A multi-motor sorting matrix drive system and control method

Abstract

The application patent relates to the field of matrix driving system and discloses a multi-motor sorting matrix driving system and a control method, a communication control board and a driving sub-card plugged thereon. The driving sub-card is internally provided with a first controller, a second controller and a driving unit. The first controller is connected with global and in-board communication branches as a communication node, and the second controller is only connected with the in-board branch. The communication control board issues a control instruction containing a multi-level address identifier. After the target is matched by the first controller, the local execution or the in-board forwarding to the target second controller is selected to independently drive the roller. The application adopts a master-slave hierarchical architecture and a passive bus, combines a card-level protection device and a pure hardware overcurrent detection to construct a multi-level fault isolation mechanism, reduces the hardware cost, realizes single-precision control, avoids single-point failure to cause the whole line to be paralyzed, and significantly improves the fault tolerance and stability of the system.

Description

Technical Field

[0001] This invention relates to the field of matrix drive systems, particularly to logistics drive systems, and especially to a multi-motor sorting matrix drive system and control method. Background Technology

[0002] In existing logistics sorting drive systems, the backplane and power supply board are often designed separately, relying on numerous ribbon cables and adapters for interconnection. This structure is cumbersome to assemble, and long-term vibration can easily lead to poor power supply contact. Simultaneously, the system uses multiple independent DC-DC power supplies, resulting in high overall hardware costs. The system typically has only a single main fuse; a short circuit in any single roller will cause a power outage, leading to a complete halt of the sorting line, lacking a local isolation mechanism. Communication architectures often rely on active transceiver chips such as RS485 or CAN, resulting in high batch BOM costs, and their serial cascaded structure is highly susceptible to failure of a single card, causing all subsequent daughter cards to lose connection. Furthermore, traditional drive boards often use a single MCU to centrally drive multiple rollers, allowing only batch start-stop and unable to independently and accurately control any single roller. If this MCU fails, the entire roller system will be paralyzed, resulting in extremely poor system fault tolerance. Moreover, existing overcurrent detection relies heavily on operational amplifier voltage division and MCU software ADC sampling, leading to severely delayed system protection response and making the motor power transistors highly susceptible to burnout during short-circuit surges. Summary of the Invention

[0003] In order to overcome the above-mentioned defects of the prior art, the purpose of this invention is to provide a multi-motor sorting matrix drive system and control method to achieve hierarchical protection of the system and reduce system costs.

[0004] To achieve the above objectives, the technical solution adopted by this invention patent is as follows: A multi-motor sorting matrix drive system includes: An integrated bus backplane, wherein the integrated bus backplane is equipped with a global communication bus; At least one driver daughter card, which is inserted into a slot in the integrated bus backplane and connected to the global communication bus; The driver sub-card includes a first controller and at least one second controller. The first controller and the second controller are respectively driven by at least one roller drive unit. The first controller is connected to both the global communication bus and the on-board communication branch. The second controller is connected to the on-board communication branch. The first controller constitutes the communication node of the driver sub-card between the global communication domain and the on-board communication domain. A communication control board is inserted into a slot in the integrated bus backplane and connected to the global communication bus. The communication control board sends control commands through the global communication bus, including at least the target drive sub-card, the first controller and / or the second controller, the address identifier of the roller drive unit, and action information. The first controller receives the control command to perform target sub-card matching. After sub-card matching, the first controller selects whether to execute the command locally or send it to the target second controller via the onboard communication branch. The selected controller executes the roller drive action according to the address identifier of the target roller drive unit.

[0005] In a preferred embodiment of this invention, the second controller is connected to the first controller via a separate onboard communication branch, thereby enabling the second controller to have an independent fault isolation node.

[0006] In a preferred embodiment of this invention, the communication control board is connected to the global communication bus via a global UART communication interface, and the onboard communication branch between the first controller and the second controller is configured with an onboard UART communication interface. The global UART communication interface and the onboard UART communication interface are branch communication interfaces without dedicated active bus transceivers.

[0007] In a preferred embodiment of this invention, the global communication bus includes a first global communication bus for downlink communication and a second global communication bus for uplink communication. The on-board communication branch includes a first on-board communication branch for downlink communication and a second on-board communication branch for uplink communication. The first global communication bus and the second global communication bus are configured with unidirectional conduction elements through the global UART communication interface. The first on-board communication branch and the second on-board communication branch are also configured with unidirectional conduction elements through the on-board UART communication interface.

[0008] In a preferred embodiment of this invention, the first controller and the second controller store the status information of the corresponding drive unit. The first controller obtains the lower-level status information stored in the second controller through a polling mechanism. The first controller aggregates its own status information and the lower-level status information into card-level status data. The communication control board obtains the card-level status data stored in the first controller through a polling mechanism.

[0009] In a preferred embodiment of this invention, the first controller and / or the second controller drive the roller motor through the drive unit. An overcurrent detection circuit is also independently configured in the drive current path of the roller motor. The overcurrent detection circuit obtains the fault current signal using a sampling element and then outputs a fault signal to the first controller and / or the second controller through a switching element. After receiving the fault signal, the first controller and / or the second controller stop outputting the drive signal to the roller motor.

[0010] In a preferred embodiment of the present invention, the integrated bus backplane is configured with a single global power supply line, and the drive daughter card and the communication control board are connected in parallel to the global power supply line; The driver sub-card is also equipped with a card-level protection component, which is connected in series between the power input terminal of the driver sub-card and the power supply line inside the card, so that each independent driver sub-card has a power supply isolation function.

[0011] Control methods include: S1. The communication control board acquires the address identification information of the driver sub-card, the first controller, the second controller, and the driver unit, and establishes a hierarchical mapping relationship between the driver sub-card, the first controller, the second controller, and the driver unit; S2. The communication control board receives sorting task instructions issued by the upper control device and forms address-based control information, wherein the address-based control information includes at least the target sub-card identifier, the target controller identifier, and the target roller identifier; S3. The address-based control information is sent by the communication control board to each of the driver daughter cards through the global communication bus of the integrated bus backplane; S4. The first controller of each of the driver sub-cards receives the address-based control information and compares it with the target sub-card identifier; S5. The first controller of the target driver sub-card compares the target sub-card identifier with its own hierarchical mapping relationship; S6. When the target controller is identified as the first controller itself, the first controller generates a drive control signal based on the target roller identifier; S7. When the target controller is identified as the second controller, the first controller forwards the address-based control information through the onboard communication branch, and the second controller generates a drive control signal based on the target roller identifier.

[0012] In a preferred embodiment of this invention, the first controller reads the address identification information formed by the address identification terminal of the drive sub-card located in the corresponding slot of the integrated bus backplane, the second controller reads the address identification information formed by its own address identification terminal, and the first controller establishes a hierarchical mapping relationship between the first controller, the second controller and the drive unit by querying the second controller.

[0013] In a preferred embodiment of this invention, when the address control information does not match the target sub-card identifier, the first controller of the driver sub-card discards the address control information.

[0014] In a preferred embodiment of this invention, the global communication bus includes a first global communication bus for downlink transmission and a second global communication bus for uplink transmission, the on-board communication branch includes a first on-board communication branch for downlink transmission and a second on-board communication branch for uplink transmission, and the communication control board sends the address-based control information to each of the driver daughter cards through the first global communication bus; When the address-based control information includes the identifier of the second controller, the first controller forwards it to the second controller through the communication branch within the first board.

[0015] In a preferred embodiment of this invention, the first controller and / or the second controller collect the operating information corresponding to the drive unit and associate / store the information with the corresponding target unit identifier; The first controller generates card-level status data by polling the second controller; The communication control board generates system status data by globally polling the driver sub-card.

[0016] In a preferred embodiment of this invention, when the roller motor corresponding to the drive unit fails, the overcurrent detection circuit outputs a fault signal to the first controller and / or the second controller. After receiving the fault signal, the first controller and / or the second controller immediately cuts off the drive signal of the drive unit and updates its own operating status information. When the polling occurs, it reports through the second board communication branch or the second global communication bus. When the second controller fails and goes offline, the first controller records the status information of the second controller into the card-level status data, and reports it through the second global communication bus during the global polling.

[0017] In a preferred embodiment of this invention, when the first controller or the driver sub-card fails and goes offline, the communication control board directly records the system status data during polling and feeds it back to the upper control device.

[0018] The beneficial effects of this invention patent are as follows: This invention patent provides a multi-motor sorting matrix drive system and control method. It employs an integrated backplane and single-channel power supply, significantly reducing hardware costs. Utilizing a master-slave hierarchical architecture and passive bus, it eliminates the need for active chips and achieves precise control of a single unit. Combined with card-level fuses and pure hardware overcurrent detection, it constructs a multi-level fault isolation mechanism. This limits local anomalies, prevents single-point failures from causing complete line paralysis, and improves the system's fault tolerance and stability. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0020] Figure 1 This is a system block diagram of the present invention.

[0021] Figure 2 This is a system block diagram of the driver daughter card of this invention.

[0022] Figure 3 This is a system block diagram of the underlying roller actuator of this invention patent.

[0023] Figure 4 This is a flowchart of the present invention patent.

[0024] Figure 5a This is a timing diagram of the initialization phase of this invention patent.

[0025] Figure 5b This is a timing diagram of the task execution phase of this invention patent.

[0026] Figure 6a This is the timing diagram for reporting faults in the drum motor, which is a patent of this invention.

[0027] Figure 6b This is the timing diagram for fault reporting of the second controller of the drum in this invention patent.

[0028] Figure 6c This is the timing diagram for reporting the offline fault of the first controller / driver sub-card in this invention patent. Detailed Implementation

[0029] Unless otherwise specified, the singular forms “a,” “the,” and “the” used in this specification include their plural forms. The terms “comprising,” “including,” and “containing” used in this specification indicate the presence of the claimed feature but do not exclude the presence of one or more other features. The term “and / or” used in this specification includes any and all combinations of one or more of the relevant listed items.

[0030] It is understood that although terms such as “device,” “module,” “unit,” etc., may be used herein to describe different elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another, without departing from the teachings of this application.

[0031] Exemplary embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that this application can be presented in many different ways and is not limited to the embodiments described below. It should also be understood that the embodiments disclosed herein can be combined in various ways to provide further additional embodiments. Throughout the drawings, the same reference numerals denote the same or functionally identical elements.

[0032] Figure 1 The overall architecture of a multi-motor sorting matrix drive system is demonstrated, mainly including an integrated bus backplane 300, drive daughter cards 400, a communication control board 200, and a host control device 100. The drive daughter cards 400 and the communication control board 200 are inserted into the integrated bus backplane 300. The host control device 100 is communicatively connected to the communication control board 200, and the communication control board 200 is communicatively connected to the drive daughter cards 400 via the communication bus 310 of the integrated bus backplane 300. The integrated bus backplane 300 provides unified power to the drive daughter cards 400 and the communication control board 200 through a global power supply unit 320.

[0033] The integrated bus backplane 300 is equipped with multiple slots. The driver daughter card 400 and the communication control board 200 are inserted into the integrated bus backplane 300 through these slots, and are connected to the communication bus 310 of the integrated bus backplane 300 and the power supply line connecting the global power supply unit 320, respectively. The integrated bus backplane 300 serves as the carrier of the global communication bus 310, which extends to the slot structures of the integrated bus backplane 300 for inserting the driver daughter card 400 and the communication control board 200, enabling data transmission between the communication control board 200 and the driver daughter card 400 through the integrated bus backplane 300. The integrated bus backplane 300 is equipped with a power supply unit 320, which is connected to the slots for inserting the driver daughter card 400 and the communication control board 200 via a global power supply line, implementing single-channel, cableless parallel power supply.

[0034] The communication control board 200 is equipped with a host communication interface connected to the host control device 100 and a global UART communication interface 220 connected to the integrated bus backplane 300. The host communication interface is used by the host control device 100 to issue execution commands or by the communication control board 200 to transmit status information of various system components. The global UART communication interface 220 is used to send global control data generated by the communication control board 200 to the driver daughter card 400 and to receive status data fed back by the driver daughter card 400. Furthermore, the communication control board 200 also includes a communication controller 210, which serves as the processing center of the communication control board 200, processing command data and determining the data transmission direction. The global UART communication interface 220 is located between the communication controller 210 and the global communication bus 310. The global communication bus 310 includes a first global communication bus S1 for downlink communication and a second global communication bus S2 for uplink communication. It should be noted that this UART communication interface is a split-direction communication interface without a dedicated active bus transceiver.

[0035] Reference Figures 2 to 3 The drive sub-card 400 includes a first controller 430, a second controller 450, a card-level protection component 420, and an underlying drive unit 463. The first controller 430 and the second controller 450 are used to drive and control the drive unit 463 to realize the start / turn / stop operation of the logistics rolling.

[0036] The power input terminal of the driver sub-card 400 is connected to the global power supply line through a slot. The card-level protection component 420 is connected in series between the power input terminal and the power supply line inside the card. The power supply line inside the card is used to supply power to the first controller 430, the second controller 450 and the driver unit 463.

[0037] The first controller 430 is connected to both the global communication bus 310 and the on-board communication branch, while the second controller 450 is connected only to the on-board communication branch and not directly to the global communication bus. The first controller 430 forms the communication node between the global communication bus 310 and the on-board communication branch, while the second controller 450 is the execution node on the on-board communication branch. Therefore, the first controller 430 receives instruction data from the global communication bus 310 and determines whether to execute it locally or forward it to the second controller 450 via the on-board communication branch based on the address identifier. Furthermore, the first controller 430 communicates with the two second controllers 450 through independent first and second on-board communication branches; each on-board communication branch is implemented through the on-board UART communication interface 410, using two-wire, half-duplex, unidirectional isolated UART communication. The second controller 450 is not directly connected to the global communication bus 310.

[0038] Furthermore, since the second controller 450 is not directly connected to the global communication bus 310, and each driver daughter card 400 forwards global communication data and on-board communication data through the first controller 430, when a single second controller 450 or its corresponding on-board communication branch malfunctions, the malfunction will not directly create a parallel fault node on the global communication bus 310, thereby reducing the possible path of malfunctions on the second controller 450 side directly affecting the global communication path.

[0039] Each first controller 430 and / or second controller 450 is configured with two independent roller drive branches; each roller drive branch includes a drive unit 463, a roller motor 462, and an overcurrent detection circuit 464. The sampling resistor of the overcurrent detection circuit 464 is set in the drive circuit of the corresponding roller motor 462. The switching device outputs a fault signal to the corresponding controller via a fault output terminal based on the sampled voltage. After receiving the fault signal, the controller controls the corresponding drive unit 463 to stop driving the corresponding roller motor 462. The overcurrent detection circuit 464 includes a sampling element, a switching element, and a fault output terminal. The sampling element is set in the drive current path of the roller motor, the control terminal of the switching element is connected to the sampling node corresponding to the sampling element, and the fault output terminal is connected to the fault input terminal of the corresponding first controller 430 or second controller 450. The overcurrent detection circuit 464 mainly consists of a sampling resistor, a switching device, and a fault output terminal. The sampling resistor is set in the drive circuit of the roller motor 462 to convert the current flowing through the roller motor 462 into a sampled voltage. The input terminal of the switching device is connected to the sampling terminal of the sampling resistor, and the output terminal of the switching device is the aforementioned fault output terminal, which is connected to the first controller 430 and / or the second controller 450. When the sampled voltage value reaches the conduction threshold of the switching device, the switching device outputs a fault signal to the first controller 430 and / or the second controller 450 through the fault output terminal. The first controller 430 and / or the second controller 450 instruct the corresponding drive unit 463 to stop and / or send the fault signal upward.

[0040] In this embodiment, both the global UART communication interface 220 and / or the on-board communication interface are equipped with current-limiting elements and unidirectional conduction elements. The transmitting end TX of the communication controller 210 implements downlink transmission in the first communication line S1 direction with the global communication bus 310 through the current-limiting elements and unidirectional conduction elements. The receiving end RX of the communication controller 210 implements uplink reception in the second communication line S2 direction with the global communication bus 310 through the current-limiting elements and unidirectional conduction elements. In traditional multi-node buses, if the transmitting pins of multiple microcontrollers are directly connected together, high and low level conflicts are very likely to occur, leading to short circuits and burnout. Therefore, it is necessary to rely on the direction control pins of active chips to switch the transmit and receive states back and forth. Therefore, this solution uses the reverse cutoff characteristic of the unidirectional conduction element to electrically limit the current transmission between the pins of the communication controller 210 and the global communication bus 310 and / or the first controller 430 and the second controller 450 and the bus, so that the large short-circuit current and abnormal low level generated on one side cannot propagate back to pull down the bus level, thus achieving the effect of limiting the fault range.

[0041] In this embodiment, the current limiting element can be a resistor, the unidirectional conducting element can be a diode, and a filter element consisting of capacitors is included to deal with transient interference on the line.

[0042] In this embodiment, each drive daughter card 400 is equipped with a card-level protection component 420. Since this system uses a single-path global power supply line without cabling, the card-level protection component 420 in each drive daughter card 400 provides isolation and protection functions for this single-path power supply structure. If a single roller motor 462 experiences a continuous short-circuit hard overcurrent, the large current triggers the card-level protection component 420 of that drive daughter card 400 to blow, achieving electrical disconnection. When the current flowing through the card-level protection component 420 reaches its operating condition, the card-level protection component 420 disconnects the power supply connection between the corresponding drive daughter card 400 and the global power supply line; other drive daughter cards 400 remain connected to the global power supply line through their respective power supply branches.

[0043] In this embodiment, the card-level protection component 420 is a fusible fuse unit.

[0044] In this embodiment, the sampling resistor is a small-value resistor, and the switching device is an NPN transistor.

[0045] refer to Figure 4 , Figure 5a and Figure 5b The workflow of this system is shown.

[0046] S101, System Power On. External DC power is connected to the integrated bus backplane 300 through the global power supply unit 320. After conversion by the global power supply unit 320, it provides operating power to the communication control board 200 and each driver daughter card 400. The first controller 430 and the second controller 450 of the communication control board 200 and each driver daughter card 400 enter the initialization state.

[0047] S102, Address Identification. The first controller 430 of each driver daughter card 400 reads the identifier formed by the address identification terminal on the corresponding slot to obtain the address identifier of this driver daughter card 400. The second controller 450 reads the identifier formed by its own address identification terminal, which can be the state of a specific IO pin with pull-up / pull-down design of the second controller 450 itself. The first controller 430 sends node query information through the on-board communication path, and the second controller 450 returns its address identifier pre-stored in the non-volatile memory area, enabling the first controller 430 to identify the second controller 450 of this card.

[0048] S103, Establish mapping. The first controller 430 establishes a hierarchical mapping relationship between the sub-card identifier, controller identifier, and roller identifier based on the sub-card identifier of this card, the identifier of the first controller 430, the identifier of the second controller 450, and the roller identifier corresponding to each controller. Taking sub-card identifier C2 as an example, the first controller M0 corresponds to rollers R0 and R1, the second controller M1 corresponds to rollers R2 and R3, and the second controller M2 corresponds to rollers R4 and R5. The above hierarchical mapping relationship is used by the first controller 430 to determine the drive sub-card 400 and controller to which the target drive unit 463 and its roller motor 462 belong after receiving control command information.

[0049] S104, Receive sorting task. The communication control board 200 receives the sorting task instruction issued by the upper control device 100. The sorting task instruction is used to instruct the target drive unit 463 and its roller motor 462 to start, stop, reverse or adjust at least one of the following:

[0050] S105, forming address information. The communication control board 200 determines the target sub-card identifier, target controller identifier, and target roller identifier corresponding to the target roller based on the sorting task instruction issued in S104 and the pre-stored system addressing information, and generates address-based control information containing the target sub-card identifier, target controller identifier, target roller identifier, and action information.

[0051] S106, Global Transmission. The communication control board 200 broadcasts the aforementioned address-based control information via the downlink line S1 of the global communication bus 310 of the integrated bus backplane 300 according to a predetermined global polling rule.

[0052] S107, Daughter Card Matching. The first controller 430 of each driver daughter card 400 receives the above-mentioned address-based control information, extracts the target daughter card identifier, and compares it with the identifier of its own daughter card. When the two do not match, the first controller 430 discards the address-based control information and maintains the original operating state. When the two match, the first controller 430 further extracts the target controller identifier data.

[0053] S108, Controller Matching. The target's first controller 430 compares the controller identifier in the above-mentioned address-based control information with the first controller 430 identifier in the mapping relationship of this level. If the target controller identifier matches the first controller 430, the information to be executed is locally retained; if they do not match, they are further matched with the identifier of the next-level second controller 450, and the specific second controller 450 to execute the above-mentioned control information is determined.

[0054] S109a, Local execution. If the target controller identifier matches the first controller 430, the first controller 430 determines the target from the corresponding roller drive unit 463 according to the target roller drive unit identifier, and generates a drive control signal corresponding to the target roller drive unit 463 according to the action information.

[0055] S109b, Local Forwarding. If the target controller identifier matches the identifier of the lower-level second controller 450, the first controller 430 generates local control information including the identifier of the second controller 450, the identifier of the target roller drive unit 463, and action information based on the address-based control information, and sends the aforementioned local control information via the on-board communication branch. The second controller 450 compares the target controller identifier in the local control information with its own controller identifier and generates the corresponding drive control signal for the target roller drive unit 463.

[0056] S110, target roller moves. The addressed first controller 430 and / or second controller 450 determine the target from their corresponding roller drive unit 463 and output a drive signal to it so that the target performs the action corresponding to the instruction.

[0057] S111, Status Acquisition. The first controller 430 and / or the second controller 450 respectively acquire the operating status and / or fault signals of the target drive unit 463 / drum motor 462 unit they control, and associate / store the acquired status information with the corresponding target unit identifier.

[0058] S112, Sub-card information aggregation. The first controller 430 polls the second controller 450 in a predetermined manner. Upon receiving a status query command, the second controller 450 returns the status of the corresponding lower-level drive unit 463 / drum motor 462 to the first controller 430. The first controller 430 associates the received lower-level status information through mapping information to ultimately form the corresponding card-level status data.

[0059] S113, Card-level reporting. The communication control board 200 performs global polling of each driver sub-card 400 according to a predetermined method. The first controller 430 of each driver sub-card 400 sends card-level status data to the communication control board 200 through the second communication line S2 in the corresponding response window.

[0060] S114, System Summary. The communication control board 200 receives the card-level status data returned sequentially by each drive sub-card 400, and forms system status data based on the sub-card identifier and roller identifier in each card-level status data; the communication control board 200 sends the system status data to the upper control device 100 so that the upper control device can obtain the operating status and fault status of each target roller.

[0061] Through the above steps, the control information determines the target object step by step according to three levels: drive sub-card 400 / first controller 430, second controller 450, and drive unit 463 / drum motor 462. The first controller 430 selects local execution or in-board forwarding based on the controller matching result. The execution status is collected by each controller, summarized by the first controller 430 at the card level, and summarized by the communication control board 200 at the system level. Thus, without changing the original operating status of the unaddressed drum, the independent control of the target drum and the hierarchical return of the operating status and fault status are realized.

[0062] Reference Figures 6a to 6c This system employs a three-layer address encapsulation and polling communication mechanism in conjunction with a distributed communication interface to achieve the effect of layered communication fault isolation.

[0063] Specifically, S115, roller fault reporting. When the roller motor 462 experiences a short circuit or blockage in its motor coil, resulting in a large current hard overcurrent, the overcurrent detection circuit 464 outputs a fault signal to the first controller 430 and / or the second controller 450. Upon receiving the roller fault signal, the controller immediately cuts off the drive signal to the corresponding roller drive unit 463, and the roller motor 462 stops. The first controller 430 and / or the second controller 450 update the operating status and / or fault signal of the targets they control, and associate the acquired status information with the corresponding target unit identifier, awaiting reporting.

[0064] S116, Second controller fault reporting. The first controller 430 periodically queries the status of the second controller 450 through polling communication. When the second controller 450 goes offline due to a short circuit or open circuit fault, the first controller 430 registers the status of the second controller 450 into the card-level status data and then reports it.

[0065] S117, First controller / drive daughter card fault report. The communication control board 200 periodically queries the status of the drive daughter card 400 through polling communication. When the first controller 430 or the drive daughter card 400 goes offline due to a short circuit or open circuit fault, the communication control board 200 registers the target daughter card 400 into the system status data.

[0066] This solution utilizes an integrated bus backplane 300 for power supply and communication, along with a three-level addressing and polling mechanism, to limit the objects processed by control information. Asymmetrical access between the first controller 430 and the second controller 450, along with distributed communication interfaces, limits the impact of local communication anomalies, achieving layered fault isolation at the communication level. Each drive daughter card 400 is independently equipped with a card-level protection component 420 to achieve card-level power supply fault isolation. The entire system is highly integrated and modularly designed for easy horizontal expansion and maintenance through the addition of slots.

Claims

1. A multi-motor sorting matrix drive system, characterized in that, include: An integrated bus backplane, wherein the integrated bus backplane is equipped with a global communication bus; At least one driver daughter card, which is inserted into a slot in the integrated bus backplane and connected to the global communication bus; The driver sub-card includes a first controller and at least one second controller. The first controller and the second controller are respectively driven by at least one roller drive unit. The first controller is connected to both the global communication bus and the on-board communication branch. The second controller is connected to the on-board communication branch. The first controller constitutes the communication node of the driver sub-card between the global communication domain and the on-board communication domain. A communication control board is inserted into a slot in the integrated bus backplane and connected to the global communication bus. The communication control board sends control commands through the global communication bus, including at least the target drive sub-card, the first controller and / or the second controller, the address identifier of the roller drive unit, and action information. The first controller receives the control command to perform target sub-card matching. After sub-card matching, the first controller selects whether to execute the command locally or send it to the target second controller via the onboard communication branch. The selected controller executes the roller drive action according to the target roller drive unit address identifier. The second controller is connected to the first controller via an independent onboard communication branch, so that the second controller has an independent fault isolation node.

2. The multi-motor sorting matrix drive system as described in claim 1, characterized in that, The communication control board is connected to the global communication bus through a global UART communication interface. The onboard communication branch between the first controller and the second controller is equipped with an onboard UART communication interface. The global UART communication interface and the onboard UART communication interface are branch communication interfaces without dedicated active bus transceivers.

3. The multi-motor sorting matrix drive system as described in claim 2, characterized in that, The global communication bus includes a first global communication bus for downlink communication and a second global communication bus for uplink communication. The on-board communication branch includes a first on-board communication branch for downlink communication and a second on-board communication branch for uplink communication. The first global communication bus and the second global communication bus are configured with unidirectional conduction elements through the global UART communication interface. The first on-board communication branch and the second on-board communication branch are also configured with unidirectional conduction elements through the on-board UART communication interface.

4. The multi-motor sorting matrix drive system as described in claim 1, characterized in that, The first controller and the second controller store the status information of the corresponding drive unit. The first controller obtains the lower-level status information stored in the second controller through a polling mechanism. The first controller aggregates its own status information and the lower-level status information into card-level status data. The communication control board obtains the card-level status data stored in the first controller through a polling mechanism.

5. A multi-motor sorting matrix drive system as described in claim 4, characterized in that, The first controller and / or the second controller drive the drum motor through the drive unit. An overcurrent detection circuit is also independently configured in the drive current path of the drum motor. The overcurrent detection circuit obtains the fault current signal using a sampling element and then outputs a fault signal to the first controller and / or the second controller through a switching element. After receiving the fault signal, the first controller and / or the second controller stop outputting drive signals to the drum motor.

6. The multi-motor sorting matrix drive system as described in claim 1, characterized in that, The integrated bus backplane is equipped with a single global power supply line, and the drive daughter card and the communication control board are connected in parallel to the global power supply line; The driver sub-card is also equipped with a card-level protection component, which is connected in series between the power input terminal of the driver sub-card and the power supply line inside the card, so that each independent driver sub-card has a power supply isolation function.

7. A control method for a multi-motor sorting matrix drive system as described in any one of claims 1-6, characterized in that, include: S1. The communication control board acquires the address identification information of the driver sub-card, the first controller, the second controller, and the driver unit, and establishes a hierarchical mapping relationship between the driver sub-card, the first controller, the second controller, and the driver unit; S2. The communication control board receives sorting task instructions issued by the upper control device and forms address-based control information, wherein the address-based control information includes at least the target sub-card identifier, the target controller identifier, and the target roller identifier; S3. The address-based control information is sent by the communication control board to each of the driver daughter cards through the global communication bus of the integrated bus backplane; S4. The first controller of each of the driver sub-cards receives the address-based control information and compares it with the target sub-card identifier; S5. The first controller of the target driver sub-card compares the target sub-card identifier with its own hierarchical mapping relationship; S6. When the target controller is identified as the first controller itself, the first controller generates a drive control signal based on the target roller identifier; S7. When the target controller is identified as the second controller, the first controller forwards the address-based control information through the onboard communication branch, and the second controller generates a drive control signal based on the target roller identifier.

8. The control method for a multi-motor sorting matrix drive system as described in claim 7, characterized in that, The first controller reads the address identification information formed by the address identification terminal of the driver card located in the corresponding slot on the integrated bus backplane. The second controller reads the address identification information formed by its own address identification terminal. The first controller establishes a hierarchical mapping relationship between the first controller, the second controller and the driver unit by querying the second controller.

9. The control method for a multi-motor sorting matrix drive system as described in claim 7, characterized in that, When the address control information does not match the target sub-card identifier, the first controller of the driver sub-card will discard the address control information.

10. The control method for a multi-motor sorting matrix drive system as described in claim 7, characterized in that, The global communication bus includes a first global communication bus for downlink transmission and a second global communication bus for uplink transmission. The intra-board communication branch includes a first intra-board communication branch for downlink transmission and a second intra-board communication branch for uplink transmission. The communication control board sends the address-based control information to each of the driver daughter cards through the first global communication bus. When the address-based control information includes the identifier of the second controller, the first controller forwards it to the second controller through the communication branch within the first board.

11. The control method for a multi-motor sorting matrix drive system as described in claim 10, characterized in that, The first controller and / or the second controller collect the operating information of the corresponding drive unit and associate / store the information with the corresponding target unit identifier; The first controller generates card-level status data by polling the second controller; The communication control board generates system status data by globally polling the driver sub-card.

12. The control method for a multi-motor sorting matrix drive system as described in claim 11, characterized in that, When the roller motor corresponding to the drive unit fails, the overcurrent detection circuit outputs a fault signal to the first controller and / or the second controller. After receiving the fault signal, the first controller and / or the second controller immediately cuts off the drive signal of the drive unit and updates its own operating status information. When the polling occurs, it reports through the communication branch in the second board or the second global communication bus. When the second controller fails and goes offline, the first controller records the status information of the second controller into the card-level status data, and reports it through the second global communication bus during the global polling.

13. The control method for a multi-motor sorting matrix drive system as described in claim 12, characterized in that, When the first controller or the driver sub-card fails and goes offline, the communication control board directly records the system status data during polling and feeds it back to the upper control device.

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