CN115903629A - Industrial control system and its control method - Google Patents
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Abstract
本申请公开了一种工业控制系统，包括：输入输出模块以及互作冗余的至少两个控制器，其特征在于，至少两个控制器中的每个控制器均包括互作冗余的至少两个中央处理器；其中，每个中央处理器用于：执行第一任务；通过在至少两个控制器之间的通信接口接收其他中央处理器执行第一任务的结果；通过对本中央处理器执行第一任务的结果加上所接收的其他中央处理器执行第一任务的结果进行表决，确定第一任务的最终结果；以及向第一任务对应的输入输出模块输出第一任务的最终结果。该系统能够避免主备切换时系统的不稳定性。还公开了一种工业控制系统的控制方法。
The present application discloses an industrial control system, including: an input and output module and at least two controllers with mutual redundancy, and it is characterized in that each of the at least two controllers includes at least Two central processing units; wherein, each central processing unit is used to: execute the first task; receive the results of other central processing units performing the first task through the communication interface between at least two controllers; The result of the first task is added to the received results of other CPUs executing the first task for voting to determine the final result of the first task; and the final result of the first task is output to the input and output module corresponding to the first task. This system can avoid the instability of the system when the master/standby switches. Also disclosed is a control method of the industrial control system.
Description
技术领域technical field
本发明涉及工业控制技术领域，尤指一种工业控制系统及其控制方法The present invention relates to the technical field of industrial control, especially to an industrial control system and its control method
背景技术Background technique
目前，很多控制系统采用主备切换式的冗余，在该设计下，控制器内的IEC任务分别在冗余的控制器内异步运行，当主控制器发生故障时，进行热备切换，原备控制器升主运行，故障主控制器降备，实现主备切换，但是在主备切换过程中，存在数据扰动，导致控制器系统发生抖动。At present, many control systems adopt active-standby switching redundancy. Under this design, the IEC tasks in the controller run asynchronously in the redundant controllers. When the main controller fails, hot-standby switching is performed. The controller is promoted to the main operation, and the faulty main controller is downgraded to realize the active-standby switchover. However, during the active-standby switchover process, there is data disturbance, which causes the controller system to jitter.
在系统正常运行下，主机的CPU调度多IEC任务执行用户的控制程序，备机的CPU也调度多IEC任务执行用户的控制程序，但是主机与备机之间异步执行并且仅有主机的运算数据会通过IOBUS总线发送至输入输出模块(IO模块)，IO模块根据主机的控制指令，实现现场的控制，当主机发送故障时，通过主机降备，备机升主，实现主备切换，新升主的控制器调度IEC任务，将运算数据通过IOBUS总线发送至IO模块。根据目前的控制系统的技术方案，主备切换存在数据扰动，影响现场控制；当主机发生未检测出的故障时，故障数据已经生效，会对现场产生不可预知的风险；主备切换功能发生故障后，系统将无法工作的缺陷。Under the normal operation of the system, the CPU of the main machine schedules multiple IEC tasks to execute the user's control program, and the CPU of the standby machine also schedules multiple IEC tasks to execute the user's control program, but the main machine and the standby machine are executed asynchronously and only the calculation data of the main machine It will be sent to the input and output module (IO module) through the IOBUS bus. The IO module will realize on-site control according to the control command of the host. The main controller schedules the IEC tasks and sends the operation data to the IO module through the IOBUS bus. According to the current technical scheme of the control system, there is data disturbance in the master-standby switchover, which affects on-site control; when an undetected fault occurs on the host, the fault data has already taken effect, which will cause unpredictable risks to the site; the master-standby switchover function fails After the defect, the system will not work.
发明内容Contents of the invention
为了解决上述技术问题，本申请提供了一种工业控制系统及其控制方法，其能够避免主备切换时系统的不稳定性。In order to solve the above technical problems, the present application provides an industrial control system and a control method thereof, which can avoid system instability during master-standby switchover.
为了达到本申请目的，本发明实施例提供了一种工业控制系统，包括：输入输出模块以及互作冗余的至少两个控制器，该至少两个控制器中的每个控制器均包括互作冗余的至少两个中央处理器；其中，In order to achieve the purpose of this application, an embodiment of the present invention provides an industrial control system, including: input and output modules and at least two controllers that interact with each other redundantly, each of the at least two controllers includes an interactive At least two CPUs for redundancy; where,
每个中央处理器用于：Each CPU is used for:
执行第一任务；perform the first task;
通过在至少两个控制器之间的通信接口接收其他中央处理器执行第一任务的结果；receiving results of other central processors performing the first task via a communication interface between the at least two controllers;
通过对本中央处理器执行第一任务的结果加上所接收的其他中央处理器执行第一任务的结果进行表决，确定第一任务的最终结果；以及Determine the final result of the first task by voting on the result of executing the first task by the central processor plus the received results of executing the first task by other central processors; and
向第一任务对应的输入输出模块输出第一任务的最终结果。Outputting the final result of the first task to the input-output module corresponding to the first task.
在一个可选的实施例中，通过对本中央处理器执行第一任务的结果加上所接收的其他中央处理器执行第一任务的结果进行表决，确定第一任务的最终结果，包括：In an optional embodiment, the final result of the first task is determined by voting on the result of the central processor executing the first task plus the received results of other central processors executing the first task, including:
如果在预设的时间内未接收到一个或多个中央处理器执行第一任务的结果，则每个中央处理器根据除了一个或多个中央处理器以外的剩余中央处理器的数量，对本中央处理器执行第一任务的结果加上从剩余中央处理器接收到的执行第一任务的结果进行降级表决，以确定第一任务的结果。If one or more central processors do not receive the result of executing the first task within the preset time, each central processor performs a The result of executing the first task by the processors plus the results of executing the first task received from the remaining CPUs perform downvoting to determine the result of the first task.
在一个可选的实施例中，每个控制器还包括同步逻辑处理器，每个同步逻辑处理器用于：In an optional embodiment, each controller further includes a synchronous logical processor, and each synchronous logical processor is used for:
与其他同步逻辑处理器交换时钟信号和升主使能信号；其中，升主使能信号是由同步逻辑控制器根据其所在的控制器之中的各个中央处理器以及本同步逻辑控制器分别执行自检测的结果而生成的；Exchange the clock signal and the master-up enable signal with other synchronous logic processors; wherein, the master-up enable signal is executed by the synchronous logic controller according to each central processor in the controller where it is located and the synchronous logic controller generated from the results of testing;
如果检测到所接收的升主使能信号中的标志位表示升主使能信号对应的控制器故障，则在确定工业控制系统的时钟的时候，排除将故障的控制器中的中央处理器的时钟作为工业控制系统的时钟。If it is detected that the flag bit in the received ascending master enable signal indicates that the corresponding controller of the ascending master enable signal is faulty, then when determining the clock of the industrial control system, the central processing unit in the faulty controller is eliminated The clock serves as the clock for the industrial control system.
在一个可选的实施例中，通过对本中央处理器执行第一任务的结果加上所接收的其他中央处理器执行第一任务的结果进行表决，确定第一任务的最终结果，包括：In an optional embodiment, the final result of the first task is determined by voting on the result of the central processor executing the first task plus the received results of other central processors executing the first task, including:
排除从所接收的升主使能信号中的标志位表示对应的中央处理器故障的中央处理器执行第一任务的结果；Exclude the result of executing the first task from the central processing unit whose flag bit in the received master enable signal indicates that the corresponding central processing unit fails;
对排除的处理器以外的其他中央处理器执行第一任务的结果进行表决，以确定向第一任务对应的输入输出模块输出的第一任务的结果。The result of executing the first task by other central processors other than the excluded processor is voted to determine the result of the first task to be output to the input-output module corresponding to the first task.
在一个可选的实施例中，每个同步逻辑处理器还用于：In an optional embodiment, each synchronous logical processor is also used for:
当其所在的控制器根据预设的优先权而作为工业控制系统的主控制器的时候，将本控制器之中的默认中央处理器的时钟作为工业控制系统的时钟。When the controller where it is located is used as the main controller of the industrial control system according to the preset priority, the clock of the default central processing unit in the controller is used as the clock of the industrial control system.
在一个可选的实施例中，每个同步逻辑处理器还用于：In an optional embodiment, each synchronous logical processor is also used for:
向工业控制系统中的其他同步逻辑控制器输出主备状态信号；其中，主备状态信号表示本同步逻辑控制器所在的控制器之中的中央处理器的时钟是否作为工业控制系统的时钟；Outputting master-standby status signals to other synchronous logic controllers in the industrial control system; wherein, the master-standby status signals indicate whether the clock of the central processing unit in the controller where the synchronous logic controller is located is used as the clock of the industrial control system;
并且and
每个同步逻辑处理器还用于：Each synchronous logical processor is also used to:
根据所接收的主备状态信号、升主使能信号以及控制器的预设优先级，确定其时钟作为工业控制系统的时钟的中央处理器所在的控制器。According to the received master-standby status signal, master upgrade enable signal and preset priority of the controller, determine the controller whose clock is the clock of the industrial control system and where the central processor is located.
在一个可选的实施例中，执行相同的第一任务，包括：In an optional embodiment, performing the same first task includes:
在工业控制系统中的各个中央处理器时钟同步之后，如果每个中央处理器从其所在的控制器之中的同步逻辑处理器接收到的秒脉冲信号的累计数量达到预设阈值，则开始执行相同的第一任务。After the clock synchronization of each central processor in the industrial control system, if the cumulative number of second pulse signals received by each central processor from the synchronous logic processor in its controller reaches the preset threshold, it will start to execute Same first task.
在一个可选的实施例中，每个控制器还包括协处理器，协处理器连接所在的控制器中的互作冗余的至少两个控制器以及工业控制系统中的输入输出模块，并且协处理器用于将所在的控制器中的中央处理器向对应的输入输出模块输出第一任务的结果；In an optional embodiment, each controller further includes a coprocessor, and the coprocessor is connected to at least two mutually redundant controllers in the controller where the coprocessor is located and the input and output modules in the industrial control system, and The coprocessor is used to output the result of the first task from the central processing unit in the controller to the corresponding input and output module;
并且and
协处理器还用于接收输入输出模块的输入信号。The coprocessor is also used to receive input signals from the input and output modules.
为了达到上述目的，本发明实施例提供了一种工业控制系统的控制方法，工业控制系统包括输入输出模块以及互作冗余的至少两个控制器，至少两个控制器中的每个控制器均包括互作冗余的至少两个中央处理器；其特征在于，控制方法包括：In order to achieve the above object, an embodiment of the present invention provides a control method for an industrial control system. The industrial control system includes input and output modules and at least two controllers that interact with each other redundantly. Each of the at least two controllers Both include at least two central processing units with mutual redundancy; it is characterized in that the control method includes:
每个中央处理器执行第一任务；Each central processing unit executes the first task;
每个中央处理器通过在至少两个控制器之间的通信接口接收其他中央处理器执行第一任务的结果；each central processor receives the results of the other central processors performing the first task via a communication interface between the at least two controllers;
每个中央处理器通过对本中央处理器执行第一任务的结果加上所接收的其他中央处理器执行第一任务的结果进行表决，确定第一任务的最终结果；以及Each central processor determines the final result of the first task by voting on the result of its own central processor executing the first task plus the received results of other central processors executing the first task; and
每个中央处理器向第一任务对应的输入输出模块输出第一任务的最终结果。Each central processing unit outputs the final result of the first task to the input-output module corresponding to the first task.
在一个可选的实施例中，每个中央处理器通过对本中央处理器执行第一任务的结果加上所接收的其他中央处理器执行第一任务的结果进行表决，确定第一任务的最终结果，包括：In an optional embodiment, each central processing unit determines the final result of the first task by voting on the result of the central processing unit executing the first task plus the received results of other central processing units executing the first task ,include:
如果在预设的时间内未接收到一个或多个中央处理器执行第一任务的结果，则每个中央处理器根据除了一个或多个中央处理器以外的剩余中央处理器的数量，对本中央处理器执行第一任务的结果加上从剩余中央处理器接收到的执行第一任务的结果进行降级表决，以确定第一任务的结果。If one or more central processors do not receive the result of executing the first task within the preset time, each central processor performs a The result of executing the first task by the processors plus the results of executing the first task received from the remaining CPUs perform downvoting to determine the result of the first task.
通过这种方式，至少两个控制器之中的互作冗余的中央处理器均能够对相同的任务进行处理并且得出计算结果。然后每个中央处理器能够将自身计算出的计算结果与其他处理器计算出的结果汇总之后进行表决，从而避免了当有处理器出现故障的时候进行主备切换所造成的系统不稳定，并且将汇总的结果进行表决也能够最大程度避免单个中央处理器计算错误而造成的不良影响。In this way, the mutually redundant central processing units in at least two controllers can both process the same task and obtain calculation results. Then each central processing unit can vote after summarizing the calculation results calculated by itself and those calculated by other processors, thereby avoiding system instability caused by active-standby switching when a processor fails, and Voting the aggregated results can also avoid adverse effects caused by calculation errors of a single central processing unit to the greatest extent.
本发明的其它特征和优点将在随后的说明书中阐述，并且，部分地从说明书中变得显而易见，或者通过实施本发明而了解。本发明的目的和其他优点可通过在说明书、权利要求书以及附图中所特别指出的结构来实现和获得。Additional features and advantages of the invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
附图说明Description of drawings
附图用来提供对本发明技术方案的进一步理解，并且构成说明书的一部分，与本申请的实施例一起用于解释本发明的技术方案，并不构成对本发明技术方案的限制。The accompanying drawings are used to provide a further understanding of the technical solution of the present invention, and constitute a part of the description, and are used together with the embodiments of the application to explain the technical solution of the present invention, and do not constitute a limitation to the technical solution of the present invention.
图1为本发明实施例提供的工业控制系统的框图；Fig. 1 is the block diagram of the industrial control system that the embodiment of the present invention provides;
图2示出本发明实施例提供的工业控制系统的控制方法的流程图。Fig. 2 shows a flowchart of a control method of an industrial control system provided by an embodiment of the present invention.
具体实施方式Detailed ways
为使本申请的目的、技术方案和优点更加清楚明白，下文中将结合附图对本发明的实施例进行详细说明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互任意组合。In order to make the purpose, technical solution and advantages of the present application clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined arbitrarily with each other.
在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机系统中执行。并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。The steps shown in the flowcharts of the figures may be performed in a computer system, such as a set of computer-executable instructions. Also, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that shown or described herein.
为了解决上述技术问题，本发明实施例提供了一种工业控制系统，如图1所示，该工业控制系统包括：输入输出模块(如图1中的310、320、330和340)以及互作冗余的至少两个控制器(如图1中的100和200)，至少两个控制器中的每个控制器均包括互作冗余的至少两个中央处理器；其中，In order to solve the above technical problems, an embodiment of the present invention provides an industrial control system, as shown in Figure 1, the industrial control system includes: input and output modules (310, 320, 330 and 340 in Figure 1) and interactive Redundant at least two controllers (such as 100 and 200 in 1), each controller in the at least two controllers includes at least two central processing units of mutual redundancy; wherein,
每个中央处理器用于：Each CPU is used for:
执行第一任务；perform the first task;
通过在至少两个控制器之间的通信接口接收其他中央处理器执行第一任务的结果；receiving results of other central processors performing the first task via a communication interface between the at least two controllers;
通过对本中央处理器执行第一任务的结果加上所接收的其他中央处理器执行第一任务的结果进行表决，确定第一任务的最终结果；以及Determine the final result of the first task by voting on the result of executing the first task by the central processor plus the received results of executing the first task by other central processors; and
向第一任务对应的输入输出模块输出第一任务的最终结果。Outputting the final result of the first task to the input-output module corresponding to the first task.
通过这种方式，至少两个控制器之中的互作冗余的中央处理器均能够对相同的任务进行处理并且得出计算结果。然后每个中央处理器能够将自身计算出的计算结果与其他处理器计算出的结果汇总之后进行表决，从而避免了当有处理器出现故障的时候进行主备切换所造成的系统不稳定，并且将汇总的结果进行表决也能够最大程度避免单个中央处理器计算错误而造成的不良影响。In this way, the mutually redundant central processing units in at least two controllers can both process the same task and obtain calculation results. Then each central processing unit can vote after summarizing the calculation results calculated by itself and those calculated by other processors, thereby avoiding system instability caused by active-standby switching when a processor fails, and Voting the aggregated results can also avoid adverse effects caused by calculation errors of a single central processing unit to the greatest extent.
在一个可选的实施例中，通过对本中央处理器执行第一任务的结果加上所接收的其他中央处理器执行第一任务的结果进行表决，确定第一任务的最终结果，包括：In an optional embodiment, the final result of the first task is determined by voting on the result of the central processor executing the first task plus the received results of other central processors executing the first task, including:
如果在预设的时间内未接收到一个或多个中央处理器执行第一任务的结果，则每个中央处理器根据除了一个或多个中央处理器以外的剩余中央处理器的数量，对本中央处理器执行第一任务的结果加上从剩余中央处理器接收到的执行第一任务的结果进行降级表决，以确定第一任务的结果。If one or more central processors do not receive the result of executing the first task within the preset time, each central processor performs a The result of executing the first task by the processors plus the results of executing the first task received from the remaining CPUs perform downvoting to determine the result of the first task.
在一个可选的实施例中，每个控制器还包括同步逻辑处理器，每个同步逻辑处理器用于：In an optional embodiment, each controller further includes a synchronous logical processor, and each synchronous logical processor is used for:
与其他同步逻辑处理器交换时钟信号和升主使能信号；其中，升主使能信号是由同步逻辑控制器根据其所在的控制器之中的各个中央处理器以及本同步逻辑控制器分别执行自检测的结果而生成的；Exchange the clock signal and the master-up enable signal with other synchronous logic processors; wherein, the master-up enable signal is executed by the synchronous logic controller according to each central processor in the controller where it is located and the synchronous logic controller generated from the results of testing;
如果检测到所接收的升主使能信号中的标志位表示升主使能信号对应的控制器故障，则在确定工业控制系统的时钟的时候，排除将故障的控制器中的中央处理器的时钟作为工业控制系统的时钟。If it is detected that the flag bit in the received ascending master enable signal indicates that the corresponding controller of the ascending master enable signal is faulty, then when determining the clock of the industrial control system, the central processing unit in the faulty controller is eliminated The clock serves as the clock for the industrial control system.
在一个可选的实施例中，通过对本中央处理器执行第一任务的结果加上所接收的其他中央处理器执行第一任务的结果进行表决，确定第一任务的最终结果，包括：In an optional embodiment, the final result of the first task is determined by voting on the result of the central processor executing the first task plus the received results of other central processors executing the first task, including:
排除从所接收的升主使能信号中的标志位表示对应的中央处理器故障的中央处理器执行第一任务的结果；Exclude the result of executing the first task from the central processing unit whose flag bit in the received master enable signal indicates that the corresponding central processing unit fails;
对排除的处理器以外的其他中央处理器执行第一任务的结果进行表决，以确定向第一任务对应的输入输出模块输出的第一任务的结果。The result of executing the first task by other central processors other than the excluded processor is voted to determine the result of the first task to be output to the input-output module corresponding to the first task.
在一个可选的实施例中，每个同步逻辑处理器还用于：In an optional embodiment, each synchronous logical processor is also used for:
当其所在的控制器根据预设的优先权而作为工业控制系统的主控制器的时候，将本控制器之中的默认中央处理器的时钟作为工业控制系统的时钟。When the controller where it is located is used as the main controller of the industrial control system according to the preset priority, the clock of the default central processing unit in the controller is used as the clock of the industrial control system.
在一个可选的实施例中，每个同步逻辑处理器还用于：In an optional embodiment, each synchronous logical processor is also used for:
向工业控制系统中的其他同步逻辑控制器输出主备状态信号；其中，主备状态信号表示本同步逻辑控制器所在的控制器之中的中央处理器的时钟是否作为工业控制系统的时钟；Outputting master-standby status signals to other synchronous logic controllers in the industrial control system; wherein, the master-standby status signals indicate whether the clock of the central processing unit in the controller where the synchronous logic controller is located is used as the clock of the industrial control system;
并且and
每个同步逻辑处理器还用于：Each synchronous logical processor is also used to:
根据所接收的主备状态信号、升主使能信号以及控制器的预设优先级，确定其时钟作为工业控制系统的时钟的中央处理器所在的控制器。According to the received master-standby status signal, master upgrade enable signal and preset priority of the controller, determine the controller whose clock is the clock of the industrial control system and where the central processor is located.
在一个可选的实施例中，执行相同的第一任务，包括：In an optional embodiment, performing the same first task includes:
在工业控制系统中的各个中央处理器时钟同步之后，如果每个中央处理器从其所在的控制器之中的同步逻辑处理器接收到的秒脉冲信号的累计数量达到预设阈值，则开始执行相同的第一任务。After the clock synchronization of each central processor in the industrial control system, if the cumulative number of second pulse signals received by each central processor from the synchronous logic processor in its controller reaches the preset threshold, it will start to execute Same first task.
在一个可选的实施例中，每个控制器还包括协处理器，协处理器连接所在的控制器中的互作冗余的至少两个控制器以及工业控制系统中的输入输出模块，并且协处理器用于将所在的控制器中的中央处理器向对应的输入输出模块输出第一任务的结果；In an optional embodiment, each controller further includes a coprocessor, and the coprocessor is connected to at least two mutually redundant controllers in the controller where the coprocessor is located and the input and output modules in the industrial control system, and The coprocessor is used to output the result of the first task from the central processing unit in the controller to the corresponding input and output module;
并且and
协处理器还用于接收输入输出模块的输入信号。The coprocessor is also used to receive input signals from the input and output modules.
为了解决上述技术问题，本发明实施例提供了一种工业控制系统的控制方法，工业控制系统包括输入输出模块以及互作冗余的至少两个控制器，至少两个控制器中的每个控制器均包括互作冗余的至少两个中央处理器；如图2所示，该控制方法包括步骤S101-步骤S107。In order to solve the above technical problems, an embodiment of the present invention provides a control method for an industrial control system. The industrial control system includes input and output modules and at least two controllers that interact with each other redundantly. Each of the at least two controllers controls Each of the controllers includes at least two central processing units that interact with each other for redundancy; as shown in FIG. 2 , the control method includes steps S101-S107.
步骤S101，每个中央处理器执行第一任务。Step S101, each central processing unit executes a first task.
步骤S103，每个中央处理器通过在至少两个控制器之间的通信接口接收其他中央处理器执行第一任务的结果。Step S103, each central processing unit receives the results of other central processing units executing the first task through the communication interface between at least two controllers.
步骤S105，每个中央处理器通过对本中央处理器执行第一任务的结果加上所接收的其他中央处理器执行第一任务的结果进行表决，确定第一任务的最终结果。In step S105, each central processor determines the final result of the first task by voting on the result of its own central processor executing the first task plus the received results of other central processors executing the first task.
步骤S107，每个中央处理器向第一任务对应的输入输出模块输出第一任务的最终结果。Step S107, each CPU outputs the final result of the first task to the input-output module corresponding to the first task.
在一个可选的实施例中，步骤S105包括：In an optional embodiment, step S105 includes:
如果在预设的时间内未接收到一个或多个中央处理器执行第一任务的结果，则每个中央处理器根据除了一个或多个中央处理器以外的剩余中央处理器的数量，对本中央处理器执行第一任务的结果加上从剩余中央处理器接收到的执行第一任务的结果进行降级表决，以确定第一任务的结果。If one or more central processors do not receive the result of executing the first task within the preset time, each central processor performs a The result of executing the first task by the processors plus the results of executing the first task received from the remaining CPUs perform downvoting to determine the result of the first task.
虽然本发明所揭露的实施方式如上，但上述的内容仅为便于理解本发明而采用的实施方式，并非用以限定本发明。任何本发明所属领域内的技术人员，在不脱离本发明所揭露的精神和范围的前提下，可以在实施的形式及细节上进行任何的修改与变化，但本发明的专利保护范围，仍须以所附的权利要求书所界定的范围为准。Although the embodiments disclosed in the present invention are as above, the above content is only an embodiment adopted for understanding the present invention, and is not intended to limit the present invention. Anyone skilled in the field of the present invention can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed by the present invention, but the patent protection scope of the present invention must still be The scope defined by the appended claims shall prevail.
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