CN104796234A - Method and system for transmitting data between remote mechanical terminal and controller - Google Patents
Method and system for transmitting data between remote mechanical terminal and controller Download PDFInfo
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- CN104796234A CN104796234A CN201510115275.4A CN201510115275A CN104796234A CN 104796234 A CN104796234 A CN 104796234A CN 201510115275 A CN201510115275 A CN 201510115275A CN 104796234 A CN104796234 A CN 104796234A
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- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims description 44
- 125000004122 cyclic group Chemical group 0.000 claims description 15
- 238000012795 verification Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 12
- 238000012790 confirmation Methods 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 abstract description 4
- 238000012546 transfer Methods 0.000 description 7
- 230000002457 bidirectional effect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
- H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
- H04L1/18—Automatic repetition systems, e.g. Van Duuren systems
- H04L1/1829—Arrangements specially adapted for the receiver end
- H04L1/1858—Transmission or retransmission of more than one copy of acknowledgement message
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
- H04B1/44—Transmit/receive switching
- H04B1/48—Transmit/receive switching in circuits for connecting transmitter and receiver to a common transmission path, e.g. by energy of transmitter
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0078—Avoidance of errors by organising the transmitted data in a format specifically designed to deal with errors, e.g. location
- H04L1/0083—Formatting with frames or packets; Protocol or part of protocol for error control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/12—Arrangements for detecting or preventing errors in the information received by using return channel
- H04L1/16—Arrangements for detecting or preventing errors in the information received by using return channel in which the return channel carries supervisory signals, e.g. repetition request signals
- H04L1/1607—Details of the supervisory signal
- H04L1/1621—Group acknowledgement, i.e. the acknowledgement message defining a range of identifiers, e.g. of sequence numbers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Communication Control (AREA)
Abstract
The invention discloses a method and a system for transmitting data between a remote mechanical terminal and a controller. The method comprises the following steps of establishing remote data connection between the remote mechanism terminal and the controller; and transmitting data to a data receiver by using a data transmitter through an established data connection mode. Data can be transmitted between the remote mechanism terminal and the controller through an established long distance data link between the remote mechanism terminal and the controller.
Description
Technical field
The present invention relates to Mechanical course field, specifically, relate to the data transmission method between a kind of remote mechanical terminal and controller and system.
Background technology
Along with improving constantly of machinery industry intelligent level, construction machinery controller and related Control System thereof have become the principal element determining properties of product, are widely used in engineering machinery, farm machinery, special vehicle field.But existing mechanical control device is arranged on apparatus body mostly, only can realize the short-range signal transmission between plant equipment to mechanical control device, manipulation personnel can only get the facility information in visual range and operate machine in visual range, cannot at a distance fetch equipment relevant information, equipment is controlled.Such as, when equipment goes wrong, maintenance personal must reach the spot could the relevant information of equipment, and then carry out diagnosis and repair, if maintenance personal is far away for equipment distance, maintenance process just compares and takes time and effort, and in this case, a kind of Long-range Data Transmission method that can realize between mechanical terminations and controller seems particularly important.
Summary of the invention
In view of this, the object of the present invention is to provide the data transmission method between a kind of remote mechanical terminal and controller and system, to solve the above problems, realize the valid data transmission between remote mechanical terminal and controller.
For achieving the above object, embodiments providing the data transmission method between a kind of remote mechanical terminal and controller, comprising:
Set up the data cube computation between remote mechanical terminal and controller;
Data receiver sends data by the data cube computation established to data receiver.
Described on base, the detailed process setting up the data cube computation between remote mechanical terminal and controller is:
Data receiver receives connection request by different frequency successively, if get connection request, then sets up data cube computation with data receiver;
Described on base, data receiver encapsulates data to be sent according to custom protocol before data receiver sends data, and the data frame format of described custom protocol comprises starting character, sequence number mark, device identification, data frame information, Frame carrying content, cyclic redundancy check (CRC) code, end mark; Include device identification in described connection request, after data receiver receives connection request, extract and preserve the device identification in connection request.
Described on base, data receiver verifies the data received according to custom protocol, sends acknowledge message after verification succeeds to data receiver.
Described on base, data receiver carries out verification according to the data frame format of custom protocol to the data received and in turn includes the following steps:
Step 1, judge whether starting character meets custom protocol requirement, if meet, carry out next step verification;
Step 2, compare sequence number mark that this receives and sequence number mark that the last time receives, if not identical, retain this data, and carry out next step verification;
Whether step 3, judgment device mark is consistent with the device identification obtained in the process of connecting, if consistent, carry out next step and judges;
Step 4, the content obtaining Frame carrying according to the data frame format of custom protocol and cyclic redundancy check (CRC) code, calculate the cyclic redundancy check (CRC) code of the content of described Frame carrying, and the cyclic redundancy check (CRC) code calculated and the circulation cyclic redundancy check (CRC) code got are compared, if consistent, then verification succeeds.
Described on base, data receiver sends after data complete to data receiver, if do not receive the acknowledge message that data receiver sends in Preset Time, then again send data to data receiver, reach preset upper limit until receive the confirmation message or resend data times
Described on base, adopt half-duplex transmission pattern between remote mechanical terminal and controller, transmitted by radio frequency.
In addition, the embodiment of the present invention additionally provides the data transmission system between a kind of remote mechanical terminal and controller, comprising: first sets up module, the first transceiver module and the second transceiver module;
First sets up module for setting up the data cube computation between remote mechanical terminal and controller;
First transceiver module is connected with remote mechanical terminal, for receiving the data of described second transceiver module transmission and sending data to described second transceiver module;
Second transceiver module is connected with controller, for receiving the data of described first transceiver module transmission and sending data to described first transceiver module.
Preferably, remote mechanical terminal and controller place are equipped with rf modulations module and radio demodulating module;
It is radiofrequency signal that rf modulations module is used for Data Modulation to be sent;
Radio demodulating module is used for the radiofrequency signal that demodulation receives.
Preferably, the first transceiver module is connected with mechanical terminations by CAN, and described second transceiver module is connected with controller by CAN.
The present invention receives connection request by different frequency successively by data receiver, if get connection request, then set up data cube computation with data receiver, data receiver sends data by the data cube computation established to data receiver, achieve the Long-range Data Transmission between mechanical terminations and controller, achieve the Long-distance Control to mechanical terminations.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Data transmission method flow chart between the mechanical terminations that Fig. 1 provides for the embodiment of the present invention and controller;
The data frame format structural representation of the custom protocol that Fig. 2 provides for the embodiment of the present invention;
Receiving data stream journey figure in data transmission procedure between the mechanical terminations that Fig. 3 provides for the embodiment of the present invention and controller;
Data flowchart is sent in data transmission procedure between the mechanical terminations that Fig. 4 provides for the embodiment of the present invention and controller;
Data transmission system structural representation between the mechanical terminations that Fig. 5 provides for one embodiment of the invention and controller;
Data transmission system structural representation between the mechanical terminations that Fig. 6 provides for another embodiment of the present invention and controller.
Primary symbols illustrates:
1, remote mechanical terminal, the 11, first transceiver module, 12, rf modulations module, the 13, first frequency hopper, 2, controller, the 21, second transceiver module, 22, radio demodulating module, the 23, second frequency hopper, 3, first sets up module.
Embodiment
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
The present invention program is understood better in order to make those skilled in the art person, below in conjunction with accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.Also by reference to the accompanying drawings the present invention is described in further detail below by specific embodiment.
For ease of understanding the present embodiment, first the data transmission method between a kind of mechanical terminations disclosed in the embodiment of the present invention and controller is described in detail, the method is applied to the Long-range Data Transmission system between mechanical terminations and controller, the executive agent of the method is mechanical terminations and controller, can realize the Long-range Data Transmission between mechanical terminations and controller by the method.As described in Figure 1, the method comprising the steps of S1-S2, specific as follows:
S1: set up the data cube computation between remote mechanical terminal and controller.
Set up remote mechanical terminal to be connected with the remote data between controller, such remote mechanical terminal and controller just can carry out bidirectional data transfers by the data cube computation established, herein, remote mechanical terminal is relative controller, refers to from the distant mechanical terminations of controller.The mode connected has a lot, both also wireless mode can be carried out by wired mode, because wire transmission restriction is more, and when carrying out long-distance transmissions, cost is higher, therefore embodiments provide a kind of radiofrequency signal that uses and complete transfer of data between mechanical terminations and controller, in view of the situation, embodiments provide a kind of connection establishment method, detailed process is as follows: data receiver receives connection request by different frequency successively, if get connection request, then set up data cube computation with data receiver.
Herein, different frequencies is multiple frequencies that data receiver and data receiver arrange in advance, like this, data receiver receives connection request in turn under the multiple frequencies preset, if receive connection request under certain frequency, send response, if do not receive connection request, next frequency will be changed to and continue to receive connection request;
Data receiver sends connection request in turn under the multiple frequencies preset, if receive response under certain frequency, sets up data cube computation, if do not receive response, changes to next frequency and continues to send connection request.
The present embodiment connects at multiple frequencies, even if when the connection that the interference that certain frequency is subject to miscellaneous equipment like this cannot set up or establish is destroyed, other frequency preset can be used to connect, which prevent the mutual interference between many equipment, and in data transmission procedure, transfer of data can also be carried out by different frequencies, so not only can prevent the fail safe disturbing but also can ensure data content.
Device identification is included in the connection request that data receiver sends, after data receiver receives connection request, extract and preserve the device identification in connection request, such data receiver knows the information of transmit leg, can carry out certification according to this information to subsequently received data in data receiver after this, this point hereafter can describe in detail.
S2: data receiver sends data by the data cube computation established to data receiver.
After connection establishment is good, mechanical terminations and controller just can carry out two-way transfer of data, that is, both can be that mechanical terminations sends data to controller, and also can be that controller sends data to mechanical terminations, achieve the transmitted in both directions of data.Because the transmission of wireless data is based on character transmission, what see in a transceiver is all character one by one, and in order to transmit data normally, special data in wireless link are defined as following form see Fig. 2, the implication scheming Chinese and English label is:
SOF:Start Of Frame, starting character;
MSG_SEQ:Message Sequence, Frame sequence number identifies;
DEV_ID:Device Identify, device identification
MSG_INFO:Message Information, data frame information;
Payload:Payload of Message, Frame carrying content;
CRC: cyclic redundancy check (CRC)
EOF:End Of Frame, end mark.
The data that data receiver will send are filled according to above-mentioned data frame format, send after having filled, and the data frame format that the embodiment of the present invention provides fully can ensure fail safe in data transmission procedure, reliability.
The connection of data receiver by establishing, receive the data that data receiver sends, data receiver first by the data that receive stored in data buffer area, digital independent district is connected with data buffer area, first digital independent district judges data buffer area, judge whether data buffer area exists receipt, then read operation is carried out as existed, if do not existed, then again data buffer area is judged after a preset amount of time, judge the integrality of data after reading, detailed process is see Fig. 3:
S31: judge whether starting character meets custom protocol requirement, if meet, carries out next step verification.
S32: compare this sequence number mark received and the last sequence number mark received, if not identical, retain this sequence number mark, and carry out next step verification.
S33: whether judgment device mark is consistent with the device identification obtained in the process of connecting, if consistent, carry out next step and judges.
S34: the content and the cyclic redundancy check (CRC) code that obtain Frame carrying according to the data frame format of custom protocol, calculate the cyclic redundancy check (CRC) code of the content of described Frame carrying, and the cyclic redundancy check (CRC) code calculated and the circulation cyclic redundancy check (CRC) code got are compared, if consistent, then verification succeeds.
Through the judgement of above-mentioned steps, integrality and the fail safe of the data received can be ensured.
Corresponding reception flow process, transmission flow, see Fig. 4, comprising:
S21: encapsulate data to be sent according to custom protocol form.
S22: send the data encapsulated to data receiver, wait-receiving mode side sends confirmation and disappears.
S23: if preset time in do not receive the confirmation message, then resend data, until receive data receiver send acknowledge message or sending times reach the upper limit.
Above-mentioned transmission, receive flow process and can to guarantee data security arrival, enhance the stability of data transmission procedure.
For said method, present invention also offers the data transmission system between a kind of remote mechanical terminal and controller, comprise first and set up module 3, first transceiver module 11 and the second transceiver module 21, see Fig. 5,
First sets up module 3 for setting up the data cube computation between remote mechanical terminal 1 and controller 2, and remote mechanical terminal 1 and controller 2 carry out bidirectional data transfers by the data cube computation established;
First transceiver module 11 is connected with remote mechanical terminal 1, for receiving data that the second transceiver module 21 sends, verifies the integrality of data that receives and sends data to the second transceiver module 21;
Second transceiver module 21 is connected with controller 2, for receiving, verify data that the first transceiver module 11 sends, verifies the integrality of data that receives and sends data to the first transceiver module 11.
Wherein, first transceiver module 11 is connected with mechanical terminations by CAN, second transceiver module 21 is connected with controller by CAN, and the above-mentioned first function setting up module 3, first transceiver module 11, second transceiver module 21 can adopt on mechanical terminations, controller and install corresponding software or specific hardware realization.
In addition, controller end and mechanical terminations are also all provided with rf modulations module and radio demodulating module; Wherein, the Data Modulation that rf modulations module is used for sending is that radiofrequency signal is transmitted; Radio demodulating module is used for by the data demodulates in the radiofrequency signal that receives out.Also can be provided with frequency hopper at controller and mechanical terminations, signal is transmitted at different frequencies, the fail safe that ensure that signal simultaneously, prevents interference, see Fig. 6, Fig. 6 is that remote mechanical terminal sends data structure schematic diagram to controller, data receiver is provided with the first frequency hopper 13, and data receiver is provided with the second frequency hopper 23, two frequency hoppers and works with identical frequency-hopping mode, this ensure that the fail safe in data transmission procedure, and prevent interference.
Below for an actual demand, the application of the present invention in Practical Project is described.
Demand is as follows:
Transmitting terminal is a visual far distance controlled terminal, and module interface is CAN; Receiving terminal is certain engineering machinery vehicle, and receiving terminal is linked into former car CAN network; Need the Hydraulic Elements being controlled vehicle by control terminal, and obtain the parameter information of car upper sensor; CAN comprises standard CAN and expansion CAN two kinds of patterns, and the total traffic load of CAN is elongated.
Employing inventive solution is as follows:
The MCU of transmitting terminal is connected with sending module by CAN, configuration CAN baud rate;
Transmitting terminal powers on and sends with the connection request Frame of DEV_ID, until connection establishment;
Receiving terminal monitors connection request, until receive the connection request of transmitting terminal, the DEV_ID that the request of preservation connects is as the verification of follow-up data;
Data transmit-receive is started according to dataframe flow process and data frame receipt flow process;
Data after receiving the data, are sent former car CAN network after checking is correct, realize the seamless connection of far distance controlled terminal and existing CAN network by receiving terminal;
Data are sent to MCU by CAN from after the bus data of transmitting terminal by transmission and reception, and MCU obtains by which the parameter information that in remote CAN network, transducer sends, and realizes the acquisition to sensor information in remote CAN network.
Generally speaking, the present invention has the following advantages: 1, employing radio-frequency technique realizes the transfer of data between controller and far distance controlled terminal; 2, custom protocol form is adopted to ensure the reliability of Content of communciation; 3, half-duplex mechanism is adopted to realize bidirectional data transfers; 4, frequency hopping is adopted to realize shielding the mutual interference between many equipment; 5, CAN data payload form is adopted to ensure and former car control bus compatibility.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection range of claim.
Claims (10)
1. the data transmission method between remote mechanical terminal and controller, is characterized in that, comprising:
Set up the data cube computation between remote mechanical terminal and controller;
Data receiver sends data by the data cube computation established to data receiver.
2. the data transmission method between remote mechanical terminal according to claim 1 and controller, is characterized in that, the described detailed process setting up data cube computation between remote mechanical terminal and controller is:
Data receiver receives connection request by different frequency successively, if get connection request, then sets up data cube computation with data receiver.
3. the data transmission method between remote mechanical terminal according to claim 2 and controller, it is characterized in that, also comprise: data receiver encapsulates data to be sent according to custom protocol before data receiver sends data, the data frame format of described custom protocol comprises starting character, sequence number mark, device identification, data frame information, Frame carrying content, cyclic redundancy check (CRC) code, end mark; Include device identification in described connection request, after data receiver receives connection request, extract and preserve the device identification in connection request.
4. the data transmission method between remote mechanical terminal according to claim 3 and controller, it is characterized in that, also comprise: data receiver verifies the data received according to custom protocol, after verification succeeds, send acknowledge message to data receiver.
5. the data transmission method between remote mechanical terminal according to claim 4 and controller, is characterized in that, described data receiver carries out verification according to the data frame format of custom protocol to the data received and in turn includes the following steps:
Step 1, judge whether starting character meets custom protocol requirement, if meet, carry out next step verification;
Step 2, compare sequence number mark that this receives and sequence number mark that the last time receives, if not identical, retain this sequence number mark, and carry out next step verification;
Whether step 3, judgment device mark is consistent with the device identification obtained in the process of connecting, if consistent, carry out next step and judges;
Step 4, the content obtaining Frame carrying according to the data frame format of custom protocol and cyclic redundancy check (CRC) code, calculate the cyclic redundancy check (CRC) code of the content of described Frame carrying, and the cyclic redundancy check (CRC) code calculated and the circulation cyclic redundancy check (CRC) code got are compared, if consistent, then verification succeeds.
6. the data transmission method between remote mechanical terminal according to claim 4 and controller, it is characterized in that, also comprise: data receiver sends after data complete to data receiver, if do not receive the acknowledge message that data receiver sends in Preset Time, then again send data to data receiver, reach preset upper limit until receive the confirmation message or resend data times.
7. the remote mechanical terminal according to any one of claim 1 to 6 and the data transmission method between controller, be is characterized in that, adopt half-duplex transmission pattern, transmitted by radiofrequency signal between remote mechanical terminal and controller.
8. the data transmission system between remote mechanical terminal and controller, is characterized in that, comprising: first sets up module, the first transceiver module and the second transceiver module;
Described first sets up module for setting up the data cube computation between remote mechanical terminal and controller;
Described first transceiver module is connected with remote mechanical terminal, for receiving the data of described second transceiver module transmission and sending data to described second transceiver module;
Described second transceiver module is connected with controller, for receiving the data of described first transceiver module transmission and sending data to described first transceiver module.
9. the data transmission system between remote mechanical terminal according to claim 8 and controller, is characterized in that, remote mechanical terminal and controller place are equipped with rf modulations module and radio demodulating module;
It is radiofrequency signal that described rf modulations module is used for Data Modulation to be sent;
Described radio demodulating module is used for the radiofrequency signal that demodulation receives.
10. the data transmission system between remote mechanical terminal according to claim 8 or claim 9 and controller, it is characterized in that, described first transceiver module is connected with remote mechanical terminal by CAN, and described second transceiver module is connected with controller by CAN.
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| CN201510115275.4A CN104796234A (en) | 2015-03-16 | 2015-03-16 | Method and system for transmitting data between remote mechanical terminal and controller |
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| CN201510115275.4A CN104796234A (en) | 2015-03-16 | 2015-03-16 | Method and system for transmitting data between remote mechanical terminal and controller |
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| CN108407736A (en) * | 2018-03-05 | 2018-08-17 | 奇瑞汽车股份有限公司 | A kind of control method and system of the communication of generalization automobile remote-control |
| CN108407736B (en) * | 2018-03-05 | 2019-12-10 | 奇瑞汽车股份有限公司 | Control method and system for universal automobile remote control communication |
| CN109005537A (en) * | 2018-06-04 | 2018-12-14 | 杭州古北电子科技有限公司 | A kind of cloud security quickly matches network method and distribution network systems |
| CN109687939A (en) * | 2018-12-10 | 2019-04-26 | 上海华兴数字科技有限公司 | Engineering mechanical device communication means, system and carrying communication protocol |
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