CN101533554B - A sending method for wireless instructions, receiving nodes and a system - Google Patents
A sending method for wireless instructions, receiving nodes and a system Download PDFInfo
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- CN101533554B CN101533554B CN200910130849XA CN200910130849A CN101533554B CN 101533554 B CN101533554 B CN 101533554B CN 200910130849X A CN200910130849X A CN 200910130849XA CN 200910130849 A CN200910130849 A CN 200910130849A CN 101533554 B CN101533554 B CN 101533554B
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Abstract
The invention relates to a sending method for wireless instructions, a receiving node and a system; wherein the method comprises: a first receiving node receives the wireless instruction sent by a remoter controller; a time slot corresponding to the first receiving node is started to start timing; when the timing reaches the corresponding time segment of the time slot, a first broadcast frame including the wireless instruction is sent. The receiving node comprises a receiving unit, a timing unit and a sending unit. The system comprises a remoter controller and at least a receiving node. By adopting redundancy technique on the CANopen protocol, the method, the receiving nodes and the system realize the multipoint-to-multipoint real-time control of wireless control, break the distance limitation of wireless control, and improve the reliability and anti-interference performance of wireless control, thereby achieving the purposes of transmitting wireless instructions by the CANopen protocol and realizing the characteristic that the whole network gets the information received by every node.
Description
Technical field
The present invention relates to the control technology field, particularly relate to a kind of sending method, receiving node and system of wireless instructions.
Background technology
Along with the development of wireless remote control technology, remote control system has adopted advanced digital processing technology, particularly obtains perfect day by day at aspects such as fail safe, reliabilities.Owing to adopted wireless remote control, operating personnel only need carry light and handy emission system, freely walk about and select the best (safety) visual position commence operation, eliminated accident potential, thereby increased substantially production efficiency again when guaranteeing safety operation.But because remote controller adopts portable design, then transmit power limited, thereby remote control distance is shorter, and reliability is not high.
In order to improve remote control distance and reliability, if simply will be based on controller local area network (CAN, Controller Area Network) the standard CAN open of bus distributed industrial control technology, combine with wireless remote control technology, will cause to transmit remote control command by the CANopen agreement, this be because: though CANopen (for example: mechanical engineering has set up standard in wide industrial communication, drive system and assembly, Medical Devices, building automatic, vehicles or the like).But, do not have definition at present in the CANopen agreement at the wireless transmission characteristics.
If under the CANopen protocol frame, realize the controlled in wireless redundancy, must have a main controlled node, the receiving node that perhaps has the main controlled node function so in the network at least.Main controlled node must be inquired about time and the content that receiving node is received remote control command at any time, also will know the destination node ID that remote control command will be controlled and the operation of destination node, afterwards, sends a remote control command by main controlled node to each destination node.In this implementation, the real-time that remote control command is transmitted is relatively poor, and the burden of network strengthens; If the receiving node that adopts has the function of main controlled node, then the cost of receiving node is very high, and each receiving node will be finished these operations of main controlled node equally, obviously is uneconomic, and real-time will be had a greatly reduced quality the network burden increasing.
Therefore, in the prior art,, after receiving node receives the remote control command that remote controller sends, then can not utilize CAN bus transfer remote control command if simply the CANopen agreement is combined with wireless remote control technology; This is because do not define at wireless transmission in the CANopen agreement, and can not transmit.At present, scope of activities and reliability requirement along with remote controller, if when on the CAN bus, needing plug-in a plurality of receiving node, a plurality of receiving nodes are after receiving remote control command, all utilize controlled in wireless channel transfer remote control command, can not correctly transmit thereby cause remote control command to stop up, thereby cause wireless instructions system communication distance limited.
This shows, what use is made of CANopen protocol transmission wireless instructions, and in transmission course, how to improve wireless instructions system communication distance, reducing interference is the problem that needs solution at present.
Summary of the invention
The embodiment of the invention provides a kind of transmitting system of sending method, receiving node and wireless instructions of wireless instructions, to solve the transmission of wireless instructions in the CANopen agreement, improves wireless instructions system communication distance in the transmission course, reduces the problem of disturbing.
For solving the problems of the technologies described above, the present invention is the sending method that embodiment provides a kind of wireless instructions, comprising:
First receiving node receives the wireless instructions that remote controller sends, and wherein, described wireless instructions is in the CANopen protocol transmission;
Starting the first receiving node time corresponding groove picks up counting, wherein, the time slot that each receiving node in the network is all corresponding, the time corresponding section of each time slot is at least and sends broadcast frame and need 3 times of time, and the time slot of each receiving node postpones for the ID according to receiving node is multiple;
When timing arrives described time slot time corresponding section, send first broadcast frame that comprises wireless instructions.
Preferably, after the corresponding time slot of startup first receiving node picked up counting, described method also comprised:
First receiving node judges whether to receive second broadcast frame that second receiving node sends in the network, if not, then continue to judge whether described timing arrives described time slot time corresponding section, and when arriving described time slot time corresponding section, carry out sending the described step that comprises first broadcast frame of wireless instructions; Otherwise return the step that judges whether to receive second broadcast frame that second receiving node sends.
Preferably, described method also comprises:
If first receiving node receives second broadcast frame that second receiving node sends, then to described time slot zero clearing, judge whether the wireless instructions receive in second broadcast frame is consistent with the wireless instructions of transmission, if then close the time corresponding groove of first broadcast frame; Otherwise, carry out the step that start-up time, groove picked up counting.
Preferably, the sign ID of described first broadcast frame is the 0X67F among the Service Data Object COB-ID, and the index of object dictionary is 0X3000 in the corresponding CANopen agreement of wireless instructions, and subindex is 0x01.
Preferably, described first receiving node is the current receiving node in the network; Described second receiving node is other at least one receiving nodes in this network.
Preferably, each the receiving node time corresponding groove in the network is at least and sends broadcast frame and need 3 times of time, and the time slot of each receiving node postpones for the ID according to receiving node is multiple.
Accordingly, the present invention is real also to provide a kind of receiving node, comprising:
Receiving element is used to receive the wireless instructions that remote controller sends, and wherein, described wireless instructions is in the CANopen protocol transmission;
Timing unit, be used for after receiving element receives described wireless instructions, starting this receiving node time corresponding groove picks up counting, wherein, the time slot that each receiving node in the network is all corresponding, the time corresponding section of each time slot is at least and sends broadcast frame and need 3 times of time, and the time slot of each receiving node postpones for the ID according to receiving node is multiple;
Transmitting element when being used for timing at timing unit and arriving described time slot time corresponding section, sends first broadcast frame that comprises wireless instructions.
Preferably, also comprise: first judging unit, second judging unit, wherein,
Described first judging unit is used for after start-up time, groove picked up counting, and judges whether to receive second broadcast frame that second receiving node sends, and sends the result who judges;
Described second judging unit is receiving first judging unit when sending not judged result, judge described timing whether the time of advent groove time corresponding section, and the judged result that arrives sent to described transmitting element; To send to first judging unit less than the judged result that arrives.
Preferably, also comprise: the 3rd judging unit, be used for receiving first judging unit when sending the judged result be, indicate described timing unit to this receiving node time corresponding groove zero clearing, and judge whether the wireless instructions that receives in second broadcast frame is consistent with the wireless instructions of transmission, and judged result is sent to timing unit;
Described timing unit also is used for receiving the 3rd judging unit when sending the judged result be, closes the time corresponding groove of first broadcast frame; Perhaps receiving the 3rd judging unit when sending not judged result, start-up time, groove picked up counting.
The present invention also provides a kind of transmitting system of wireless instructions, comprising: at least one receiving node in remote controller and the network, wherein
Described remote controller is used for comprising wireless instructions at least one receiving node transmission that wherein, described wireless instructions is in the CANopen protocol transmission;
Described receiving node is used for starting described receiving node time corresponding groove and picking up counting behind the described wireless instructions that receives the remote controller transmission; And when described timing arrives described time slot time corresponding section, transmission comprises first broadcast frame of wireless instructions, wherein, the time slot that each receiving node in the network is all corresponding, the time corresponding section of each time slot is at least and sends broadcast frame and need 3 times of time, and the time slot of each receiving node postpones for the ID according to receiving node is multiple.
Preferably, described receiving node also is used for after start-up time, groove picked up counting, judge whether to receive second broadcast frame that other receiving nodes in the network send, if not, judge described timing whether the time of advent groove time corresponding section, and when arriving described time slot time corresponding section, send described first broadcast frame that comprises wireless instructions; If there is not the groove time corresponding section time of advent, then continue to judge whether to receive second broadcast frame that second receiving node sends; If then to described time slot zero clearing, judge whether the wireless instructions that receives in second broadcast frame is consistent with the wireless instructions of transmission, and when wireless instructions is consistent, close the time corresponding groove of first broadcast frame; If inconsistent, then start-up time, groove picked up counting.
As shown from the above technical solution, the present invention introduces broadcast frame in the CANopen agreement, with wireless instructions (such as remote control command, but be not limited to this) utilize broadcast frame to send, be that receiving node is receiving the wireless instructions that remote controller sends, send this wireless instructions no longer immediately, earlier this broadcast frame is encapsulated; But when the timing of time slot arrives the time slot of self, send the broadcast frame that this comprises wireless instructions, when the timing of time slot does not also arrive, if in wait, receive the broadcast frame that other receiving nodes send, then zero clearing restarts timing to time slot, judge then whether the wireless instructions in the broadcast frame that receives is consistent with the wireless instructions that oneself will send, if then stop transmission and return to the wait command status; If do not receive or receive inconsistent then in the time slot of oneself, send broadcast frame.That is to say, among the present invention, in the object dictionary of CANopen agreement, define an index and be used for depositing remote control command, and defined a broadcast frame, after receiving node is received remote control command, only need remote control command is put in this index, broadcast away getting final product by broadcast frame, this has alleviated the burden of CANopen network greatly, has simplified design.Be that the present invention adopts redundant technique on the CANopen agreement, realize the multi-multipoint real-time control of controlled in wireless, broken through the distance limit of controlled in wireless, improved the reliability and the antijamming capability of controlled in wireless.Utilize CANopen protocol transmission wireless instructions purpose thereby reached, realize a bit receiving the characteristic that the whole network is all known.
Description of drawings
Fig. 1 is the flow chart of the sending method of wireless instructions among the present invention;
Fig. 2 is the particular flow sheet of the sending method of wireless instructions among the present invention;
Fig. 3 is first kind of application example figure of sending method of wireless instructions among the present invention;
Fig. 4 is second kind of application example figure of sending method of wireless instructions among the present invention;
Fig. 5 is the third application example of sending method figure of wireless instructions among the present invention;
Fig. 6 is the structural representation of receiving node among the present invention;
Fig. 7 is the structural representation of the transmitting system of wireless instructions among the present invention.
Embodiment
Below we will be in conjunction with the accompanying drawings, optimum implementation of the present invention is described in detail.
See also Fig. 1, be the flow chart of the sending method of wireless instructions among the present invention; Described method comprises:
Step 101: first receiving node receives the wireless instructions that remote controller sends;
Step 102: start the first receiving node time corresponding groove and pick up counting;
The time slot that each receiving node in the network is all corresponding, the time corresponding section of each time slot are at least and send broadcast frame and need 3 times of time, and the time slot of each receiving node postpones for the ID according to receiving node is multiple.Such as, the time that sends broadcast frame is t, and time slot is T, and then each time slot will satisfy at least: T 〉=3t; If the ID of first receiving node is ID1, then the first receiving node time corresponding groove is T; If the ID of second receiving node is ID2, then the second receiving node time corresponding groove is 2T, and the like, the ID of n receiving node is IDn, and then n receiving node time corresponding groove is nT, and n is a natural number.
Step 103: when timing arrives described time slot time corresponding section, send first broadcast frame that comprises wireless instructions.
Wherein, between step 102 and step 103, described method can also comprise:
After step 102, first receiving node judges whether to receive second broadcast frame that second receiving node sends, if do not receive second broadcast frame that Section Point sends, then continue to judge whether described timing arrives described time slot time corresponding section, and when arriving described time slot time corresponding section, execution in step 103; Otherwise return the step that judges whether to receive second broadcast frame that second receiving node sends.
If first receiving node receives second broadcast frame that second receiving node sends, then to described time slot zero clearing, and judge whether the wireless instructions receive in second broadcast frame is consistent with the wireless instructions of first broadcast frame, if then close the time corresponding groove of first broadcast frame; Otherwise, execution in step 102.
In the present invention, described first receiving node is the current receiving node in the network; Described second receiving node is other receiving node or other a plurality of receiving nodes in this network.
Wherein, before step 101, the present invention is in order to utilize CANopen protocol transmission wireless instructions, in this agreement, need to define a broadcast frame, so that receiving node after receiving remote control command, only needs remote control command is stored in certain object dictionary, broadcast away getting final product by broadcast frame, so not only alleviate the burden of CANopen network, also simplified design.
In the traffic model of CANopen, mainly defined four kinds of frame types, comprising: management frame, Service Data Object frame (SDO), process data are to picture frame (PDO) and predefine or special object frame.Wherein, the frame with data-transformation facility is SDO and PDO, in existing C ANopen agreement, the PDO function has been done specific definition, the present invention is minimum in order to guarantee the modification of CANopen agreement, guarantees on the basis of its compatibility, be chosen in and make modification on the SDO, be specially:
The present invention is with the COB-ID 0x67F of the SDO ID as broadcast frame, and the object dictionary of the corresponding CANopen of wireless instructions frame (such as the remote control command frame) is 0x3000, subindex 0x01.Wherein, described object dictionary is the memory space in the receiving node.The present invention is not limited to this just as example, also can carry out adaptability revision according to other situation, and the present invention does not limit.
When this SDO is made modification, cause network blockage for fear of each node response SDO frame, the present invention has cancelled the SDO response of other nodes of network to broadcast frame.Its frame structure is as shown in table 1, and in this frame structure, its wireless instructions is an example with the remote control command, but is not limited to this:
Table 1
When in the network during greater than a receiving node, because the COB-ID of broadcast frame is identical, the priority of broadcast frame is also identical, if receive the remote control command that remote controller sends simultaneously, will send identical broadcast frame, will clash between each receiving node this moment, causes network blockage.For this reason, the present invention has introduced the notion of a time slot, solves above problem, and described time slot is exactly the time period that each receiving node sends broadcast frame.
At first, suppose that the time that the transmission broadcast frame needs is t, in order to stay enough allowances, T is defined as T＞3t with time slot so, thereby guarantees that broadcast frame correctly sends.In invention, each receiving node in the network all has a time slot T, and its ID according to receiving node distributes in proper order.That is, receiving that from receiving node remote control command begins to be divided into a plurality of timeslices that length is T to the time that sends, and called after T1, T2, T3......Tn respectively.T1 distributes to the receiving node that ID is m+1, and T2 distributes to the node that ID is m+2, and the like.Each recipient node only allows to send broadcast frame in the timeslice of oneself distributing.We are called time slot to the timeslice that this allows to send broadcast frame.Time slot distributes (supposition m value is 0) as shown in table 2:
Table 2
Wherein, ID is the ID of receiving node in the CANopen network, and n is the value of node ID, and the value of T1, T2......Tn is respectively T, 2T......nT.
After receiving remote control command, receiving node do not send instruction immediately, but start-up time, groove picked up counting, if receive other broadcast frames that receiving node is sent in the network in the timing course, then with the timing zero clearing of time slot, and judge whether the remote control command in the broadcast frame that receives other receiving nodes transmissions is consistent with the remote control command that oneself will send, if consistent, then stop transmission and return to the wait command status; If do not receive or receive inconsistent then in the time slot of oneself, send the broadcast frame that comprises remote control command.
Also see also Fig. 2, be the particular flow sheet of the sending method of wireless instructions among the present invention; In this embodiment, suppose to have 2 receiving nodes, i.e. receiving node 1 and receiving node 3, described wireless instructions is an example with the remote control command, but is not limited to this, described method comprises:
Step 201: receiving node 1 receives the remote control command that remote controller sends;
Step 202: receiving node groove 1 start-up time picks up counting;
Step 203: receiving node 1 judges whether to receive the broadcast frame that receiving node 2 sends; If not, execution in step 204; If, execution in step 206;
Step 204: receiving node 1 judges whether described timing arrives the time slot of oneself, if, execution in step 205; Otherwise, return step 203;
Step 205: receiving node 1 sends the described broadcast frame that comprises remote control command, afterwards, and execution in step 209;
Step 206: receiving node 1 its time corresponding groove zero clearing of indication;
Step 207: receiving node 1 judges whether the broadcast frame that receives receiving node 2 transmissions is consistent with the remote control command of the broadcast frame that self will send, if, execution in step 208 and step 209; Otherwise, return step 202.
Step 208: receiving node 1 stops to send described broadcast frame;
Step 209: the time slot of receiving node 1 returns to the wait command status.
The present invention introduces broadcast frame in the CANopen agreement, utilize broadcast frame to send wireless instructions (such as remote control command), and promptly receiving node is receiving first broadcast frame that comprises wireless instructions that remote controller sends; Starting the first receiving node time corresponding groove picks up counting; When timing arrives described time slot time corresponding section, send first broadcast frame that comprises wireless instructions.That is to say that the present invention by allowing to insert the quantity of receiving node in the increase system, increases the redundancy of controlled in wireless passage by the modification to original CANopen agreement, it is limited to solve wireless instructions system communication distance, the problem that is subject to disturb.Be that the present invention adopts redundant technique on the CANopen agreement, realize the multi-multipoint real-time control of controlled in wireless, broken through the distance limit of controlled in wireless, improved the reliability and the antijamming capability of controlled in wireless.Utilize CANopen protocol transmission wireless instructions purpose thereby reached, realize a bit receiving the characteristic that the whole network is all known.
For the ease of those skilled in the art's understanding, below simple example explanation the present invention.
Among the present invention, after receiving node is received remote control command, promptly send instruction no longer immediately, and can only in the time slot of oneself, send.If in wait, receive the broadcast frame that other receiving nodes send, then its zero clearing restarts timing to time slot, judge that then the remote control command in the broadcast frame is consistent with the remote control command that oneself will send, if, then stop to send, and time slot is returned to the wait command status; If do not receive or receive inconsistent then in the time slot of oneself, send broadcast frame.Concrete implementation procedure comprises:
If a plurality of receiving nodes are arranged in the network, such as comprising 3 receiving nodes, promptly receiving node 1, receiving node 2 and receiving node 3 are set and are sent the time t=10ms that broadcast frame needs, then the value of each receiving node time corresponding groove T promptly needs to satisfy T＞3t at least greater than 30ms.When receiving node 1 and receiving node 2 receive the remote control command that remote controller sends simultaneously, send the broadcast frame that comprises remote control command no longer immediately, and can only in the time slot of oneself, send, promptly when receiving node 1 and receiving node 2 receive broadcast frame, starting the time corresponding groove all picks up counting, when the timing of receiving node 1 arrives 30ms, and when not receiving the broadcast frame that other receiving nodes send, receiving node 1 sends the described broadcast frame that comprises remote control command; When the timing of supposing receiving node 2 reaches 40ms, receive the broadcast frame that receiving node 1 sends, the then time slot zero clearing of receiving node 2, receiving node 2 judges whether the remote control command that receives in remote controller broadcast frame that sends and the broadcast frame that receives receiving node 1 transmission is consistent, if it is consistent, then close its time corresponding groove, do not send this broadcast frame to other receiving nodes; Otherwise start-up time, groove picked up counting, and when reaching the time corresponding groove, sent described broadcast frame.
If have only 1 receiving node in the network, when receiving node receives the remote control command of remote controller transmission, send the broadcast frame that comprises remote control command no longer immediately, all pick up counting but start the time corresponding groove, when timing arrives the time of own time slot setting, in the time slot of oneself, send this and comprise the broadcast frame of remote control command.
A kind of concrete application example, suppose the receiving node (being wireless receiving module) in the LCS architectural lighting control system of certain company exploitation, it is 17～32 that receiving node distributes the ID space, in native system, allow to articulate 16 receiving nodes, controlled in wireless adopts 315M wireless remote control command remote control device, reliable command range 50M.
When not adopting technical scheme of the present invention, a main control module must be arranged in the network, at most can only a plug-in receiving node.Do not transmit after receiving node is received remote control command, but it is left in the object dictionary, when main control module was inquired about, receiving node was just responded the content of main control module remote control command, specifically comprised following five steps:
1, after receiving node receives remote control command, it is left in the object dictionary;
2, main control module sends the remote control command index content that SDO reads receiving node to receiving node;
3, main control module writes 0 in the index of the remote control command of receiving node;
4, main control module is changed the PDO buffering area of XM according to inner setting, and sends the PDO buffering area of described change XM to XM.
5, XM is carried out concrete operations, such as switch, light modulation etc. behind the PDO buffering area that will receive main control module transmission change.
As can be seen, prior art is finished with above-mentioned steps needs a plurality of receiving nodes and main control module to cooperatively interact from said process, and network burden is big, and time-delay is long.Whole network will be paralysed when the main control module cisco unity malfunction.Do not contact directly and have between the receiving node, when articulating a plurality of receiving node on the bus, if a plurality of receiving nodes are received the wireless remote control instruction simultaneously, main control module can not judge whether remote control command is sent simultaneously, this will cause main control module repeatedly to carry out above-mentioned steps, makes mistakes easily, such as, the original action of turning off the light may become to turn off the light turns on light then immediately, so Digiplex can only use in distance wireless receiving module 50m scope.
If after adopting technical scheme of the present invention, in the network even can not have main control module, if having only a receiving node, the executable operations that receives after the wireless remote control instruction of receiving node can be reduced to following two steps so:
1, after receiving node receives remote control command, sends the broadcast frame that comprises remote control command to XM;
2, XM is after receiving this broadcast frame frame, carries out the operation of self setting the remote control command correspondence according to remote control command, such as turning on light, turn off the light or light modulation etc.
If 2 receiving nodes are arranged in the network of the present invention, i.e. receiving node A and receiving node B, wherein, the ID of receiving node A is set at 17, and the ID of receiving node B is set at 18, specifically comprises:
First kind of situation, as shown in Figure 3: A receives remote control command, B does not receive remote control command; Its follow-up implementation procedure is identical with the process of having only a receiving node, specifically sees for details above-mentionedly, does not repeat them here.
Second kind of situation, as shown in Figure 4: A does not receive remote control command, B receives remote control command; Its follow-up implementation procedure is:
1, after B received remote control command, start-up time, groove picked up counting, and began to receive the broadcast frame that COB-ID is 0x67F;
2, when the timing of B arrives affiliated time slot, send the broadcast frame that comprises remote control command to XM;
3, after XM receives broadcast frame, set the action of carrying out the remote control command correspondence according to self.
The third situation, as shown in Figure 5: A, B all receive remote control command, its follow-up implementation procedure is:
1, after A receives remote control command, sends broadcast frame to XM; B receives after the remote control command start-up time, and groove picks up counting, and to begin to receive the COB-ID that other receiving nodes send be the broadcast frame of 0x67F;
2, after B receives in the network broadcast frame that other receiving nodes send, groove zero clearing instruction time, and judge receive remote control command that the remote control command in the broadcast frame that COB-ID is 0x67F receives with self consistent after, return to wait remote control command state;
3, XM is set the action of carrying out the remote control command correspondence according to self after receiving broadcast frame.
We find out by after adopting technical scheme of the present invention in this example, and receiving node only needs primary network communication to same instruction, has alleviated network burden greatly, has improved response speed; In addition, among the present invention, there is not the main control module network still can move, owing to allow to articulate simultaneously a plurality of receiving nodes, when a receiving node is undesired in the LCS Lighting Control Assembly, can not cause that Lighting Control Assembly can not use, the Lighting Control Assembly availability is improved greatly.By the spatial distribution of receiving node, but Digiplex equal operate as normal in CAN bus network distribution.
Accordingly, the present invention also provides a kind of receiving node, and its structural representation sees Fig. 6 for details, and described receiving node comprises: receiving element 61, timing unit 62 and transmitting element 63, and wherein, described receiving element 61 is used to receive the wireless instructions that remote controller sends; Described timing unit 62 is used for after receiving element receives described wireless instructions, starts this receiving node time corresponding groove and picks up counting; Described transmitting element 63 when being used for timing at timing unit and arriving described time slot time corresponding section, sends first broadcast frame that comprises wireless instructions.
Wherein, described receiving node also comprises: first judging unit, second judging unit, wherein, described first judging unit, be used for after start-up time, groove picked up counting, judge whether to receive second broadcast frame that second receiving node sends, and send the result who judges; Described second judging unit is receiving first judging unit when sending not judged result, judge described timing whether the time of advent groove time corresponding section, and the judged result that arrives sent to described transmitting element; To send to first judging unit less than the judged result that arrives.
Wherein, described receiving node also comprises: the 3rd judging unit, be used for receiving first judging unit when sending the judged result be, indicate described timing unit zero clearing, and judge whether the wireless instructions that receives in second broadcast frame is consistent with the wireless instructions of first broadcast frame, and judged result is sent to computing unit;
Described timing unit also is used for receiving the 3rd judging unit when sending the judged result be, closes the time corresponding groove of first broadcast frame; Perhaps receiving the 3rd judging unit when sending not judged result, start-up time, groove picked up counting.
The implementation procedure of the function of each unit and effect sees implementation procedure corresponding in the said method for details in the described receiving node, is not giving unnecessary details at this.
Accordingly, the present invention also provides a kind of transmitting system of wireless instructions, its structural representation sees Fig. 7 for details, described system comprises: (present embodiment is an example with receiving node 72 and receiving node 73 with at least one receiving node for remote controller 71, but be not limited to this), wherein, described remote controller 71 is used for sending wireless instructions at least one receiving node; Described receiving node 72 or receiving node 73 are respectively applied for behind the described wireless instructions that receives the remote controller transmission, start described receiving node time corresponding groove and pick up counting; And when described timing arrives described time slot time corresponding section, send first broadcast frame that comprises wireless instructions.
Preferably, described receiving node 72 also is used for after start-up time, groove picked up counting, judge whether to receive second broadcast frame that other receiving nodes (such as receiving node 73) send, if not, judge described timing whether the time of advent groove time corresponding section, and when arriving described time slot time corresponding section, send described first broadcast frame that comprises wireless instructions; If there is not the groove time corresponding section time of advent, then continue to judge whether to receive second broadcast frame that second receiving node sends; If then to described time slot zero clearing, judge whether the wireless instructions that receives in second broadcast frame is consistent with the wireless instructions of transmission, and when wireless instructions is consistent, close the time corresponding groove of first broadcast frame; If inconsistent, then start-up time, groove picked up counting.
Wherein, described receiving node 72 or receiving node 73 can comprise respectively: receiving element, timing unit and transmitting element can further include first judging unit, second judging unit and the 3rd judging unit etc.
In the described system in the receiving node implementation procedure of the function of each unit and effect see implementation procedure corresponding in the said method for details, do not giving unnecessary details at this.
This shows that the present invention introduces broadcast frame in the CANopen agreement, solved the problem that remote control command can not utilize the CANopen agreement to propagate in the prior art, realized a bit receiving the characteristic that the whole network is all known.In the present invention, the wireless instructions receiving node can be with reference to the fieldbus collision avoidance mechanism, promptly adopt time slot mechanism, press the ID time-delay official hour groove of receiving node, when the timing no show official hour of time slot, if receive the broadcast frame that other receiving nodes send, then to the time slot reclocking, if the broadcast frame of other nodes that receive is identical with the wireless instructions that this section acceptance point receives, shut-in time groove then, stop to send this broadcast frame, otherwise, in the time slot of oneself, send broadcast frame.The problem of avoiding broadcast frame in the CAN bus, to conflict and transmit.
That is to say that the present invention adopts redundant technique on the CANopen agreement, realize the multi-multipoint real-time control of controlled in wireless, broken through the distance limit of controlled in wireless, improved the reliability and the antijamming capability of controlled in wireless.Utilize CANopen protocol transmission wireless instructions purpose thereby reached, realize a bit receiving the characteristic that the whole network is all known.
Through the above description of the embodiments, those skilled in the art can be well understood to the present invention and can realize by the mode that software adds essential general hardware platform, can certainly pass through hardware, but the former is better execution mode under a lot of situation.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words can embody with the form of software product, this computer software product can be stored in the storage medium, as ROM/RAM, magnetic disc, CD etc., comprise that some instructions are with so that a computer equipment (can be a personal computer, server, the perhaps network equipment etc.) carry out the described method of some part of each embodiment of the present invention or embodiment.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. the sending method of a wireless instructions is characterized in that, comprising:
First receiving node receives the wireless instructions that remote controller sends, and wherein, described wireless instructions is in the CANopen protocol transmission;
Starting the first receiving node time corresponding groove picks up counting, wherein, the time slot that each receiving node in the network is all corresponding, the time corresponding section of each time slot is at least and sends broadcast frame and need 3 times of time, and the time slot of each receiving node postpones for the ID according to receiving node is multiple;
When timing arrives described time slot time corresponding section, send first broadcast frame that comprises wireless instructions.
2. method according to claim 1 is characterized in that, after the corresponding time slot of startup first receiving node picked up counting, described method also comprised:
First receiving node judges whether to receive second broadcast frame that second receiving node sends in the network, if not, then continue to judge whether described timing arrives described time slot time corresponding section, and when arriving described time slot time corresponding section, carry out sending the described step that comprises first broadcast frame of wireless instructions; Otherwise return the step that judges whether to receive second broadcast frame that second receiving node sends.
3. method according to claim 2 is characterized in that, described method also comprises:
If first receiving node receives second broadcast frame that second receiving node sends, then to described time slot zero clearing, judge whether the wireless instructions receive in second broadcast frame is consistent with the wireless instructions of transmission, if then close the time corresponding groove of first broadcast frame; Otherwise, carry out the step that start-up time, groove picked up counting.
4. according to each described method of claim 1 to 3, it is characterized in that, the sign ID of described first broadcast frame is the 0X67F among the Service Data Object COB-ID, and the index of object dictionary is 0X3000 in the corresponding CANopen agreement of wireless instructions, and subindex is 0x01.
5. according to claim 2 or 3 described methods, it is characterized in that described first receiving node is the current receiving node in the network; Described second receiving node is other at least one receiving nodes in this network.
6. a receiving node is characterized in that, comprising:
Receiving element is used to receive the wireless instructions that remote controller sends, and wherein, described wireless instructions is in the CANopen protocol transmission;
Timing unit, be used for after receiving element receives described wireless instructions, starting this receiving node time corresponding groove picks up counting, wherein, the time slot that each receiving node in the network is all corresponding, the time corresponding section of each time slot is at least and sends broadcast frame and need 3 times of time, and the time slot of each receiving node postpones for the ID according to receiving node is multiple;
Transmitting element when being used for timing at timing unit and arriving described time slot time corresponding section, sends first broadcast frame that comprises wireless instructions.
7. receiving node according to claim 6 is characterized in that, also comprises: first judging unit, second judging unit, wherein,
Described first judging unit is used for after start-up time, groove picked up counting, and judges whether to receive second broadcast frame that second receiving node sends, and sends the result who judges;
Described second judging unit is receiving first judging unit when sending not judged result, judge described timing whether the time of advent groove time corresponding section, and the judged result that arrives sent to described transmitting element; To send to first judging unit less than the judged result that arrives.
8. receiving node according to claim 7, it is characterized in that, also comprise: the 3rd judging unit, be used for receiving first judging unit when sending the judged result be, indicate described timing unit to this receiving node time corresponding groove zero clearing, and judge whether the wireless instructions that receives in second broadcast frame is consistent with the wireless instructions of transmission, and judged result is sent to timing unit;
Described timing unit also is used for receiving the 3rd judging unit when sending the judged result be, closes the time corresponding groove of first broadcast frame; Perhaps receiving the 3rd judging unit when sending not judged result, start-up time, groove picked up counting.
9. the transmitting system of a wireless instructions is characterized in that, comprising: at least one receiving node in remote controller and the network, wherein
Described remote controller is used for comprising wireless instructions at least one receiving node transmission that wherein, described wireless instructions is in the CANopen protocol transmission;
Described receiving node is used for starting described receiving node time corresponding groove and picking up counting behind the described wireless instructions that receives the remote controller transmission; And when described timing arrives described time slot time corresponding section, transmission comprises first broadcast frame of wireless instructions, wherein, the time slot that each receiving node in the network is all corresponding, the time corresponding section of each time slot is at least and sends broadcast frame and need 3 times of time, and the time slot of each receiving node postpones for the ID according to receiving node is multiple.
10. system according to claim 9, it is characterized in that, described receiving node also is used for after start-up time, groove picked up counting, judge whether to receive second broadcast frame that other receiving nodes in the network send, if not, judge described timing whether the time of advent groove time corresponding section, and when arriving described time slot time corresponding section, send described first broadcast frame that comprises wireless instructions; If there is not the groove time corresponding section time of advent, then continue to judge whether to receive second broadcast frame that second receiving node sends; If then to described time slot zero clearing, judge whether the wireless instructions that receives in second broadcast frame is consistent with the wireless instructions of transmission, and when wireless instructions is consistent, close the time corresponding groove of first broadcast frame; If inconsistent, then start-up time, groove picked up counting.
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