CN103345172A - Controlling system of wireless controller and pump truck - Google Patents
Controlling system of wireless controller and pump truck Download PDFInfo
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- CN103345172A CN103345172A CN2013102549042A CN201310254904A CN103345172A CN 103345172 A CN103345172 A CN 103345172A CN 2013102549042 A CN2013102549042 A CN 2013102549042A CN 201310254904 A CN201310254904 A CN 201310254904A CN 103345172 A CN103345172 A CN 103345172A
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Abstract
The invention discloses a controlling system of a wireless controller and a pump truck. The wireless controller comprises an emitter and a receiver, and the controlling system comprises a background infinite loop program and a foreground interruption program. The background infinite program comprises periodical tasks and event-triggering tasks, and the foreground interruption program comprises a wireless data receiving and sending processing module, a stutter stopping processing module and a Can communication module. Each periodical task comprises a timer module, an OLED module, a wireless communication monitoring module, a battery and an RSSI value collection module and an AD/DI collection module, and each event-triggering module comprises an exception processing module and a received data processing module. According to the controlling system of the wireless controller, the emitter of the controller system and the receiver of the controller system are used as special objects to be processed, then each state and component are divided in a detailed mode, and the reliability of the wireless remote control system of the pump truck and communication stability are ensured through software.
Description
Technical field
The present invention relates to Digiplex, especially a kind of control system of Digiplex and pump truck.
Background technology
Current, many engineering machinery requirement of engineering are operated under the comparison rugged environment, are not suitable for closely manually-operated, therefore the engineering machinery Digiplex are had big demand.Most engineering machinery Digiplexs are made up of a transmitter and a receiver, but most engineering machinery Digiplexs are difficult to guarantee reliability at work, also be difficult to guarantee the communication robust when many machines are worked simultaneously, in case and supporting transmitter or receiver damage then need to change a whole set of telechirics, brings potential safety hazard and inconvenience for the operation of engineering machinery.
Summary of the invention
In view of this, the present invention proposes a kind of control system and pump truck of Digiplex, most engineering machinery Digiplexs are difficult to guarantee reliability at work in the prior art to solve, be difficult to guarantee the communication robust when many machines are worked simultaneously, in case and supporting transmitter or receiver damage then need to change a whole set of telechirics, brings the problem of potential safety hazard and inconvenience for the operation of engineering machinery.
For achieving the above object, technical scheme of the present invention is achieved in that
On the one hand, the invention provides a kind of control system of Digiplex, described Digiplex comprises transmitter and receiver, wherein, comprise backstage infinite loop program and foreground interrupt routine, described backstage infinite loop program comprises periodic task and Event triggered task, described foreground interrupt routine comprises the wireless data transceiving processing module, suddenly stop processing module and Can communication module, described periodic task comprises timer module, the OLED module, the wireless communication monitoring module, battery and RSSI value acquisition module and AD/DI acquisition module, described Event triggered task comprises the abnormality processing module, receive data processing module.
The control system of above-mentioned Digiplex, wherein, described Event triggered task also comprises memory module, system state indicating module and functional task processing module, and described functional task processing module is in order to the switching between startup, automatic frequency switching and the wire and wireless state.
The control system of above-mentioned Digiplex, wherein, described periodic task comprises that also startup/frequency hopping triggers judge module, data/heartbeat data sending module.
The control system of above-mentioned Digiplex, wherein, described transmitter and described receiver have 32 bit address sign indicating numbers respectively, wherein 24 are used for verification, when a described transmitter damaged, another intact described transmitter changed its hardware address and software address into be complementary with current described receiver address code by burning program again.
The control system of above-mentioned Digiplex, wherein, the control system of described Digiplex has a plurality of available channels that prestore, and described transmitter can carry out timing to current use signal and detect, if detect the occupied or existence interference of current channel, then trigger frequency modulation mechanism automatically, the control system of whole described Digiplex is moved in the clean channel worked.
The control system of above-mentioned Digiplex wherein, is set a state machine, and described timer module comprises transmission data timer, wireless monitor timer, RSSA timer and timing shutdown timer.
The control system of above-mentioned Digiplex wherein, is set a state machine, comprises initialization in the described state machine and finishes attitude, when current system is in described initialization and finishes attitude, opens key response and enters the queried channel function.
The control system of above-mentioned Digiplex, wherein, also comprise the attitude of shaking hands in the described state machine, judge whether current system is in the channel idle event, but the words that are are opened to send and are started frame timer unlatching frequency hopping function, or judge whether current system is in the frequency hopping event, the words that are are closed the wireless monitor timer and are entered the queried channel function, again or judge whether current system is in the ACK frame event that receives, the words that are send the ACK frame and open described transmission data timer, described wireless monitor timer, obtain described RSSA timer simultaneously and make it enter run mode.
The control system of above-mentioned Digiplex, wherein, also comprise run mode in the described state machine, judge whether current system is to enter for the first time, the words that are are opened described timing shutdown timer and are opened described wireless monitor timer, if not enter for the first time and judge whether to be the frequency hopping event, the words that are are closed described wireless monitor timer and are entered the queried channel function; Then continue to judge whether to receive ACK frame event if not enter for the first time, the words that are are analyzed Frame and update displayed data, restart described wireless monitor timer.
On the other hand, the present invention also provides a kind of pump truck, comprising the control system as Digiplex as described in above-mentioned any.
With respect to prior art, the present invention has following advantage:
The control system of the Digiplex that the present invention proposes: the transmitter of remote manipulator system and receiver are used as special object handle, each state of detailed partition and building block have then guaranteed the reliability of system of pump truck Digiplex and the stability of communication by software architecture.
Pump truck of the present invention is provided with the control system of above-mentioned any Digiplex, because above-mentioned any industrial display screen built-in with wireless module has above-mentioned technique effect, therefore, the pump truck that is provided with the control system of this Digiplex also should possess corresponding technique effect.
Description of drawings
The accompanying drawing that constitutes a part of the present invention is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not constitute improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the software architecture synoptic diagram of the control system embodiment of Digiplex of the present invention;
Fig. 2 divides and handles synoptic diagram for the state machine of the control system embodiment of Digiplex of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Need to prove that under the situation of not conflicting, embodiment and the feature among the embodiment among the present invention can make up mutually.
Basic thought of the present invention is: design a kind of control system of Digiplex, to realize having guaranteed the reliability of system of pump truck Digiplex and the stability of communication by software architecture.
Below in conjunction with accompanying drawing, each preferred embodiment of the present invention is described further:
With reference to Fig. 1, it shows the software architecture synoptic diagram of the control system embodiment of Digiplex of the present invention.Digiplex comprises transmitter and receiver, control system comprises backstage infinite loop program and foreground interrupt routine, backstage infinite loop program comprises periodic task and Event triggered task, the foreground interrupt routine comprises wireless data transceiving processing module (GPIO ISR), suddenly stop processing module (the anxious ISR that stops of NMI) and Can communication module (Can ISR), periodic task comprises timer module (producing the running mark of periodic duty), the OLED module, the wireless communication monitoring module, battery and RSSI value acquisition module and AD/DI acquisition module, timer module comprise transmission data timer, the wireless monitor timer, RSSA timer and timing shutdown timer.The Event triggered task comprises the abnormality processing module, receives data processing module.The Event triggered task also comprises memory module, system state indicating module and functional task processing module, and the functional task processing module is in order to the switching between startup, automatic frequency switching and the wire and wireless state.Periodic task comprises that also startup/frequency hopping triggers judge module, data/heartbeat data sending module.
Total system adopts the design of AM/BAM mode software, the transmitter of remote manipulator system and receiver is used as special object handles, and adopts the mode of state machine, the event that each state of clear and definite as much as possible object and triggering state change; On the other hand object is disassembled by parts, each is come to parts are upright, adopt the mode that plays with building blocks, thereby guarantee the reliability of total system by the reliability that guarantees each parts.
Based on above thinking, the present invention is by the reliability of following two promise total systems:
1, to state divide rationally, accurately
At the working environment of pump truck and pump truck telepilot, the present invention is to residing each work of pump truck telepilot
State is divided, and when hapalonychia designed, each state all embodied in program, and this processing of doing under every kind of state is embodied.
2, unit exception is comprehensively handled
System when design, on the basis that the telepilot state is divided, to clearing up unusually of under every kind of state, may occurring, and in program, prevent and handle.Just because of the design of this software architecture, make to being handled unusually clearly of may occurring under each state of pump truck remote manipulator system and the every kind of state.
After system powers on, shake hands earlier, as shake hands successfully, then carry out the transmission of normal data; Unsuccessful if shake hands, then attempt shaking hands always, do not send normal data.Each process is all carried out mutual monitoring, unusually then report to the police and reset if occur.
Solve corresponding problem by software design address code coupling: this engineering machinery Digiplex adopts TI company radio frequency chip to finish the transmitting-receiving of wireless data, and it possesses 8 hardware address sign indicating numbers, can carry out address check when data receive.Increased by 24 bit address sign indicating numbers in this external home control network communication protocol design process and be used for verification, so the transmitter of each remote manipulator system and receiver have 32 independent bit address sign indicating numbers.When certain transmitter damages, process for: certain good transmitter by burning program (telepilot is reserved with the interface of burning program) again, change its hardware address and software address into be complementary with current receiver address code, can take over current receiver, carry out straighforward operation.
Monitoring and abnormality processing to communication: have special timer that communication is monitored in the system, if find communication abnormality (lost data packets or reception error in data), all can carry out corresponding abnormality processing.Simultaneously, for preventing the interference with frequency range, the realization of frequency modulation mechanism has been considered in the software design: in a frequency band, the occupied bandwidth when working according to remote manipulator system can be divided into certain frequency band a plurality of channels.Among the design, remote manipulator system has a plurality of available channels that prestore, and transmitter can carry out timing to current use signal and detect, if it is occupied or exist and disturb to detect current channel, then can trigger frequency modulation mechanism automatically, whole remote manipulator system be moved in the clean channel worked.
With reference to Fig. 2, set a state machine, timer module comprises transmission data timer, wireless monitor timer, RSSA timer and timing shutdown timer.Comprise initialization in the state machine and finish attitude, when current system is in initialization and finishes attitude, open key response and enter the queried channel function.Also comprise the attitude of shaking hands in the state machine, judge whether current system is in the channel idle event, but the words that are are opened to send and are started frame timer unlatching frequency hopping function, or judge whether current system is in the frequency hopping event, the words that are are closed the wireless monitor timer and are entered the queried channel function, again or judge whether current system is in the ACK frame event that receives, and the words that are send the ACK frame and open and send data timer, wireless monitor timer, obtain the RSSA timer simultaneously and make it enter run mode.
Also comprise run mode in the state machine, judge whether current system is to enter for the first time, the words opening timing shutdown timer and the open wireless supervision timer that are judge whether to be the frequency hopping event if not enter for the first time, and the words that are are closed the wireless monitor timer and entered the queried channel function; Then continue to judge whether to receive ACK frame event if not enter for the first time, the words that are are analyzed Frame and update displayed data, restart the wireless monitor timer.For run mode, the wireless monitor timer event to after just enter Application Monitoring (AppWatch) and unusual judge (WrcError), and finally get back to initialization and finish attitude.
The embodiment of the invention also provides a kind of pump truck, this pump truck is provided with the control system of above-mentioned any Digiplex, because the control system of above-mentioned any Digiplex has above-mentioned technique effect, therefore, the pump truck that is provided with the control system of this Digiplex also should possess corresponding technique effect, its specific implementation process is similar to the above embodiments, does not give unnecessary details now.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the control system of a Digiplex, described Digiplex comprises transmitter and receiver, it is characterized in that, comprise backstage infinite loop program and foreground interrupt routine, described backstage infinite loop program comprises periodic task and Event triggered task, described foreground interrupt routine comprises the wireless data transceiving processing module, suddenly stop processing module and Can communication module, described periodic task comprises timer module, the OLED module, the wireless communication monitoring module, battery and RSSI value acquisition module and AD/DI acquisition module, described Event triggered task comprises the abnormality processing module, receive data processing module.
2. according to the control system of the described Digiplex of claim 1, it is characterized in that, described Event triggered task also comprises memory module, system state indicating module and functional task processing module, and described functional task processing module is in order to the switching between startup, automatic frequency switching and the wire and wireless state.
3. according to the control system of the described Digiplex of claim 2, it is characterized in that described periodic task comprises that also startup/frequency hopping triggers judge module, data/heartbeat data sending module.
4. according to the control system of the described Digiplex of claim 1, it is characterized in that, described transmitter and described receiver have 32 bit address sign indicating numbers respectively, wherein 24 are used for verification, when a described transmitter damaged, another intact described transmitter changed its hardware address and software address into be complementary with current described receiver address code by burning program again.
5. according to the control system of the described Digiplex of claim 1, it is characterized in that, the control system of described Digiplex has a plurality of available channels that prestore, and described transmitter can carry out timing to current use signal and detect, if detect the occupied or existence interference of current channel, then trigger frequency modulation mechanism automatically, the control system of whole described Digiplex is moved in the clean channel worked.
6. according to the control system of the described Digiplex of claim 1, it is characterized in that, set a state machine, described timer module comprises transmission data timer, wireless monitor timer, RSSA timer and timing shutdown timer.
7. according to the control system of the described Digiplex of claim 6, it is characterized in that, set a state machine, comprise initialization in the described state machine and finish attitude, when current system is in described initialization and finishes attitude, open key response and enter the queried channel function.
8. according to the control system of the described Digiplex of claim 7, it is characterized in that, also comprise the attitude of shaking hands in the described state machine, judge whether current system is in the channel idle event, but the words that are are opened to send and are started frame timer unlatching frequency hopping function, or judge whether current system is in the frequency hopping event, the words that are are closed the wireless monitor timer and are entered the queried channel function, again or judge whether current system is in the ACK frame event that receives, the words that are send the ACK frame and open described transmission data timer, described wireless monitor timer obtains described RSSA timer simultaneously and makes it enter run mode.
9. the control system of described Digiplex according to Claim 8, it is characterized in that, also comprise run mode in the described state machine, judge whether current system is to enter for the first time, the words that are are opened described timing shutdown timer and are opened described wireless monitor timer, if not enter for the first time and judge whether to be the frequency hopping event, the words that are are closed described wireless monitor timer and are entered the queried channel function; Then continue to judge whether to receive ACK frame event if not enter for the first time, the words that are are analyzed Frame and update displayed data, restart described wireless monitor timer.
10. a pump truck is characterized in that, comprises the control system as any described Digiplex in the claim 1 to 9.
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| CN2013102549042A CN103345172A (en) | 2013-06-24 | 2013-06-24 | Controlling system of wireless controller and pump truck |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013102549042A CN103345172A (en) | 2013-06-24 | 2013-06-24 | Controlling system of wireless controller and pump truck |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112820096A (en) * | 2020-12-30 | 2021-05-18 | 中联重科股份有限公司 | Remote control system and method for engineering machinery supporting leg and engineering machinery |
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| CN102955438A (en) * | 2011-08-17 | 2013-03-06 | 秦皇岛天业通联重工股份有限公司 | Vehicular terminal of engineering machinery remote monitoring system and control method |
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Patent Citations (4)
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| WO2006000571A1 (en) * | 2004-06-24 | 2006-01-05 | Abb Ab | Industrial robot system with a portable operator control device |
| CN101262532A (en) * | 2007-02-15 | 2008-09-10 | 李尔公司 | Keyless entry multi-channel RKE system |
| CN101739017A (en) * | 2009-12-28 | 2010-06-16 | 上海交通大学 | Remote wireless control device of frequency converter and method |
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Application publication date: 20131009 |