will move synchronously around the central axis of the turntable. The circular motion trajectory of the limit rod is a complete circle with the center of the turntable as the center and the eccentricity of the limit rod as the radius. Because the limiting rod is slidably engaged in the long strip-shaped limiting groove of the swing rod, and the length direction of the limiting groove is consistent with the length direction of the swing rod, when the limiting rod makes a circular motion, it will generate displacement in two directions simultaneously: one is a sliding displacement along the length direction of the limiting groove, in which the limiting rod will slide back and forth in the limiting groove to counteract the displacement component along the length direction of the swing rod in the circular motion; the other is a driving displacement perpendicular to the length direction of the limiting groove, which will apply a driving force perpendicular to the rod body to the swing rod, causing the swing rod to make a reciprocating fan-shaped swing around its rotation fulcrum that is engaged with the fixed pin.

[0071] During the equipment initialization phase, the center equilibrium position of the swing arm is set as the zero angle point. This position is the center of the swing arm's reciprocating swing and also the critical position for switching the swing direction, corresponding to the reference point of the zero-crossing phase point. The control unit continuously analyzes the filtered real-time swing angle and angular velocity data to identify and track the zero-crossing phase point in real time. When the swing arm swings from the positive limit position to the negative limit position, the swing angle value will continuously decrease from a positive value. The control unit will continuously monitor the polarity change of the angle value. When the angle value continuously decreases from a positive value to zero and is about to switch to a negative value, while the angular velocity value maintains a stable negative trend without jumps or pauses, the control unit will immediately determine that the moment is the negative zero-crossing phase point and synchronously lock the timestamp, real-time angular velocity data and motor rotor position data at that moment.

[0072] As the swing arm swings from its negative limit position to its positive limit position, the swing angle value continuously increases from a negative value. When the angle value rises from negative to zero and is about to switch to a positive value, while the angular velocity value maintains a stable positive trend, the control unit immediately determines this moment as a positive zero-crossing phase point and synchronously latches the corresponding timestamp and status data. Each time a zero-crossing phase point is identified, the control unit immediately calculates the time interval between two consecutive zero-crossing phase points in the same direction to obtain the actual swing period of the swing arm, then calculates the current actual swing frequency. Simultaneously, it compares the actual phase at the zero-crossing moment with the preset target phase to calculate the phase deviation, providing core data for subsequent closed-loop control. The peak position refers to the positive and negative limit positions during the reciprocating swing of the swing arm. The absolute values ​​of the two peak positions directly determine the actual amplitude of the swing and are also core parameters affecting the fluorescence reaction mixing effect. The control unit combines real-time swing angle and angular velocity linkage data to accurately identify and track the peak positions.

[0073] When the swing arm swings towards the positive limit, the angular velocity value will continuously decrease from the positive maximum value. The control unit will continuously monitor the trend of angular velocity change. When the angular velocity value continuously decreases from a positive value to zero and is about to switch to a negative value, the swing speed of the swing arm drops to zero, and the swing direction is about to change. At this time, the swing angle reaches the positive maximum value. The control unit will immediately determine this position as the positive peak position and lock the peak angle value, timestamp, and motor status data at this moment. When the swing arm swings towards the negative limit, the angular velocity value will continuously increase from the negative maximum value. When the angular velocity value continuously increases from a negative value to zero and is about to switch to a positive value, the swing speed of the swing arm drops to zero. At this time, the swing angle reaches the negative maximum value. The control unit will immediately determine this position as the negative peak position and synchronously lock the corresponding peak angle value and status data.

[0074] Each time a set of positive and negative peak positions is identified, the control unit will immediately calculate the actual amplitude of the current swing, which is the average of the absolute values ​​of the positive peak and the negative peak. At the same time, it will compare the peak position with the preset mechanical limit position. When the peak position is close to the mechanical limit threshold, the overtravel protection logic will be triggered immediately to prevent the swing arm from hitting the limit component and causing mechanical damage.

[0075] The control unit will update the core parameters of the oscillation after each complete reciprocating oscillation, based on the tracked zero-crossing phase point and peak position. These parameters include the actual oscillation frequency, actual amplitude, oscillation phase difference, and oscillation period uniformity.

[0076] When the actual oscillation frequency deviates from the preset stable range or the amplitude shows a decay or overshoot trend, the control unit dynamically corrects the output polarity switching threshold of the motor drive control quantity based on the current phase difference and deviation change rate, compensating for mechanical transmission lag and reaction liquid flow resistance disturbances. This includes: during the equipment initialization phase, the control unit has pre-written the preset stable range of the oscillation frequency, the normal fluctuation range of the amplitude, and the judgment rules for abnormal states into the non-volatile memory chip, which are adapted to the optimal mixing requirements of the fluorescence reaction. Throughout the operation of the oscillation mechanism, the control unit updates the actual oscillation frequency and actual amplitude in real time based on each tracked zero-crossing phase point and peak position, continuously performing abnormal state monitoring and judgment. The specific judgment logic is as follows: When the actual oscillation frequency exceeds the upper or lower limit of the preset stable range for three or more consecutive complete oscillation cycles and shows no tendency to converge on its own, the control unit immediately determines that the frequency deviation is abnormal and records the direction and amplitude of the frequency deviation. When the absolute value of the peak position of multiple consecutive oscillation cycles continues to decrease, the actual amplitude is lower than the lower limit of the preset normal range and shows a continuous decay trend, while the motor output current continues to rise, the control unit immediately determines that the amplitude decay is abnormal and records the decay rate and amplitude simultaneously. When the absolute value of the peak position of multiple consecutive oscillation cycles continues to rise, the actual amplitude exceeds the upper limit of the preset normal range, approaches the mechanical limit threshold, and shows a continuous overshoot trend, the control unit immediately determines that the amplitude overshoot is abnormal and records the overshoot rate and amplitude simultaneously. After completing the abnormal state determination, the control unit will combine the current phase difference, deviation change rate, and motor current data to synchronously locate the cause of the abnormality: if the zero-crossing phase point lags behind the target phase and the peak position does not reach the target value, it is determined to be an abnormality caused by mechanical transmission lag or increased flow resistance of the reaction liquid; if the zero-crossing phase point leads the target phase and the peak position exceeds the target value, it is determined to be an abnormality caused by external shock disturbance or control quantity overshoot.

[0077] After locating the cause of the anomaly, the control unit will perform a quantitative analysis of the characteristics of mechanical transmission hysteresis and reaction liquid flow resistance disturbance to determine the magnitude and direction of compensation: Mechanical transmission hysteresis refers to the time delay and phase lag between the output action of the servo motor and the actual swing motion of the swing arm caused by factors such as bearing friction, component clearance, and structural elastic deformation in the transmission chain. The control unit calculates the current mechanical hysteresis time and phase lag angle by comparing the time when the motor commutation command is issued with the time when the swing arm actually reaches its zero-crossing phase point and peak position. The longer the hysteresis time and the larger the phase lag angle, the more severe the mechanical transmission hysteresis, and the greater the compensation required. At the same time, the control unit also predicts the trend of hysteresis changes by combining the equipment's operating time, ambient temperature, and historical wear data.

[0078] The flow resistance disturbance of the reaction liquid refers to the reverse resistance caused by the inertia of the reagent flow and the change of fluid viscosity in the storage tank and reaction flask during the swing process. This resistance will change dynamically with the reaction process: during the reaction, the substrate concentration decreases and the reaction products accumulate, which will cause the viscosity of the reaction liquid to change and the fluid resistance to increase; the user adjusts the valve plate opening to change the reagent flow rate, which will also cause a sudden change in fluid resistance; when the swing direction is switched, the inertial impact of the liquid will bring instantaneous reverse resistance.

[0079] The output polarity switching threshold is a phase triggering reference preset by the control unit to trigger the servo motor's rotation direction switching. Under normal operating conditions, when the swing arm reaches the preset target peak position, the control unit switches the output polarity of the motor drive control quantity, causing the motor to switch its rotation direction and thus driving the swing arm to switch its swing direction. When there is mechanical hysteresis and fluid resistance disturbance, the actual movement of the swing arm will lag behind the motor's output movement. If the original switching threshold is used, the actual peak position of the swing arm will not reach the target value, the amplitude will attenuate, and the frequency will deviate. Therefore, it is necessary to dynamically correct the switching threshold to compensate for the phase hysteresis caused by disturbance.

[0080] The fluorescent reaction solution in the storage tank is periodically injected into the reaction bottle through the connecting tube and the bend tube by reciprocating oscillation. This stabilizes the mixing frequency of the reaction solution and the reagent in the bottle at a preset chemical reaction excitation threshold, maintaining the continuous luminescence of the fluorescence reaction. This includes: when the oscillating rod drives the reaction bottle to reciprocate in a fan-shaped oscillation, the reaction bottle will swing back and forth between two extreme positions in the positive and negative directions. With each oscillation, the spatial height and tilt angle of the reaction bottle will change periodically. At the same time, the flexible bend tube connecting the storage tank and the reaction bottle will be periodically stretched and compressed with the oscillation of the reaction bottle. The flow channel volume inside the bend tube will periodically expand and contract, forming a pumping effect similar to a peristaltic pump. When the reaction flask swings to its extreme position on one side, the bend on the corresponding side is stretched, the flow channel volume expands, and a negative pressure is formed inside. This continuously draws the reagent from the corresponding storage tank into the reaction flask through the connecting tube and the bend. When the reaction flask swings to its extreme position on the other side, the bend is compressed, the flow channel volume contracts, and the reagent in the tube is completely pushed into the reaction flask. At the same time, the swinging of the reaction flask will cause the liquid inside the flask to shake strongly, further promoting the mixing of the newly injected reagent with the original reaction solution in the flask.

[0081] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A distress light based on the fluorescence reaction mechanism, characterized in that: include: The shell contains an illumination component that generates light based on a fluorescence reaction mechanism. A swinging component is located on one side of the illumination component to drive it to oscillate back and forth to maintain the luminescence reaction. The illumination component includes six sets of liquid storage tanks bolted to the inner wall of the shell, each set having a connecting pipe fixedly connected to its bottom. Two sets of bent pipes are symmetrically arranged and fixedly installed at the bottom of each connecting pipe, with a reaction bottle fixedly installed at the other end of each bent pipe. The swinging component includes a swinging rod fixedly connected to the top of the reaction bottle. A servo motor is fixedly installed on the inner wall of the shell, with a turntable mounted on the output end of the servo motor. A limit rod is fixedly installed on the turntable, and a limit groove is formed on the swinging rod, into which the limit rod engages. The servo motor is electrically connected to a control unit. The control unit periodically acquires the real-time swing angle and real-time angular velocity of the reaction bottle, and calculates the comprehensive deviation signal between the real-time swing parameters and the preset target swing parameters. The comprehensive deviation signal is synchronously input into the proportional calculation path, integral calculation path, and derivative calculation path to generate a proportional correction amount proportional to the current deviation, an integral correction amount proportional to the historical cumulative deviation value, and a derivative correction amount proportional to the deviation change rate, respectively. The proportional correction amount, integral correction amount, and derivative correction amount are linearly superimposed to generate the motor drive control amount. Based on the motor drive control amount, the output speed and rotation phase of the servo motor are dynamically adjusted so that the reciprocating swing frequency and amplitude of the swing component converge to the preset stable range, thereby maintaining the continuous fluorescence response of the lighting component.

2. The distress light based on the fluorescence reaction mechanism according to claim 1, characterized in that, The outer wall of the housing is bolted with six sets of mounting rings, each set corresponding to a liquid storage tank. Each set of mounting rings is rotatably connected to a rotating rod, which penetrates the side wall of the housing and extends into the interior of the corresponding connecting pipe. A valve plate is fixedly installed at the end of the rotating rod, and the valve plate is located in the internal flow channel of the connecting pipe.

3. The distress light based on the fluorescence reaction mechanism according to claim 2, characterized in that, The top of the reaction flask is symmetrically fitted with a sealing plug, and the end of the bent tube passes through the sealing plug and is connected to the inside of the reaction flask. The bent tube leaves a gap between the connecting tube and the reaction flask.

4. The distress light based on the fluorescence reaction mechanism according to claim 3, characterized in that, A fixing hoop is bolted to the inner wall of the housing. The fixing hoop is sleeved on the outside of the connecting pipe and is located on one side of the rotating rod.

5. The distress light based on the fluorescence response mechanism according to claim 4, characterized in that, A limiting plate is bolted to the inner wall of the housing. An annular groove is provided on the limiting plate. A fixing pin is fixedly connected to the top of the limiting plate. The swing rod is rotatably connected to the fixing pin and swings within the annular groove.

6. The distress light based on the fluorescence response mechanism according to claim 5, characterized in that, A cover plate is snapped onto the top of the housing, the cover plate is located on one side of the liquid storage tank, and a polarizing film is embedded in the side wall of the housing.

7. The distress light based on the fluorescence reaction mechanism according to claim 6, characterized in that, The control unit periodically acquires the real-time swing angle and real-time angular velocity of the reaction flask, and calculates the comprehensive deviation signal between the real-time swing parameters and the preset target swing parameters, including: The control unit reads the original electrical signals from the angle sensor and angular velocity sensor installed at the pivot point of the swing arm at a preset sampling frequency, performs sliding window filtering on the original electrical signals to remove high-frequency noise from mechanical vibration, and obtains the filtered real-time swing angle and real-time angular velocity. The angle deviation component is obtained by subtracting the real-time swing angle from the preset target swing angle, and the angular velocity deviation component is obtained by subtracting the real-time angular velocity from the preset target angular velocity. The angle deviation component and the angular velocity deviation component are weighted and summed based on the preset state fusion weight coefficient to generate a comprehensive deviation signal.

8. The distress light based on the fluorescence reaction mechanism according to claim 7, characterized in that, The comprehensive deviation signal is synchronously input into the proportional, integral, and derivative operation paths to generate a proportional correction proportional to the current deviation, an integral correction proportional to the historical cumulative deviation, and a derivative correction proportional to the rate of change of deviation, respectively. The proportional, integral, and derivative corrections are then linearly superimposed to generate the motor drive control quantity, including: In the proportional calculation path, the comprehensive deviation signal at the current sampling time is multiplied by the preset proportional gain coefficient to obtain the proportional correction amount; In the integral operation path, the comprehensive deviation signal within the continuous sampling period is accumulated and multiplied by the sampling period time and the preset integral gain coefficient. When the absolute value of the accumulated result exceeds the preset integral anti-saturation threshold, the accumulated value is clamped to the integral anti-saturation threshold to obtain the integral correction amount. In the differential operation path, the difference between the combined deviation signal at the current sampling time and the previous sampling time is calculated and divided by the sampling period time to obtain the deviation change rate. After multiplying the deviation change rate by the preset differential gain coefficient, it is input into a first-order inertial low-pass filter for smoothing to obtain the differential correction amount. The proportional correction, integral correction, and derivative correction are algebraically added to generate the initial drive signal. The output amplitude is limited and the dead zone of the servo motor is compensated for on the initial drive signal. It is then linearly mapped into a pulse width modulation duty cycle signal, which is used as the drive interface for outputting the motor drive control quantity to the servo motor.

9. The distress light based on the fluorescence reaction mechanism according to claim 8, characterized in that, The output speed and rotation phase of the servo motor are dynamically adjusted based on the motor drive control quantity, so that the reciprocating oscillation frequency and amplitude of the oscillating component converge to a preset stable range, thereby maintaining the continuous fluorescence response of the lighting component, including: The control unit outputs the motor drive control quantity to the servo driver. The servo driver adjusts the amplitude of the output current and the commutation timing according to the pulse width modulation duty cycle signal, thereby driving the servo motor to generate corresponding torque and angular displacement. The servo motor drives the turntable to rotate synchronously. The circular motion is converted into the reciprocating swing of the swing arm through the sliding engagement of the limit rod in the limit groove. The control unit tracks the zero-crossing phase point and peak position of the swing arm in real time. When the actual oscillation frequency deviates from the preset stable range or the amplitude shows a decay or overshoot trend, the control unit dynamically corrects the output polarity switching threshold of the motor drive control quantity based on the current phase difference and deviation change rate to compensate for mechanical transmission lag and reaction liquid flow resistance disturbance. The fluorescent reaction solution in the storage tank is periodically injected into the reaction bottle through the connecting tube and the curved tube by reciprocating oscillation, so that the mixing frequency of the reaction solution and the reagent in the bottle is stabilized at the preset chemical reaction excitation threshold, thus maintaining the continuous luminescence of the fluorescence reaction.

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