CN111030907A - Multi-device data analysis and management method for serial port bus of robot - Google Patents
Multi-device data analysis and management method for serial port bus of robot Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40052—High-speed IEEE 1394 serial bus
- H04L12/40078—Bus configuration
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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
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/06—Notations for structuring of protocol data, e.g. abstract syntax notation one [ASN.1]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40228—Modbus
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Abstract
The invention belongs to the technical field of intelligent explosion-proof inspection robots, and relates to a multi-device data analysis and management method of a serial port bus of a robot, which comprises the following steps: the upper computer serial port equipment library transmits a standard Modbus-RTU instruction protocol of application data to a corresponding serial port communication module through a serial port communication module bound by the upper computer serial port equipment library, and the serial port communication module starts a data issuing processing thread in a multithreading mode and issues the instruction data to a serial port; after receiving the Modbus-RTU protocol instruction corresponding to the application data, the instrument equipment mounted by each serial port sends the corresponding data to the serial port, and the serial port communication module receives the Modbus-RTU return data of each serial port equipment in series and adds the data into a data buffer queue for analyzing the data; and performing multi-thread processing on the data in the buffer queue, and distributing the processed data to the corresponding serial port equipment library. Under the condition that serial port resources are limited, the method provides data verification and runs stably.
Description
Technical Field
The invention belongs to the technical field of intelligent explosion-proof inspection robots, relates to the field of data analysis of serial device data by upper computer software, and particularly relates to a multi-device data analysis and management method of a serial bus of a robot.
Background
Along with the development of economy, the automation level is constantly improved, and energy such as oil and gas is used by more and more people, and it is also more and more along with the energy quantity of transportation, then with key website in the transportation way, use intelligent explosion-proof inspection robot to replace the manual work to accomplish the work of patrolling and examining of key equipment gradually.
The serial port resource of the intelligent explosion-proof inspection robot is limited, but because the service requirement is high, the function is complex, and the types of instrument equipment in the oil and gas industry are high, a plurality of serial port equipment or instrument and meter are often required to be mounted on the explosion-proof inspection robot. Modbus is a serial communication protocol, and is a common connection mode among industrial electronic equipment, and a serial port protocol Modbus-RTU (remote terminal unit) communication protocol is a communication protocol mostly adopted by instruments and equipment. The upper computer software needs to communicate with various serial devices, so that the robot upper computer software has very important significance and effect on management, data analysis and processing, receiving and issuing of the multiple serial devices and the serial devices under limited serial resources.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multi-device data analysis and management method of a serial port bus of a robot, so that management and data analysis processing of multi-serial port and serial port devices by upper computer software of the robot are realized.
In order to achieve the purpose, the invention provides the following technical scheme:
a multi-device data analysis and management method for a serial port bus of a robot specifically comprises the following steps:
step 1, configuring a serial port management configuration file;
step 2, packaging a corresponding serial device class library or a dynamic link library for each serial device to form a serial device library;
step 3, starting a serial port management module;
step 4, the serial port management module opens the corresponding serial port according to the configuration file;
step 5, loading a corresponding serial port equipment library/dynamic link library by the serial port management module, and binding a corresponding serial port communication object for a receiving function of the serial port equipment library/dynamic link library according to the mounted serial port bus;
step 6, issuing an instruction of applying for data at fixed time;
step 7, after the instrument equipment mounted by each serial port receives the Modbus-RTU protocol instruction corresponding to the application data, the corresponding data are sent to the serial port, the serial port communication module receives the Modbus-RTU return data of each serial port equipment in series, and the data are added into a data buffer queue;
and 8, performing multi-thread processing on the data of the standard Modbus-RTU protocol received by the serial port, distributing the processed data to the corresponding serial port equipment library, and performing data analysis and application by each serial port equipment class library/dynamic link library.
Further, the serial port management configuration file in the step 1 is used for describing the relationship between the serial port bus of the industrial personal computer of the intelligent explosion-proof inspection robot and serial port equipment connected with respective serial ports.
Further, the serial port management configuration file comprises basic information of each serial port, including basic information such as names, baud rates, verification modes, stop bits and the like, so that the serial ports can be flexibly managed.
Further, the serial port management module in step 3 is a comprehensive management module of the upper computer software for the serial port and the serial port device, and has the following functions: and opening/closing a specific serial port according to the serial port name, acquiring a serial port communication module, acquiring a serial port device and loading the serial port device.
Further, the step 6 of issuing the instruction of applying for the data at regular time specifically includes:
the upper computer serial port equipment library transmits a standard Modbus-RTU instruction protocol of application data to a corresponding serial port communication module through a serial port communication module object bound by the upper computer serial port equipment library, and the serial port communication module starts a data issuing processing thread in a multithreading mode and issues the instruction data to a serial port.
Further, the step 8 specifically includes the following steps:
step 8.1, storing the received data into a buffer queue according to bytes for data analysis;
step 8.2, performing Modbus-RTU verification processing on the received data byte queue;
8.3, searching a serial port equipment data receiving function dictionary of the serial port communication module for the correct verified data according to the serial port equipment ID of the first byte, and finding a corresponding serial port equipment library receiving function;
and 8.4, calling a receiving function of the corresponding serial port equipment library, and forming a pack of Modbus-RTU data packets by the data and sending the data to the corresponding serial port equipment library.
Further, the step 8.2 specifically comprises the following steps:
step 8.2.1, reading the function code according to the cursor: if the error code is not the error code, continuing to read the data, analyzing the length of the 1 byte data, and reading the data of the corresponding length byte according to the data length; if the data is wrong, reading three bytes, wherein the three bytes comprise an error code of one byte and a CRC (cyclic redundancy check) code of two bytes;
step 8.2.2, reading CRC check codes of two bytes to form a packet of completion data packets;
step 8.2.3, perform CRC check on the complete packet.
Furthermore, each serial port equipment library issues a data reading instruction through a serial port communication module object, and reads data of the instrument equipment; the data of each serial port device is collected in a cycle timing mode, and a plurality of serial port devices are mounted on one serial port bus.
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects: by providing the multi-device data analysis and management method for the serial port bus of the robot, under the condition that serial port resources are limited, a good overall management effect is achieved for the condition that one serial port bus carries a plurality of Modbus-RTU protocol format serial port instrument devices, and the method has the advantages of being stable in operation, providing data verification, being simple in structure and the like.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a diagram of a serial port management configuration file structure according to the present invention;
FIG. 2 is a flow chart of the serial port management and communication implementation process of the present invention;
FIG. 3 is a flow chart of data parsing for a serial communication module according to the present invention;
fig. 4 is a diagram of data communication and structure provided by the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of methods consistent with certain aspects of the invention, as detailed in the appended claims.
In order to make those skilled in the art better understand the technical solution of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and examples.
Example 1
The invention provides a multi-device data analysis and management method of a serial port bus of a robot, which specifically comprises the following steps:
step 1, configuring a serial port management configuration file;
step 2, packaging a corresponding serial device class library or a dynamic link library for each serial device to form a serial device library;
step 3, starting a serial port management module;
step 4, the serial port management module opens the corresponding serial port according to the configuration file;
step 5, loading a corresponding serial port equipment library by the serial port management module, and binding a corresponding serial port communication object for a receiving function of the serial port equipment library according to the mounted serial port bus;
step 6, issuing an instruction of applying for data at fixed time;
step 7, after the instrument equipment mounted by each serial port receives the Modbus-RTU protocol instruction corresponding to the application data, the corresponding data are sent to the serial port, the serial port communication module receives the Modbus-RTU return data of each serial port equipment in series, and the data are added into a data buffer queue;
step 8, multithreading processing is carried out on the data of the standard Modbus-RTU protocol received by the serial port, and the processed data are distributed to a corresponding serial port equipment library;
and 9, performing data analysis and application by each serial device class library/dynamic link library.
Further, the serial port management configuration file in the step 1 is used for describing the relationship between the serial port bus of the industrial personal computer of the intelligent explosion-proof inspection robot and serial port equipment connected with respective serial ports.
Further, the serial port management configuration file configures basic information of each serial port, including a name, a baud rate, a check mode, a stop bit and the like, therein so as to flexibly manage the serial port, and a structure diagram of the serial port management configuration file is shown in fig. 1.
Further, the serial device library in step 2 includes a data receiving method, a serial communication module object, a serial device dynamic link library name, and a serial device module name. In the invention, each serial port device is packaged with a class library or a dynamic link library, and each instrument or device automatically processes and applies data in detail according to the received data.
Further, the serial port management module in step 3 is a comprehensive management module of the upper computer software for the serial port and the serial port device, and has the following functions: and opening/closing a specific serial port according to the serial port name, acquiring a serial port communication module, acquiring a serial port device and loading the serial port device. The serial port management module starts as follows (see fig. 2): firstly, a serial port management module reads a serial port configuration file; secondly, initializing a serial port communication module; thirdly, opening the configured serial port equipment; and finally, binding a serial port communication module for the serial port equipment.
Further, the serial port communication module needs to have the following functions besides the serial port object: opening the serial port, closing the serial port, receiving serial port data, issuing data to the serial port, adding a corresponding serial port device data receiving function according to a serial port device ID (device address), and deleting the corresponding serial port device data receiving function according to the serial port device ID (device address). The serial port device library needs to read data of the instrument device, read instruction data is issued through a serial port communication module object, and collection of the serial port device data is generally cycle timing collection.
Further, the step 6 of issuing the instruction of applying for the data at regular time specifically includes:
the upper computer serial port equipment library transmits a standard Modbus-RTU instruction protocol of application data to a corresponding serial port communication module through a serial port communication module object bound by the upper computer serial port equipment library, and the serial port communication module starts a data issuing processing thread in a multithreading mode and issues the instruction data to a serial port.
Further, the step 8 specifically includes the following steps, as shown in fig. 3:
step 8.1, storing the received data into a buffer queue according to bytes for data analysis;
step 8.2, performing Modbus-RTU verification processing on the received data byte queue;
8.3, searching a serial port equipment data receiving function dictionary of the serial port communication module for the correct verified data according to the serial port equipment ID of the first byte, and finding a corresponding serial port equipment library receiving function;
and 8.4, calling a receiving function of the corresponding serial port equipment library, and forming a pack of Modbus-RTU data packets by the data and sending the data to the corresponding serial port equipment library.
Further, the step 8.2 specifically comprises the following steps:
step 8.2.1, reading the function code according to the cursor: if the error code is not the error code, continuing to read the data, analyzing the length of the 1 byte data, and reading the data of the corresponding length byte according to the data length; if the data is wrong, reading three bytes, wherein the three bytes comprise an error code of one byte and a CRC (cyclic redundancy check) code of two bytes;
step 8.2.2, reading CRC check codes of two bytes to form a packet of completion data packets;
step 8.2.3, perform CRC check on the complete packet.
Furthermore, each serial port equipment library issues a data reading instruction through a serial port communication module object, and reads data of the instrument equipment; the data of each serial port device is collected in a cycle timing mode, and a plurality of serial port devices are mounted on one serial port bus.
Example 2
The invention provides a multi-device data analysis and management method of a serial bus of a robot, which is applied to an intelligent explosion-proof inspection robot, wherein the serial resource is limited, one serial bus is connected with a plurality of serial devices, and the devices all follow a standard Modbus-RTU industrial electronic communication protocol, and the specific development and implementation process is as follows, and is shown in figure 4:
s1, configuring a serial port management configuration file, configuring basic information, baud rate and other attributes of a serial port 1, and configuring addresses of temperature and humidity instruments 1 and 2, an address of a methane gas detection instrument 3 and an address of a hydrogen sulfide gas detection instrument 4 under the serial port 1;
s2, packaging the corresponding serial device class library or dynamic link library for each serial device;
s3, starting a serial port management module;
s4, the serial port management module opens the corresponding serial port according to the configuration file;
s5, the serial port management module loads a corresponding serial port equipment library and binds a corresponding serial port communication object for a receiving function of the serial port equipment library according to the mounted serial port bus;
s6, issuing an instruction of applying for data at fixed time;
s7, after receiving the Modbus-RTU protocol instruction corresponding to the application data, the instrument devices mounted on the serial ports send the corresponding data to the serial ports, and the serial port communication module receives the Modbus-RTU return data of each serial port device in series and adds the data to a data buffer queue;
s8, storing the received data into a buffer queue according to bytes for data analysis; carrying out Modbus-RTU (remote terminal unit) verification processing on the byte queue; searching a serial port equipment data receiving function dictionary of the serial port communication module for the data which is correctly checked according to the address data of the first byte, and finding a corresponding serial port equipment library receiving function; and calling a receiving function of the corresponding serial port equipment library, forming a Modbus-RTU data packet by the data, and transmitting the Modbus-RTU data packet to the corresponding serial port equipment library, wherein each serial port equipment class library/dynamic link library automatically analyzes and applies the data.
In conclusion, the multi-device data analysis and management method for the serial port bus of the robot has the advantages that under the condition that serial port resources are limited, the overall management effect is good for the condition that one serial port bus carries a plurality of Modbus-RTU protocol format serial port instrument devices, and the method has the advantages of being stable in operation, providing data verification, simple in structure and the like.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention.
It is to be understood that the present invention is not limited to what has been described above, and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (8)
1. A multi-device data analysis and management method for a serial port bus of a robot is characterized by comprising the following steps:
step 1, configuring a serial port management configuration file;
step 2, packaging a corresponding serial device class library or a dynamic link library for each serial device to form a serial device library;
step 3, starting a serial port management module;
step 4, the serial port management module opens the corresponding serial port according to the configuration file;
step 5, loading a corresponding serial port equipment library by the serial port management module, and binding a corresponding serial port communication object for a receiving function of the serial port equipment library according to the mounted serial port bus;
step 6, issuing an instruction of applying for data at fixed time;
step 7, after the instrument equipment mounted by each serial port receives the Modbus-RTU protocol instruction corresponding to the application data, the corresponding data are sent to the serial port, the serial port communication module receives the Modbus-RTU return data of each serial port equipment in series, and the data are added into a data buffer queue;
and 8, performing multi-thread processing on the data of the standard Modbus-RTU protocol received by the serial port, distributing the processed data to the corresponding serial port equipment library, and performing data analysis and application by each serial port equipment class library/dynamic link library.
2. The method for analyzing and managing the multi-device data of the serial port bus of the robot according to claim 1, wherein the serial port management configuration file in the step 1 is used for describing the relationship between the serial port bus of the industrial personal computer of the intelligent explosion-proof inspection robot and serial port devices connected under respective serial ports.
3. The method for multi-device data analysis and management of the robot serial bus according to claim 2, wherein the serial management configuration file comprises basic information of each serial port, including a name, a baud rate, a check mode and a stop bit.
4. The method for analyzing and managing the multi-device data of the serial port bus of the robot according to claim 1, wherein the serial port management module in the step 3 is a comprehensive management module of the upper computer software for the serial port and the serial port device, and has the following functions: and opening/closing a specific serial port according to the serial port name, acquiring a serial port communication module, acquiring a serial port device and loading the serial port device.
5. The method for analyzing and managing the multi-device data of the serial port bus of the robot according to claim 1, wherein the step 6 of issuing the command for applying the data at regular time specifically comprises:
the upper computer serial port equipment library transmits a standard Modbus-RTU instruction protocol of application data to a corresponding serial port communication module through a serial port communication module object bound by the upper computer serial port equipment library, and the serial port communication module starts a data issuing processing thread in a multithreading mode and issues the instruction data to a serial port.
6. The method for analyzing and managing the multi-device data of the serial port bus of the robot according to claim 1, wherein the step 8 specifically comprises the following steps:
step 8.1, storing the received data into a buffer queue according to bytes for data analysis;
step 8.2, performing Modbus-RTU verification processing on the byte queue;
8.3, searching a serial port equipment data receiving function dictionary of the serial port communication module for the data which is correctly checked according to the address data of the first byte, and finding a corresponding serial port equipment library receiving function;
and 8.4, calling a receiving function of the corresponding serial port equipment library, and forming a Modbus-RTU data packet by the data and sending the Modbus-RTU data packet to the corresponding serial port equipment library.
7. The method for analyzing and managing the multi-device data of the serial port bus of the robot according to claim 6, wherein the step 8.2 specifically comprises the following steps:
step 8.2.1, reading the function code according to the cursor: if the error code is not the error code, continuing to read the data, analyzing the length of the 1 byte data, and reading the data of the corresponding length byte according to the data length; if the error code exists, reading three bytes which comprise one-byte error code and two-byte CRC (cyclic redundancy check) check codes until the functional code does not exist;
step 8.2.2, reading CRC check codes of two bytes to form a complete data packet;
step 8.2.3, the complete packet in step 8.2.2 is CRC checked.
8. The multi-device data analysis and management method of the robot serial port bus according to claim 1, wherein each serial port device library issues a data reading instruction through a serial port communication module object to read data of instrument devices; and the data of each serial port device is acquired in a cyclic timing mode.
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