CN115390490B - Remote control terminal redundancy management method, device, equipment and storage medium - Google Patents
Remote control terminal redundancy management method, device, equipment and storage medium Download PDFInfo
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Abstract
The application relates to a method, a device, equipment and a storage medium for managing redundancy of a remote control terminal, wherein the method comprises the following steps: acquiring a data updating unit corresponding to any channel; if the update data packet is received, if the data update unit corresponding to the other channels does not receive the corresponding update data packet, abnormal information related to the update data packet is sent to the intelligent terminal of the staff; if the data updating unit does not receive the updated data packet, counting abnormal time information; if the abnormal time information reaches the preset critical time information, transmitting abnormal information related to the updated data packet to an intelligent terminal of a worker; and if the data updating units corresponding to the other channels receive the corresponding updating data packets, monitoring the updating data packets according to a preset period. The application has the technical effects that: the possibility of triggering relevant redundancy operation according to the error result by the system is reduced, so that the stability of the flight system in the running process is improved.
Description
Technical Field
The present application relates to the technical field of redundancy management, and in particular, to a method, an apparatus, a device, and a storage medium for redundancy management of a remote control terminal.
Background
In the aircraft system, the flight control system is a core system for controlling the basic functions of the aircraft, and mainly comprises a flight control computer, an actuator, a sensor, a display device and the like. The Flight Control Computer (FCC) or the Backup Flight Control Computer (BFCC) runs the flight control rate of the airplane and sends the control command of the actuator to the servo actuating system, and the servo actuating system further converts the control command into the command of the actuator through the servo controller and directly controls the steering engine to act, so that the flight attitude of the airplane is controlled.
The existing flight control system controls the track of the aircraft in the horizontal plane through two channels of the aileron and the rudder, and takes a yaw angle control system or a roll angle control system as an inner loop; the aileron channel is used as a main channel, the rudder channel is used as an auxiliary channel, and the auxiliary channel only plays a role in damping and coordination; the lateral deviation signal is integrated with the yaw angle signal after passing through the first limiter, is integrated with the roll angle and the roll angle speed signal after passing through the second limiter, and is sent to the rudder loop to operate the aileron.
During operation of the flight control system described above, the inventors consider at least the following problems: in the process of controlling the flying angle through the two channels, the main channel or the auxiliary channel is possibly damaged, so that the stability of the flying system is poor.
Disclosure of Invention
In order to solve the problem of poor stability of a flight system caused by channel damage, the application provides a redundancy management method and system for a remote control terminal.
In a first aspect, the present application provides a method for managing redundancy of a remote control terminal, which adopts the following technical scheme: the method comprises the following steps: acquiring a data updating unit corresponding to any channel, wherein the data updating unit is used for receiving an updating data packet;
judging whether the data updating unit receives an updating data packet or not;
if the update data packet is received, judging whether the data update unit corresponding to other channels receives the corresponding update data packet or not;
If the data updating units corresponding to the other channels do not receive the corresponding updating data packet, abnormal information related to the updating data packet is sent to the intelligent terminal of the staff;
If the data updating unit does not receive the updating data packet, counting the time information corresponding to the updating data packet which is not received and setting the time information as abnormal time information;
if the abnormal time information reaches the preset critical time information, transmitting abnormal information related to the updated data packet to an intelligent terminal of a worker;
If the data updating units corresponding to the other channels receive the corresponding updating data packet, monitoring the updating data packet according to a preset period
According to the technical scheme, the system judges whether the monitoring operation is started normally or not by automatically judging whether the data updating units of different channels normally receive the updating data packet or not, and sends corresponding information to the intelligent terminal of the staff according to different updating conditions corresponding to different channels, so that the possibility that the system triggers relevant redundancy operation according to an error result under the condition that the main channel or the auxiliary channel is damaged is reduced, and the stability of the flight system in the running process is improved.
In a specific embodiment, the monitoring the update data packet according to the preset period includes:
Acquiring update checking information corresponding to the update data packet;
judging whether the updated checking information is in a preset normal checking range or not;
if the updated checking information is in the preset normal checking range, adding a preset updated normal value to a preset checking state judging value;
if the updated checking information is located outside a preset normal checking range, adding a preset updated fault value to a preset checking state judging value;
Judging whether the judging value of the checking state is in the preset checking standard range;
If the checking state judging value is out of the preset checking standard range, abnormal information related to updating the checking information is sent to the intelligent terminal of the staff;
if the checking state judging value is within the preset checking standard range, the updating data packet is monitored according to the preset period.
By the technical scheme, when the system monitors the updated data packet, whether the updated check information is abnormal or not can be judged by acquiring the relation between the updated check information and the normal check range, so that the system can directly judge the abnormal check update information, and after the updated normal value or the updated fault value corresponding to the updated check information is added to the check judgment value, the system can automatically send the abnormal information or monitor the abnormal check range according to the relation between the check judgment value and the normal check range.
In a specific embodiment, after the monitoring operation is performed on the update data packet according to the preset period, the method further includes:
Acquiring data communication information corresponding to a channel, wherein the data communication information is data information for communication of the channel;
Acquiring byte information corresponding to the data communication information and setting the byte information as a data communication byte;
Dividing the data communication byte according to the preset length information;
Sequentially acquiring the divided data communication byte information and setting the communication byte information as health state information;
performing exclusive OR operation on the health state information and the sequentially segmented data communication bytes, and setting byte information after the exclusive OR operation as heartbeat state information;
repeating the exclusive-or operation until one data byte information which is not subjected to the exclusive-or operation remains;
Comparing the heartbeat state information with the rest data byte information;
if the health state information is different from the rest data byte information, abnormal information related to the data communication information is sent to the intelligent terminal of the staff.
According to the technical scheme, when the content of the data byte information is required to be monitored, the system can calculate whether the data byte information is normal or not in a health state information and heartbeat state information mode, so that the possibility of unstable redundancy control caused by abnormal data byte information is reduced, and the stability of redundancy management is further improved.
In a specific embodiment, the method further comprises:
acquiring preset heartbeat state monitoring information, wherein the heartbeat state monitoring information comprises a monitoring result of the heartbeat state information;
Judging whether the heartbeat state monitoring information is in a first monitoring state or not;
If the heartbeat state monitoring information is in the first monitoring state, acquiring the update condition of the heartbeat state information;
if the heartbeat state information is monitored to be updated twice continuously, normal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff;
otherwise, abnormal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff;
if the heartbeat state monitoring information is not in the first monitoring state, judging whether the update condition of the heartbeat state information is acquired within the preset monitoring update time;
if the update condition of the heartbeat state information is acquired within the preset monitoring update time, normal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff;
Otherwise, abnormal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff.
According to the technical scheme, when the heartbeat state information is monitored, different monitoring operations are needed according to the monitoring times of the heartbeat state information, and whether the heartbeat state information is normal is judged according to the condition that whether the heartbeat state information is normal in a preset period; after the first monitoring is finished, a worker can quickly and conveniently judge whether the current heartbeat state information is normal or not through whether the update time of the heartbeat state information is within the preset time, so that the stability of the system to redundancy management is further improved.
In a specific embodiment, the method further comprises:
When the channel information corresponding to different channel information is different, obtaining the channel information corresponding to the preset effective condition and setting the channel information as most effective channel information;
if the number of the effective channel information is three, a preset three-redundancy monitoring voting algorithm is adopted;
if the number of the effective channel information is two, a preset two-redundancy monitoring voting algorithm is adopted;
if the number of the effective channel information is one, directly accessing preset self-monitoring information;
If the self-monitoring information is valid, acquiring a self-monitoring value corresponding to the self-monitoring information;
Otherwise, fault information related to the channel information is sent to the intelligent terminal of the staff.
Through the technical proposal, when the channel information corresponding to different channels is different, the system can select different algorithm logics according to the number of the effective channels, so that the system selects the most reasonable algorithm logic to control the redundancy management, thereby improving the stability of the redundancy control,
In a specific embodiment, the method further comprises:
when the channel information corresponding to different channels is the same, obtaining the channel information corresponding to the preset effective conditions and setting the channel information as identical effective channel information;
If the number of the identical effective channels is three, a preset three-redundancy monitoring voting algorithm is adopted;
and if the identical effective channel information is less than three, sending fault information related to the channel information to the intelligent terminal of the staff.
Through the technical scheme, when the channel information corresponding to different channels is the same, the system can automatically select the corresponding optimal algorithm according to the number of the effective channels, and the efficiency of redundancy management is improved according to the optimal algorithm.
In a specific embodiment, the method further comprises:
when the data communication information is subjected to monitoring operation and voting operation is not performed, judging whether the system is in a preset single-channel working mode or not;
If the system is in a single-channel working mode, judging whether the data communication information corresponding to the channel information is effective or not;
outputting corresponding data communication information if the data communication information corresponding to the channel information is effective;
if the data communication information corresponding to the channel information is invalid, canceling to output the corresponding data communication information;
if the system is not in the single-channel working mode, acquiring whether the update data packet is valid or not;
If the updated data packet is valid, the corresponding number of valid data packets is obtained;
If the number of the effective data packets is three, a preset three-redundancy comparison monitoring algorithm is adopted;
if the number of the effective data packets is two, adopting a two-redundancy comparison monitoring algorithm;
If the number of the effective data packets is one, acquiring a preset self-monitoring signal;
and if the self-monitoring signal is valid, sending fault information related to the channel information to the intelligent terminal of the staff.
Through the technical scheme, when only monitoring operation is performed on the data channel information but voting operation is not performed, the system firstly judges whether the data channel information is in a single-channel working mode, and if the data channel information is in the single-channel working mode, whether the data communication information is output is directly determined according to whether the data communication information corresponding to the channel information is effective or not; if the single-channel working mode is not adopted, the number of the effective data packets is counted, and a corresponding algorithm is selected according to the number of the effective data packets, so that the stability of redundancy management is improved.
In a second aspect, the present application provides a device for managing redundancy of a remote control terminal, which adopts the following technical scheme: the device comprises:
The data updating acquisition module is used for acquiring a data updating unit corresponding to any channel, and the data updating unit is used for receiving an updating data packet;
The data receiving judging module is used for judging whether the data updating unit receives an updating data packet or not;
The updating data judging module is used for judging whether the data updating units corresponding to other channels receive the corresponding updating data packets or not if the updating data packets are received;
the abnormal data sending module is used for sending abnormal information related to the updated data packet to the intelligent terminal of the staff if the data updating units corresponding to other channels do not receive the corresponding updated data packet;
the abnormal time counting module is used for counting the time information corresponding to the non-received updated data packet and setting the time information as abnormal time information if the data updating unit does not receive the updated data packet;
the abnormal information sending module is used for sending abnormal information related to the update data packet to the intelligent terminal of the staff if the abnormal time information reaches preset critical time information;
And the period monitoring operation module is used for monitoring the update data packet according to a preset period if the data update units corresponding to other channels receive the corresponding update data packet.
In a third aspect, the present application provides a computer device, which adopts the following technical scheme: comprising a memory and a processor, said memory having stored thereon a computer program capable of being loaded by the processor and performing a method of managing the redundancy of a remote control terminal as described above.
In a fourth aspect, the present application provides a computer readable storage medium, which adopts the following technical solutions: a computer program capable of being loaded by a processor and executing any one of the above-described remote control terminal redundancy management methods is stored.
In summary, the present application includes at least one of the following beneficial technical effects:
1. The system judges whether to normally start the monitoring operation by automatically judging whether the data updating units of different channels normally receive the updating data packet or not, and sends corresponding information to the intelligent terminal of the staff aiming at different updating conditions corresponding to different channels, so that the possibility of triggering relevant redundancy operation according to an error result when the system is damaged in a main channel or an auxiliary channel is reduced, and the stability of the flight system in the running process is improved;
2. when monitoring the heartbeat state information, different monitoring operations are needed according to the monitoring times of the heartbeat state information, and whether the heartbeat state information is normal is judged according to the condition that whether the heartbeat state information is normal in a preset period; after the first monitoring is finished, a worker can quickly and conveniently judge whether the current heartbeat state information is normal or not through whether the update time of the heartbeat state information is within the preset time, so that the stability of the system to redundancy management is further improved.
Drawings
Fig. 1 is a flowchart of a method for managing redundancy of a remote control terminal according to an embodiment of the present application.
Fig. 2 is a block diagram illustrating a configuration of a redundancy management apparatus for a remote control terminal according to an embodiment of the present application.
Reference numerals: 201. a data updating and acquiring module; 202. a data receiving judging module; 203. updating the data judging module; 204. an abnormal data transmitting module; 205. an abnormal time counting module; 206. an abnormal information sending module; 207. a period monitoring operation module; 208. a heartbeat state monitoring module; 209. and a channel information algorithm module.
Detailed Description
The application is described in further detail below with reference to fig. 1-2.
The embodiment of the application discloses a remote control terminal redundancy management method, which is based on a remote control terminal, wherein the hardware and software of the remote control terminal bear the functions of a servo actuation system to complete closed-loop control and management of the servo actuation system; the remote control terminal controls deflection angles of various rotors and control surfaces of the aircraft according to instructions of the flight control computer and the backup flight control computer to control the flight attitude and lift force, and on the other hand, the remote control terminal collects feedback signals of the controlled steering engine, realizes closed-loop integrated control of the servo steering engine after demodulation and collection, and outputs servo control signals and electromagnetic valve control signals of the steering engine; this embodiment takes a 1394 bus as an example, and each device contains three redundancy, and the explanation of the related embodiment is made in such a manner that a total of 3 devices are provided on the flight mechanism.
As shown in fig. 1, the method comprises the steps of:
S10, acquiring a data updating unit.
Wherein, because of the asynchronism of the starting time of the remote control terminal and the starting time of the 1394 bus, when the periodic task is executed, the 1394 bus is not started yet; therefore, a monitoring operation for the bus is required.
The data updating unit is used for receiving an updating data packet, the updating data packet is used for informing the beginning of a new frame on the bus, and node synchronization is carried out through the updating data packet.
S11, judging whether the data updating unit receives the updating data packet.
Wherein S11 comprises the following sub-steps: if the update data packet is received, S111 is executed; if no update packet is received, step S112 is executed;
s111, judging whether the data updating units corresponding to other channels receive the corresponding updating data packet.
Wherein S111 comprises the following sub-steps: if no update packet is received, step S1111 is executed; if an update packet is received, S1112 is performed.
S1111, sending the abnormal information related to the update data packet to the intelligent terminal of the staff.
S1112, performing monitoring operation on the update data packet according to a preset period.
S112, counting the time information corresponding to the unreceived update data packet and setting the time information as abnormal time information.
S113, judging whether the abnormal time information reaches the preset critical time information.
If the abnormal time information reaches preset critical time information, abnormal information related to the updated data packet is sent to an intelligent terminal of a worker; if the abnormal time reaches the preset critical time information, the system waits until the abnormal time information reaches the preset critical time information.
If the abnormal time information reaches preset critical time information, abnormal information related to the updated data packet is sent to an intelligent terminal of a worker; if the abnormal time information does not reach the preset critical time information, continuing to wait until the abnormal time information reaches the preset critical time information.
In one embodiment, in consideration of the situation that the update data packet has an anomaly, a monitoring operation needs to be performed on the update verification information corresponding to the update data packet, and the specific monitoring operation may be performed as follows:
Acquiring update checking information corresponding to the update data packet, judging whether the update checking information is in a preset normal checking range, and if the update checking information is in the preset normal checking range, adding a preset update normal value to a preset checking state judging value; if the updated checking information is located outside a preset normal checking range, adding a preset updated fault value to a preset checking state judging value, and judging whether the checking state judging value is located in a preset checking standard range or not; if the checking state judging value is out of the preset checking standard range, abnormal information related to updating the checking information is sent to the intelligent terminal of the staff; if the checking state judging value is within the preset checking standard range, monitoring the updated data packet according to a preset period; the system can automatically monitor the updated data packet, so that stability in redundancy control is improved. For example, initializing a checking state judgment value, wherein the preset checking standard range corresponding to the initializing judgment value is four times, updating the normal value to be 0, updating the fault value to be 1, keeping 4 when the checking state judgment value reaches 4, adding 1 to the corresponding checking state judgment value when the updated checking information is positioned outside the preset normal checking range, and sending prompt information of abnormal updating checking information to an intelligent terminal of a worker when the checking state judgment value reaches 4; otherwise, monitoring the updated data packet according to a preset period.
In one embodiment, in consideration of the situation that there is an abnormality in the data communication information, a monitoring operation needs to be performed on the communication information, and the specific monitoring operation may be performed as follows:
Obtaining data communication information corresponding to a channel, wherein the data communication information is data information for communication of the channel, obtaining byte information corresponding to the data communication information, setting the byte information as data communication bytes, dividing the data communication bytes according to preset length information, sequentially obtaining the divided data communication byte information, setting the communication byte information as health state information, performing exclusive-or operation on the health state information and the sequentially divided data communication bytes, setting the byte information after the exclusive-or operation as heartbeat state information, repeating the exclusive-or operation until one piece of data byte information which is not subjected to exclusive-or operation remains, and comparing the heartbeat state information with the remaining data byte information; if the health state information is different from the rest data byte information, abnormal information related to the data communication information is sent to the intelligent terminal of the staff; the system can automatically monitor the data byte information, so that the possibility of redundancy control abnormality caused by data byte information abnormality is reduced, and the stability of redundancy control is improved. For example, the data byte information has n quad-word bytes, the first quad-word byte of the data byte information is set as health status information, the health status information and the 2 nd quad-word byte are subjected to exclusive-OR operation to generate heartbeat status information, the exclusive-OR operation is repeated until the new heartbeat status information is equal to the n-1 th quad-word byte corresponding to the heartbeat status information generated by the last exclusive-OR operation and the data byte information, and finally the latest generated heartbeat status information and the n-th quad-word byte corresponding to the data byte information are compared; if the data byte information is the same, sending a prompt message that the data byte information is normal; otherwise, sending prompt information of abnormal data byte information.
In one embodiment, considering that different algorithms need to be used for different monitoring states when monitoring for heartbeat state information, a specific algorithm may be executed as:
Acquiring preset heartbeat state monitoring information, wherein the heartbeat state monitoring information comprises a monitoring result of the heartbeat state information, and judging whether the heartbeat state monitoring information is in a first monitoring state or not; if the heartbeat state monitoring information is in the first monitoring state, acquiring the update condition of the heartbeat state information; if the heartbeat state information is monitored to be updated twice continuously, normal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff; otherwise, abnormal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff; if the heartbeat state monitoring information is not in the first monitoring state, judging whether the update condition of the heartbeat state information is acquired within the preset monitoring update time; if the update condition of the heartbeat state information is acquired within the preset monitoring update time, normal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff; otherwise, abnormal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff; different monitoring modes are adopted for the heartbeat state information in different states, so that the system can monitor the heartbeat state information rapidly and conveniently, and the monitoring efficiency of the heartbeat state information is improved.
In one embodiment, considering that the channel information corresponding to the different channel information is different, a corresponding algorithm needs to be adopted for the different channels, and a specific algorithm may be executed as follows:
When the channel information corresponding to the different channel information is different, obtaining the channel information corresponding to the preset effective condition and setting the channel information as most effective channel information; if the number of the effective channel information is three, a preset three-redundancy monitoring voting algorithm is adopted; if the number of the effective channel information is two, a preset two-redundancy monitoring voting algorithm is adopted; if the number of the effective channel information is one, directly accessing preset self-monitoring information; if the self-monitoring information is valid, acquiring a self-monitoring value corresponding to the self-monitoring information; otherwise, sending fault information related to the channel information to an intelligent terminal of a worker; the system can adopt corresponding algorithm logic according to different effective channel information, and can adopt the most suitable algorithm according to the number of the effective channels, so that the stability of redundancy control is improved.
In one embodiment, when the channel information corresponding to different channels is the same, different algorithms may be used, and a specific algorithm may be executed as follows:
When the channel information corresponding to different channels is the same, obtaining the channel information corresponding to the preset effective conditions and setting the channel information as identical effective channel information; if the number of the identical effective channels is three, a preset three-redundancy monitoring voting algorithm is adopted; if the identical effective channel information is less than three, fault information related to the channel information is sent to an intelligent terminal of a worker; the system can rapidly and conveniently calculate a specific monitoring voting algorithm according to a preset algorithm, so that the efficiency of the system in performing redundancy control is improved.
In one embodiment, considering that the presence system only needs to monitor data traffic and not vote, a specific voting operation may be performed as:
When the data communication information is subjected to monitoring operation and voting operation is not performed, judging whether the system is in a preset single-channel working mode or not; if the system is in a single-channel working mode, judging whether the data communication information corresponding to the channel information is effective or not; outputting corresponding data communication information if the data communication information corresponding to the channel information is effective; if the data communication information corresponding to the channel information is invalid, canceling to output the corresponding data communication information; if the system is not in the single-channel working mode, acquiring whether the update data packet is valid or not; if the updated data packet is valid, the corresponding number of valid data packets is obtained; if the number of the effective data packets is three, a preset three-redundancy comparison monitoring algorithm is adopted; if the number of the effective data packets is two, adopting a two-redundancy comparison monitoring algorithm; if the number of the effective data packets is one, acquiring a preset self-monitoring signal; if the self-monitoring signal is valid, fault information related to the channel information is sent to an intelligent terminal of a worker; when the system is used for channel communication information, the redundancy control can be performed through the effective channel information, so that the stability of the redundancy control is improved.
Based on the method, the embodiment of the application also discloses a device for managing the redundancy of the remote control terminal.
As shown in fig. 2, the apparatus comprises the following modules:
a data update obtaining module 201, configured to obtain a data update unit corresponding to an arbitrary channel, where the data update unit is configured to receive an update data packet;
A data receiving judging module 202, configured to judge whether the data updating unit receives an update data packet;
The update data judging module 203 is configured to judge whether the data update units corresponding to the other channels receive the corresponding update data packet if the update data packet is received;
the abnormal data sending module 204 is configured to send abnormal information related to the update data packet to the intelligent terminal of the staff if the data update unit corresponding to the other channel does not receive the corresponding update data packet;
An abnormal time statistics module 205, configured to, if the data update unit does not receive the update data packet, count time information corresponding to the update data packet that is not received and set the time information as abnormal time information;
The abnormal information sending module 206 is configured to send abnormal information related to the update data packet to the intelligent terminal of the staff if the abnormal time information reaches the preset critical time information;
The period monitoring operation module 207 is configured to monitor the update data packet according to a preset period if the data update unit corresponding to the other channels receives the corresponding update data packet.
In one embodiment, the period monitoring operation module 207 is further configured to perform a monitoring operation on the update data packet according to a preset period, where the monitoring operation includes: acquiring update checking information corresponding to the update data packet; judging whether the updated checking information is in a preset normal checking range or not; if the updated checking information is in the preset normal checking range, adding a preset updated normal value to a preset checking state judging value; if the updated checking information is located outside a preset normal checking range, adding a preset updated fault value to a preset checking state judging value; judging whether the judging value of the checking state is in the preset checking standard range; if the checking state judging value is out of the preset checking standard range, abnormal information related to updating the checking information is sent to the intelligent terminal of the staff; if the checking state judging value is within the preset checking standard range, the updating data packet is monitored according to the preset period.
In one embodiment, the period monitoring operation module 207 is further configured to, after performing a monitoring operation on the update data packet according to a preset period, further include: acquiring data communication information corresponding to the channel, wherein the data communication information is the data information of the channel for communication; acquiring byte information corresponding to the data communication information and setting the byte information as a data communication byte; dividing the data communication byte according to the preset length information; sequentially acquiring the partitioned data communication byte information and setting the communication byte information as health state information; performing exclusive OR operation on the health state information and the sequentially segmented data communication bytes, and setting byte information after the exclusive OR operation as heartbeat state information; repeating the exclusive-or operation until one data byte information which is not subjected to the exclusive-or operation remains; comparing the heartbeat state information with the rest data byte information; if the health state information is different from the rest data byte information, abnormal information related to the data communication information is sent to the intelligent terminal of the staff.
In one embodiment, the heartbeat status monitoring module 208 is further configured to obtain preset heartbeat status monitoring information, where the heartbeat status monitoring information includes a monitoring result of the heartbeat status information; judging whether the heartbeat state monitoring information is in a first monitoring state or not; if the heartbeat state monitoring information is in the first monitoring state, acquiring the update condition of the heartbeat state information; if the heartbeat state information is monitored to be updated twice continuously, normal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff; otherwise, abnormal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff; if the heartbeat state monitoring information is not in the first monitoring state, judging whether the update condition of the heartbeat state information is acquired within the preset monitoring update time; if the update condition of the heartbeat state information is acquired within the preset monitoring update time, normal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff; otherwise, abnormal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff.
In one embodiment, the channel information algorithm module 209 is further configured to obtain channel information corresponding to a preset valid condition and set the channel information as most valid channel information when channel information corresponding to different channel information is different; if the number of the effective channel information is three, a preset three-redundancy monitoring voting algorithm is adopted; if the number of the effective channel information is two, a preset two-redundancy monitoring voting algorithm is adopted; if the number of the effective channel information is one, directly accessing preset self-monitoring information; if the self-monitoring information is valid, acquiring a self-monitoring value corresponding to the self-monitoring information; otherwise, fault information related to the channel information is sent to the intelligent terminal of the staff.
In one embodiment, the channel information algorithm module 209 is further configured to, when channel information corresponding to different channels is the same, obtain channel information corresponding to a preset valid condition, and set the channel information to be identical valid channel information; if the number of the identical effective channels is three, a preset three-redundancy monitoring voting algorithm is adopted; and if the identical effective channel information is less than three, sending fault information related to the channel information to the intelligent terminal of the staff.
In one embodiment, the channel information algorithm module 209 is further configured to determine whether the system is in a preset single channel working mode when the data communication information is monitored and not voted; if the system is in a single-channel working mode, judging whether the data communication information corresponding to the channel information is effective or not; outputting corresponding data communication information if the data communication information corresponding to the channel information is effective; if the data communication information corresponding to the channel information is invalid, canceling to output the corresponding data communication information; if the system is not in the single-channel working mode, acquiring whether the update data packet is valid or not; if the updated data packet is valid, the corresponding number of valid data packets is obtained; if the number of the effective data packets is three, a preset three-redundancy comparison monitoring algorithm is adopted; if the number of the effective data packets is two, adopting a two-redundancy comparison monitoring algorithm; if the number of the effective data packets is one, acquiring a preset self-monitoring signal; and if the self-monitoring signal is valid, sending fault information related to the channel information to the intelligent terminal of the staff.
The embodiment of the application also discloses computer equipment.
Specifically, the computer device includes a memory and a processor, and the memory stores a computer program that can be loaded by the processor and execute a method for managing redundancy of a remote control terminal as described above.
The embodiment of the application also discloses a computer readable storage medium.
Specifically, the computer-readable storage medium storing a computer program capable of being loaded by a processor and executing a method of managing redundancy of a remote control terminal as described above, the computer-readable storage medium including, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (9)
1. A method for managing redundancy of a remote control terminal, the method comprising:
acquiring a data updating unit corresponding to any channel, wherein the data updating unit is used for receiving an updating data packet;
judging whether the data updating unit receives an updating data packet or not;
if the update data packet is received, judging whether the data update unit corresponding to other channels receives the corresponding update data packet or not;
If the data updating units corresponding to the other channels do not receive the corresponding updating data packet, abnormal information related to the updating data packet is sent to the intelligent terminal of the staff;
If the data updating unit does not receive the updating data packet, counting the time information corresponding to the updating data packet which is not received and setting the time information as abnormal time information;
if the abnormal time information reaches the preset critical time information, transmitting abnormal information related to the updated data packet to an intelligent terminal of a worker;
If the data updating units corresponding to the other channels receive the corresponding updating data packets, monitoring the updating data packets according to a preset period;
after the monitoring operation is performed on the update data packet according to the preset period, the method further comprises the following steps:
Acquiring data communication information corresponding to a channel, wherein the data communication information is data information for communication of the channel;
Acquiring byte information corresponding to the data communication information and setting the byte information as a data communication byte;
Dividing the data communication byte according to the preset length information;
Sequentially acquiring the divided data communication byte information and setting the communication byte information as health state information;
performing exclusive OR operation on the health state information and the sequentially segmented data communication bytes, and setting byte information after the exclusive OR operation as heartbeat state information;
repeating the exclusive-or operation until one data byte information which is not subjected to the exclusive-or operation remains;
Comparing the heartbeat state information with the rest data byte information;
If the heartbeat state information is different from the rest data byte information, abnormal information related to the data communication information is sent to the intelligent terminal of the staff.
2. The method of claim 1, wherein the monitoring the update packet according to the predetermined period comprises:
Acquiring update checking information corresponding to the update data packet;
judging whether the updated checking information is in a preset normal checking range or not;
if the updated checking information is in the preset normal checking range, adding a preset updated normal value to a preset checking state judging value;
if the updated checking information is located outside a preset normal checking range, adding a preset updated fault value to a preset checking state judging value;
Judging whether the judging value of the checking state is in the preset checking standard range;
If the checking state judging value is out of the preset checking standard range, abnormal information related to updating the checking information is sent to the intelligent terminal of the staff;
if the checking state judging value is within the preset checking standard range, the updating data packet is monitored according to the preset period.
3. The method according to claim 1, wherein the method further comprises:
Acquiring preset heartbeat state monitoring information, wherein the heartbeat state monitoring information comprises a monitoring result of the heartbeat state information;
Judging whether the heartbeat state monitoring information is in a first monitoring state or not;
If the heartbeat state monitoring information is in the first monitoring state, acquiring the update condition of the heartbeat state information;
if the heartbeat state information is monitored to be updated twice continuously, normal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff;
otherwise, abnormal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff;
if the heartbeat state monitoring information is not in the first monitoring state, judging whether the update condition of the heartbeat state information is acquired within the preset monitoring update time;
if the update condition of the heartbeat state information is acquired within the preset monitoring update time, normal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff;
Otherwise, abnormal information related to the heartbeat state monitoring information is sent to the intelligent terminal of the staff.
4. The method according to claim 1, wherein the method further comprises:
When the channel information corresponding to different channel information is different, obtaining the channel information corresponding to the preset effective condition and setting the channel information as most effective channel information;
if the number of the effective channel information is three, a preset three-redundancy monitoring voting algorithm is adopted;
if the number of the effective channel information is two, a preset two-redundancy monitoring voting algorithm is adopted;
if the number of the effective channel information is one, directly accessing preset self-monitoring information;
If the self-monitoring information is valid, acquiring a self-monitoring value corresponding to the self-monitoring information;
Otherwise, fault information related to the channel information is sent to the intelligent terminal of the staff.
5. The method according to claim 4, wherein the method further comprises:
when the channel information corresponding to different channels is the same, obtaining the channel information corresponding to the preset effective conditions and setting the channel information as identical effective channel information;
If the number of the identical effective channels is three, a preset three-redundancy monitoring voting algorithm is adopted;
and if the identical effective channel information is less than three, sending fault information related to the channel information to the intelligent terminal of the staff.
6. The method according to claim 4, wherein the method further comprises:
when the data communication information is subjected to monitoring operation and voting operation is not performed, judging whether the system is in a preset single-channel working mode or not;
If the system is in a single-channel working mode, judging whether the data communication information corresponding to the channel information is effective or not;
outputting corresponding data communication information if the data communication information corresponding to the channel information is effective;
if the data communication information corresponding to the channel information is invalid, canceling to output the corresponding data communication information;
if the system is not in the single-channel working mode, acquiring whether the update data packet is valid or not;
If the updated data packet is valid, the corresponding number of valid data packets is obtained;
If the number of the effective data packets is three, a preset three-redundancy comparison monitoring algorithm is adopted;
if the number of the effective data packets is two, adopting a two-redundancy comparison monitoring algorithm;
If the number of the effective data packets is one, acquiring a preset self-monitoring signal;
and if the self-monitoring signal is valid, sending fault information related to the channel information to the intelligent terminal of the staff.
7. A remote control terminal redundancy management apparatus, the apparatus comprising:
the data updating acquisition module (201) is used for acquiring a data updating unit corresponding to any channel, and the data updating unit is used for receiving an updating data packet;
a data receiving judging module (202) for judging whether the data updating unit receives the updated data packet;
the updating data judging module (203) is used for judging whether the data updating units corresponding to other channels receive the corresponding updating data packets if the updating data packets are received;
The abnormal data sending module (204) is used for sending abnormal information related to the updated data packet to the intelligent terminal of the staff if the data updating units corresponding to other channels do not receive the corresponding updated data packet;
The abnormal time counting module (205) is used for counting the time information corresponding to the non-received updated data packet and setting the time information as abnormal time information if the data updating unit does not receive the updated data packet;
the abnormal information sending module (206) is used for sending abnormal information related to the update data packet to the intelligent terminal of the staff if the abnormal time information reaches the preset critical time information;
The period monitoring operation module (207) is configured to monitor the update data packet according to a preset period if the data update unit corresponding to the other channels receives the corresponding update data packet, and further configured to, after the monitoring operation is performed on the update data packet according to the preset period, further include: acquiring data communication information corresponding to the channel, wherein the data communication information is the data information of the channel for communication; acquiring byte information corresponding to the data communication information and setting the byte information as a data communication byte; dividing the data communication byte according to the preset length information; sequentially acquiring the partitioned data communication byte information and setting the communication byte information as health state information; performing exclusive OR operation on the health state information and the sequentially segmented data communication bytes, and setting byte information after the exclusive OR operation as heartbeat state information; repeating the exclusive-or operation until one data byte information which is not subjected to the exclusive-or operation remains; comparing the heartbeat state information with the rest data byte information; if the heartbeat state information is different from the rest data byte information, abnormal information related to the data communication information is sent to the intelligent terminal of the staff.
8. A computer device comprising a memory and a processor, the memory having stored thereon a computer program capable of being loaded by the processor and performing the method according to any of claims 1 to 6.
9. A computer readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which performs the method according to any of claims 1 to 6.
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