CN111735481A - A multi-channel optical switch synchronous fast switching control system and control method thereof - Google Patents
A multi-channel optical switch synchronous fast switching control system and control method thereof Download PDFInfo
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Abstract
本发明公开了一种多路光开关同步快速切换控制系统及其控制方法，多路光开关同步快速切换控制系统包括有多轴运动控制器、多个光开关、以及设置于每个光开关上的开启位置传感器和关闭位置传感器，每个光开关均包括有驱动电机和连接于驱动电机传动轴上的挡片，挡片用于挡住激光光束，每个光开关的驱动电机、每个光开关上的开启位置传感器和关闭位置传感器均与多轴运动控制器连接。本发明采用微型驱动电机作为光开关挡片的运动主体，在每个光开关的开启位置和关闭位置各配置一个位置传感器，采用高速多轴运动控制器以高速脉冲精确控制各路光开关的运动距离，使得多路光开关具有响应快、定位精确，同步性高的特点。
The invention discloses a multi-channel optical switch synchronous fast switching control system and a control method thereof. The multi-channel optical switch synchronous fast switching control system includes a multi-axis motion controller, a plurality of optical switches, and a multi-axis motion controller, a plurality of optical switches, and a control method arranged on each optical switch. The open position sensor and the closed position sensor of each optical switch include a drive motor and a blocking plate connected to the drive shaft of the driving motor. The blocking plate is used to block the laser beam. The driving motor of each optical switch, each optical switch Both the open position sensor and the closed position sensor on the controller are connected to the multi-axis motion controller. The invention adopts a micro-drive motor as the moving main body of the optical switch baffle, configures a position sensor at the opening position and the closing position of each optical switch, and adopts a high-speed multi-axis motion controller to accurately control the movement of each optical switch with high-speed pulses. The distance makes the multi-channel optical switch have the characteristics of fast response, accurate positioning and high synchronization.
Description
技术领域technical field
本发明涉及光学检测领域，具体是一种多路光开关同步快速切换控制系统及其控制方法。The invention relates to the field of optical detection, in particular to a multi-channel optical switch synchronous fast switching control system and a control method thereof.
背景技术Background technique
随着光学检测技术的发展，光学设计中的光路越来越复杂，光路开关的数量越来越多，同时对光开关的响应性能也要求更高。设计一种光开关控制系统用于同步控制多路光开关，设计一种以微型电机为主体的光路开关，能够快速响应控制系统的运动需求以及精确定位。With the development of optical detection technology, the optical path in optical design is becoming more and more complex, the number of optical circuit switches is increasing, and the response performance of the optical switch is also higher. An optical switch control system is designed to synchronously control multiple optical switches, and an optical switch with a micro-motor as the main body is designed, which can quickly respond to the movement requirements of the control system and accurately position it.
现有光路开关的缺点：目前光路应用中有相当部分采用电磁铁作为光开关，缺点在于响应时间较长，使用寿命存在限制，所以在光路快速切换的系统中，电磁铁无法满足系统中的时间响应要求。Disadvantages of existing optical circuit switches: At present, a considerable part of optical circuit applications use electromagnets as optical switches. The disadvantage is that the response time is long and the service life is limited. Therefore, in the system of fast switching of optical circuits, the electromagnet cannot meet the time in the system. Respond to requests.
现有光路开关控制系统的缺点：电磁铁的光开关控制方式较为简单，通过通用输入输出电路来控制光开关的开关，缺点在于无法监测到光开关在运动过程中的实时状态。Disadvantages of the existing optical switch control system: the electromagnet optical switch control method is relatively simple, and the switch of the optical switch is controlled by a universal input and output circuit, but the disadvantage is that the real-time state of the optical switch during movement cannot be monitored.
发明内容SUMMARY OF THE INVENTION
本发明要解决的技术问题是提供一种多路光开关同步快速切换控制系统及其控制方法，使得多路光开关具有响应快、定位精确，同步性高的特点。The technical problem to be solved by the present invention is to provide a multi-channel optical switch synchronous fast switching control system and a control method thereof, so that the multi-channel optical switch has the characteristics of fast response, accurate positioning and high synchronization.
本发明的技术方案为：The technical scheme of the present invention is:
一种多路光开关同步快速切换控制系统，包括有多轴运动控制器、多个光开关、以及设置于每个光开关上的位置传感器，所述的每个光开关上均设置有两个位置传感器，两个位置传感器分别为开启位置传感器和关闭位置传感器，每个光开关均包括有驱动电机和连接于驱动电机传动轴上的挡片，所述的挡片用于挡住激光光束，所述的每个光开关的驱动电机、每个光开关上的开启位置传感器和关闭位置传感器均与多轴运动控制器连接。A multi-channel optical switch synchronous fast switching control system includes a multi-axis motion controller, a plurality of optical switches, and a position sensor arranged on each optical switch, and each optical switch is provided with two Position sensor, the two position sensors are the open position sensor and the closed position sensor respectively, each optical switch includes a drive motor and a blocking piece connected to the drive shaft of the driving motor, the blocking piece is used to block the laser beam, so The drive motor of each optical switch, the opening position sensor and the closing position sensor on each optical switch are all connected with the multi-axis motion controller.
所述的开启位置传感器和关闭位置传感器均为U型光电传感器，所述的光开关的挡片位于开启位置时，所述的光开关的挡片部分伸入到开启位置传感器的U型槽内、开启位置传感器感应到挡片信号，所述的光开关的挡片位于关闭位置时，所述的光开关的挡片部分伸入到关闭位置传感器的U型槽内、关闭位置传感器感应到挡片信号。The open position sensor and the closed position sensor are both U-shaped photoelectric sensors. When the shutter of the optical switch is in the open position, the shutter of the optical switch extends into the U-shaped groove of the open position sensor. . The open position sensor senses the shutter signal. When the shutter of the optical switch is in the closed position, the shutter part of the optical switch extends into the U-shaped groove of the closed position sensor, and the closed position sensor senses the shutter. chip signal.
所述的每个光开关驱动电机的控制端分别与多轴运动控制器对应的脉冲控制引脚连接。The control end of each optical switch driving motor is respectively connected with the corresponding pulse control pin of the multi-axis motion controller.
所述的每个光开关的开启位置传感器和关闭位置传感器的信号输出端集成于对应的光开关上，每个光开关的开启位置传感器和关闭位置传感器的信号输出端分别与多轴运动控制器对应的位置反馈引脚连接。The signal output terminals of the open position sensor and the closed position sensor of each optical switch are integrated on the corresponding optical switch, and the signal output terminals of the open position sensor and the closed position sensor of each optical switch are respectively connected with the multi-axis motion controller. Corresponding position feedback pin connection.
所述的每个光开关的驱动电机均选用微型步进电机。The drive motor of each optical switch is a micro stepping motor.
一种多路光开关同步快速切换控制系统的控制方法，具体包括有以下步骤：A control method for a multi-channel optical switch synchronous fast switching control system, which specifically includes the following steps:
(1)、当多轴运动控制器收到其中一个光开关的打开指令时，多轴运动控制器首先根据关闭位置传感器的输出信号判定其相关联光开关是否关闭，当其相关联光开关全部关闭时，多轴运动控制器发送脉冲控制信号给当前接收打开命令的光开关的驱动电机，驱动电机带动挡片转动使得光开关打开；(1) When the multi-axis motion controller receives the opening command of one of the optical switches, the multi-axis motion controller first determines whether its associated optical switch is closed according to the output signal of the closed position sensor, and when all the associated optical switches are closed When turned off, the multi-axis motion controller sends a pulse control signal to the drive motor of the optical switch currently receiving the opening command, and the drive motor drives the shutter to rotate so that the optical switch is turned on;
(2)、当其相关联光开关没有全部关闭时，多轴运动控制器根据发出的脉冲控制信号判定其它光开关是否在运动中，当判定其它光开关在运动中时，根据轴运动控制器根据发出的脉冲控制信号判定其相关联光开关的脉冲控制指令是否已运动完成一半的行程，当其相关联光开关均是已运动完成一半的行程时，多轴运动控制器发送脉冲控制信号给当前接收打开命令的光开关的驱动电机，驱动电机带动挡片转动使得光开关打开；(2) When the associated optical switches are not all turned off, the multi-axis motion controller determines whether other optical switches are in motion according to the sent pulse control signal. When it is determined that other optical switches are in motion, according to the axis motion controller According to the sent pulse control signal, it is determined whether the pulse control command of the associated optical switch has moved to complete half of the stroke. When the associated optical switches have moved to complete half of the stroke, the multi-axis motion controller sends a pulse control signal to the The drive motor of the optical switch that currently receives the opening command, the drive motor drives the shutter to rotate to make the optical switch open;
(3)、当其相关联光开关没有全部关闭时，多轴运动控制器根据发出的脉冲控制信号判定其相关联光开关是否在运动中，当判定其相关联光开关均在静置状态下时，多轴运动控制器不发送脉冲控制信号给当前接收打开命令的光开关的驱动电机，此光开关保持关闭状态；(3) When the associated optical switches are not all turned off, the multi-axis motion controller determines whether the associated optical switches are in motion according to the pulse control signal sent, and when it is determined that the associated optical switches are in a static state When the multi-axis motion controller does not send a pulse control signal to the drive motor of the optical switch currently receiving the opening command, the optical switch remains closed;
(4)、当其相关联光开关没有全部关闭时，多轴运动控制器根据发出的脉冲控制信号判定其相关联光开关是否在运动中，当判定其相关联光开关在运动中时，根据多轴运动控制器根据发出的脉冲控制信号判定其它光开关的脉冲控制指令是否已运动完成一半的行程，当其相关联的任一光开关的脉冲控制指令未运动完成一半的行程时，多轴运动控制器不发送脉冲控制信号给当前接收打开命令的光开关的驱动电机，此光开关保持关闭状态；(4) When the associated optical switches are not all turned off, the multi-axis motion controller determines whether the associated optical switch is in motion according to the sent pulse control signal, and when it is determined that the associated optical switch is in motion, according to the The multi-axis motion controller determines whether the pulse control instructions of other optical switches have completed half of the stroke according to the pulse control signal sent. When the pulse control instructions of any of its associated optical switches have not completed half of the stroke, the multi-axis motion control The device does not send a pulse control signal to the drive motor of the optical switch currently receiving the opening command, and the optical switch remains closed;
(5)、按上述步骤(1)-(4)循环执行，直到将接收打开命令的光开关全部完成打开动作即可。(5) Execute circularly according to the above steps (1)-(4) until all the optical switches that receive the opening command have completed the opening action.
本发明的优点：Advantages of the present invention:
(1)、本发明采用微型电机作为光开关挡片的运动主体，通过驱动轴带动挡片进行快速运动，且运动过程中无噪音发出；(1), the present invention adopts the micro motor as the moving body of the optical switch shutter, and drives the shutter to move rapidly through the drive shaft, and no noise is emitted during the movement;
(2)、本发明采用多轴运动控制器用于驱动多个微型电机的高速转动，以高速脉冲精确控制各路光开关的运动距离，并实时监控每个光开关挡片的位置信息，从而实现多路光开关之间的同步快速运动；(2) The present invention adopts a multi-axis motion controller to drive the high-speed rotation of multiple micro motors, precisely controls the moving distance of each optical switch with high-speed pulses, and monitors the position information of each optical switch block in real time, thereby realizing Synchronized fast movement between multiple optical switches;
(3)、本发明采用光电传感器监控光开关的开光两个状态位置，能够进一步确认光开关的动作完成度；(3), the present invention adopts the photoelectric sensor to monitor the two state positions of the opening of the optical switch, which can further confirm the completion of the operation of the optical switch;
(4)、本发明采用多轴运动控制器实时监控每个光开关的位置信息，可以提前将各路光开关进行打开关闭操作，而不用等到光开关完全打开关闭后才进行下一步动作，从而大大缩减了整个系统的光开关操作等待时间。(4) In the present invention, the multi-axis motion controller is used to monitor the position information of each optical switch in real time, so that each optical switch can be opened and closed in advance, without waiting for the optical switch to be fully opened and closed to perform the next action, thereby The waiting time of the optical switch operation of the whole system is greatly reduced.
附图说明Description of drawings
图1是本发明多路光开关同步快速切换控制系统的结构原理图。FIG. 1 is a schematic diagram of the structure of the multi-channel optical switch synchronous fast switching control system of the present invention.
图2是本发明多路光开关同步快速切换控制系统的控制电路图，其中，A1为多轴运动控制器，MOTOR1～MOTORn为微型步进电机的驱动接口，REF0～REFn为每个光开关开启位置传感器和关闭位置传感器的接口，Shuuter1～Shuttern为系统中编号为1～n的光开关，Stepper为光开关的微型步进电机，BK为挡片，Sensor为U型光电传感器。Fig. 2 is the control circuit diagram of the multi-channel optical switch synchronous fast switching control system of the present invention, wherein A1 is a multi-axis motion controller, MOTOR1-MOTORn are the driving interfaces of the micro stepping motor, and REF0-REFn are the opening positions of each optical switch The interface between the sensor and the closed position sensor, Shuuter1~Shuttern are the optical switches numbered 1~n in the system, Stepper is the micro stepping motor of the optical switch, BK is the baffle, and Sensor is the U-shaped photoelectric sensor.
图3是本发明多路光开关同步快速切换控制系统的控制方法流程图。FIG. 3 is a flow chart of the control method of the multi-channel optical switch synchronous fast switching control system of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
见图1和图2，一种多路光开关同步快速切换控制系统，包括有多轴运动控制器A1、多个光开关、以及设置于每个光开关上的位置传感器，每个光开关上均集成有两个位置传感器，两个位置传感器为开启位置传感器和关闭位置传感器，每个光开关均包括有微型步进电机Stepper和连接于微型步进电机传动轴上的挡片BK，挡片BK用于挡住激光光束，每个光开关微型步进电机Stepper的控制端分别与多轴运动控制器A1对应的脉冲控制引脚连接,每个光开关的开启位置传感器和关闭位置传感器的信号输出端分别与多轴运动控制器A1对应的位置反馈引脚连接。1 and 2, a multi-channel optical switch synchronous fast switching control system includes a multi-axis motion controller A1, a plurality of optical switches, and a position sensor arranged on each optical switch. Both are integrated with two position sensors, the two position sensors are the open position sensor and the closed position sensor. Each optical switch includes a micro stepping motor Stepper and a block BK connected to the transmission shaft of the micro stepping motor. The BK is used to block the laser beam. The control end of each optical switch micro-stepper motor Stepper is connected to the pulse control pin corresponding to the multi-axis motion controller A1. The signal output of the open position sensor and the closed position sensor of each optical switch The terminals are respectively connected with the position feedback pins corresponding to the multi-axis motion controller A1.
其中，开启位置传感器和关闭位置传感器均为U型光电传感器Sensor，光开关的挡片BK位于开启位置时，光开关的挡片BK部分伸入到开启位置传感器的U型槽内、开启位置传感器感应到挡片信号，光开关的挡片BK位于关闭位置时，光开关的挡片BK部分伸入到关闭位置传感器的U型槽内、关闭位置传感器感应到挡片信号。Among them, the open position sensor and the closed position sensor are both U-shaped photoelectric sensors. When the shutter BK of the optical switch is in the open position, the shutter BK of the optical switch extends into the U-shaped groove of the open position sensor, and the open position sensor When the shutter signal is sensed, when the shutter BK of the optical switch is in the closed position, the shutter BK part of the optical switch extends into the U-shaped groove of the closed position sensor, and the closed position sensor senses the shutter signal.
见图3，一种多路光开关同步快速切换控制系统的控制方法，具体包括有以下步骤：Referring to Figure 3, a control method of a multi-channel optical switch synchronous fast switching control system specifically includes the following steps:
(1)、当多轴运动控制器收到其中一个光开关的打开指令时，多轴运动控制器首先根据关闭位置传感器的输出信号判定其相关联光开关是否关闭，当其相关联光开关全部关闭时，多轴运动控制器发送脉冲控制信号给当前接收打开命令的光开关的驱动电机，驱动电机带动挡片转动使得光开关打开；(1) When the multi-axis motion controller receives the opening command of one of the optical switches, the multi-axis motion controller first determines whether its associated optical switch is closed according to the output signal of the closed position sensor, and when all the associated optical switches are closed When turned off, the multi-axis motion controller sends a pulse control signal to the drive motor of the optical switch currently receiving the opening command, and the drive motor drives the shutter to rotate so that the optical switch is turned on;
(2)、当其相关联光开关没有全部关闭时，多轴运动控制器根据发出的脉冲控制信号判定其它光开关是否在运动中，当判定其它光开关在运动中时，根据轴运动控制器根据发出的脉冲控制信号判定其相关联光开关的脉冲控制指令是否已运动完成一半的行程，当其相关联光开关均是已运动完成一半的行程时，多轴运动控制器发送脉冲控制信号给当前接收打开命令的光开关的驱动电机，驱动电机带动挡片转动使得光开关打开；(2) When the associated optical switches are not all turned off, the multi-axis motion controller determines whether other optical switches are in motion according to the sent pulse control signal. When it is determined that other optical switches are in motion, according to the axis motion controller According to the sent pulse control signal, it is determined whether the pulse control command of the associated optical switch has moved to complete half of the stroke. When the associated optical switches have moved to complete half of the stroke, the multi-axis motion controller sends a pulse control signal to the The drive motor of the optical switch that currently receives the opening command, the drive motor drives the shutter to rotate to make the optical switch open;
(3)、当其相关联光开关没有全部关闭时，多轴运动控制器根据发出的脉冲控制信号判定其相关联光开关是否在运动中，当判定其相关联光开关均在静置状态下时，多轴运动控制器不发送脉冲控制信号给当前接收打开命令的光开关的驱动电机，此光开关保持关闭状态；(3) When the associated optical switches are not all turned off, the multi-axis motion controller determines whether the associated optical switches are in motion according to the pulse control signal sent, and when it is determined that the associated optical switches are in a static state When the multi-axis motion controller does not send a pulse control signal to the drive motor of the optical switch currently receiving the opening command, the optical switch remains closed;
(4)、当其相关联光开关没有全部关闭时，多轴运动控制器根据发出的脉冲控制信号判定其相关联光开关是否在运动中，当判定其相关联光开关在运动中时，根据多轴运动控制器根据发出的脉冲控制信号判定其它光开关的脉冲控制指令是否已运动完成一半的行程，当其相关联的任一光开关的脉冲控制指令未运动完成一半的行程时，多轴运动控制器不发送脉冲控制信号给当前接收打开命令的光开关的驱动电机，此光开关保持关闭状态；(4) When the associated optical switches are not all turned off, the multi-axis motion controller determines whether the associated optical switch is in motion according to the sent pulse control signal, and when it is determined that the associated optical switch is in motion, according to the The multi-axis motion controller determines whether the pulse control instructions of other optical switches have completed half of the stroke according to the pulse control signal sent. When the pulse control instructions of any of its associated optical switches have not completed half of the stroke, the multi-axis motion control The device does not send a pulse control signal to the drive motor of the optical switch currently receiving the opening command, and the optical switch remains closed;
(5)、按上述步骤(1)-(4)循环执行，直到将接收打开命令的光开关全部完成打开动作即可。(5) Execute circularly according to the above steps (1)-(4) until all the optical switches that receive the opening command have completed the opening action.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.
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