CN102638562A - Vehicle-mounted terminal communication method applied to engineering machinery vehicle networking - Google Patents
Vehicle-mounted terminal communication method applied to engineering machinery vehicle networking Download PDFInfo
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Abstract
The invention discloses a vehicle-mounted terminal communication method applied to engineering machinery vehicle networking. The vehicle-mounted terminal communication method includes a method for internet access communication between a vehicle-mounted terminal unit and a remote server unit based on wireless second-generation or third-generation communication and a method for communication between the vehicle-mounted terminal unit and a local function unit. The method for communication between the vehicle-mounted terminal unit and the local function unit includes: a method for communication between the vehicle-mounted terminal unit and a detecting and maintaining computer unit; a method for communication among the vehicle-mounted terminal unit, an engine electric control unit and a vehicle electric control unit which are based on CAN (control area network); a method for communication between the vehicle-mounted terminal unit and a geographical position information detecting unit based on RS232 (recommend standard 232); a method for communication between the vehicle-mounted terminal unit and a vehicle body balance-degree or gradient detecting unit based on RS485; and a method for communication among the vehicle-mounted terminal unit and human-interactive input and output units. The vehicle-mounted terminal achieved by the methods can be applied to various engineering applied vehicles, transmission and management of vehicle state data can be realized, requirements and functions of a vehicle networking system can be met, and conditions for sharing and serving engineering vehicle data are provided.
Description
Technical field
The invention belongs to engineering vehicle, mining machinery, equipment manufacturing field, relate to the communication means of a kind of engineering vehicle car-mounted terminal unit, and realize the terminal installation of this communication means.
Background technology
Engineering machinery vehicle comprises the various engineering vehicles of excavator, rotary drilling rig, rock drilling machine, loading machine, crane, pile press machine, road roller, bull-dozer or the like, plays a great role in fields such as Important Project construction, minings.More complicated on other vehicle functions, operational environment is more abominable.Vehicle works long hours in heavy condition, has various potential safety hazards, causes production accident easily.Along with the needs of expanding economy and engineering construction, higher demand is proposed for the whole process scheduling of vehicle, vehicle maintenance maintenance, fault pre-alarming, vehicle leasing, mortgage, insurance service etc.And these demands can be utilized ubiquitous wireless communication technology and network, and the networking through engineering vehicle solves.In existing technical patent, mainly stress the networking of automobile, vehicle networked diagnosis, GPS location, burglar alarm, commercial application etc. are provided, it is less to relate to engineering vehicle and the data network relevant with the engineering vehicle construction operation.The present invention just is being based on the particularity of engineering vehicle, realizes car-mounted terminal communication means and device, is applicable to the various engineering vehicles that networking requirement is arranged.
Summary of the invention
The objective of the invention is to deficiency to prior art; A kind of car-mounted terminal communication means and device of engineering machinery vehicle working application are provided; The present invention has realized the various states of vehicle and sharing and service of work data, and the engineering vehicle working application is had extensive value.
The objective of the invention is to realize: the communicating by letter and method two parts of transfer of data of the method that a kind of car-mounted terminal communication means of engineering machinery vehicle working application, this method comprise communicating by letter of car-mounted terminal unit and remote server unit and transfer of data and car-mounted terminal unit and local function unit through following technical scheme; Wherein, Said car-mounted terminal unit and local function unit communicate by letter and the method for transfer of data comprises: car-mounted terminal unit and communicating by letter and data transmission method based on the vehicle electrically controlling unit of CAN communication mode, engine electric-controlled unit; The car-mounted terminal unit with based on the vehicle body degree of balance of RS485 communication mode or communicating by letter and data transmission method of gradient detecting unit; Car-mounted terminal unit and communicating by letter and data transmission method based on the geographical location information detecting unit of RS232 communication mode; The car-mounted terminal unit with communicate by letter and data transmission method car-mounted terminal unit and the outside pluggable equipment unit communication of communicating by letter and this five partial content of data transmission method with mutual input, the output unit of operating personnel based on IO and bus mode based on RS232.
Further, said car-mounted terminal unit and remote server unit communicate by letter and the method for transfer of data is utilized the 2G/3G wireless network, realize the communicating by letter and transfer of data of server unit on car-mounted terminal unit and the Internet, specifically may further comprise the steps:
(1) the car-mounted terminal unit is set up TCP/IP with remote server unit and is connected;
(2) the checking request is initiated to remote server unit in the car-mounted terminal unit;
(3) remote server unit is sent checking message to the car-mounted terminal unit;
(4) car-mounted terminal unit Receipt Validation sign indicating number, active upload current vehicle data and historical record are running under the failure condition active upload failure code;
(5) remote server unit is sent vehicle data collection or vehicle control command to the car-mounted terminal unit;
(6) the car-mounted terminal unit sends vehicle data or sends the feedback response to remote server unit;
(7) the car-mounted terminal unit periodically sends heartbeat packet, and selects the heartbeat packet cycle according to the current demand signal quality;
(8) can't connect with remote server unit for a long time, select initiatively to break off or abandon connecting,, attempt newly connecting after this according to the rate of change in signal quality and geographical position.
Further, said car-mounted terminal unit with based on the communicating by letter and data transmission method of the vehicle electrically controlling unit of CAN communication mode, engine electric-controlled unit, may further comprise the steps:
(1) the car-mounted terminal unit sends enabling signal through the remote frame mode to the vehicle electrically controlling unit;
(2) the vehicle electrically controlling unit sends protocol version through Frame to the car-mounted terminal unit, and the vehicle current state, with the car-mounted terminal units synchronization;
(3) the car-mounted terminal unit is according to protocol version, to vehicle electrically controlling unit and engine electric-controlled unit inquiry vehicle data;
(4) vehicle electrically controlling unit and engine electric-controlled unit periodically send the vehicle conventional parameter, and according to the request of data of the car-mounted terminal unit that receives, send data;
(5) car-mounted terminal unit selectivity receives on the CAN bus Frame from vehicle electrically controlling unit and engine electric-controlled unit; Carry out packet stores, management according to Data Source and data category;
(6) the car-mounted terminal unit sends the vehicle control command to vehicle electrically controlling unit and engine electric-controlled unit;
(7) vehicle electrically controlling unit and engine electric-controlled unit receive control command, send feedback to the car-mounted terminal unit and confirm order.
Further, said car-mounted terminal unit with based on the vehicle body degree of balance of RS485 communication mode or communicating by letter and data transmission method of gradient detecting unit, may further comprise the steps:
(1) the car-mounted terminal unit sends enabling signal to the RS485 bus, the inquiry vehicle body degree of balance or gradient detecting unit link information and device id;
(2) the vehicle body degree of balance or gradient detecting unit transmitting apparatus ID are to the RS485 bus;
(3) the car-mounted terminal unit sends the Frame request to the vehicle body degree of balance or gradient detecting unit;
(4) the vehicle body degree of balance or gradient detecting unit periodically send Frame to the RS485 bus;
(5) according to the vehicle current state, and the frequency of angle of inclination data variation, transmit control signal to the vehicle body degree of balance or gradient detecting unit.
Further, said car-mounted terminal unit with based on the geographical location information detecting unit of RS232 communication mode communicate by letter and data transmission method is specially: the car-mounted terminal unit obtains vehicle geographical location information, the temporal information that the geographical location information detecting unit sends through the RS232 communication mode.
Further, said car-mounted terminal unit with based on the communicating by letter and data transmission method of IO and bus mode with mutual input, the output unit of operating personnel, comprise following content:
(1) the parallel bus mode is adopted in output, is connected with high resolution digital liquid crystal screen, shows output employing double buffering looping traffic, regularly with the update displayed mode that combines by data variation;
(2) the IO keyboard is adopted in input, confirms input with scan mode.
Further; Said car-mounted terminal unit and the outside pluggable equipment unit communication and the data transmission method of communicating by letter based on RS232; Said outside pluggable equipment unit based on RS232 communication mainly refers to be used to detect, the computer of maintenance cart mounted terminal unit and vehicle electrically controlling unit, and this method may further comprise the steps:
(1) car-mounted terminal unit and detection, safeguards that computer sets up physical connection;
Detect (2), safeguard that computer sends the cipher authentication request to the car-mounted terminal unit;
(3) the car-mounted terminal unit sends authenticate-acknowledge or authentification failure message to detecting, safeguard computer;
Detect (4), safeguard that computer sends sense command or maintenance command to the car-mounted terminal unit;
(5) both sides' data check is confirmed.
The invention has the beneficial effects as follows; Device of the present invention is fit to the various engineering vehicles that networking requirement is arranged; Can be linked into vehicle local communication network and the Internet easily, realize the transmission and the management of vehicle status data, satisfy vehicle networked system requirements and function; For the engineering vehicle data share and service provides condition, for the maintenance in later stage facilitates.
Description of drawings
Fig. 1 is car-mounted terminal cell arrangement figure;
Fig. 2 is the car-mounted terminal unit block diagram of communicating by letter with remote server unit;
Fig. 3 is the car-mounted terminal unit block diagram of communicating by letter with vehicle electrically controlling and engine electric-controlled unit;
Fig. 4 is the car-mounted terminal unit block diagram of communicating by letter with the vehicle body degree of balance or gradient detecting unit;
Fig. 5 be the car-mounted terminal unit with ground in the positional information detecting unit block diagram of communicating by letter;
Fig. 6 is the car-mounted terminal unit block diagram of communicating by letter with keyboard, display unit;
Fig. 7 is car-mounted terminal unit and external detection, safeguard the compunlcation block diagram;
Fig. 8 is car-mounted terminal unit and server unit communication flow diagram;
Fig. 9 is car-mounted terminal unit and vehicle electrically controlling and engine electric-controlled unit communication flow diagram;
Figure 10 is car-mounted terminal unit and body sway angular detection unit communication flow diagram;
Figure 11 is car-mounted terminal unit and external detection, safeguard the compunlcation flow chart;
Figure 12 is the on-vehicle terminal device program flow diagram.
Embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is described further.
As shown in Figure 1; On-vehicle terminal device comprises supply module and reserve battery unit; DSP and 2G/3G communication module; Both provide power supply for the back for supply module and reserve battery unit, and the 2G/3G communication module links to each other with DSP through RS232, and DSP adopts the ADSP-BF54X dsp chip; This chip has 1 DDR control unit interface, 1 NFC interface (NAND FLASH control unit interface), 3 SPI mouths, a kernel clock interface, a real-time clock interface, 2 CAN control unit interfaces, 4 independent UART, 3 parallel bus interfaces (PPI) and 152 configurable GPIO mouths.
The ancillary equipment of DSP comprises: the SPI Flash storage chip of the NAND Flash storage chip of the DDR memory chip of 1 64MB capacity, 1 256MB capacity, 1 2MB capacity, 1 25MHZ crystal oscillator; 1 32.768KHZ crystal oscillator, 1 CAN isolate transceiving chip, 3 RS232 transceiving chips, 1 RS485 transceiving chip, and 1 shows output interface, 1 keyboard interface and 1 trigger button; Wherein, The DDR storage chip links to each other with the DDR control unit interface, and NAND FLASH links to each other with the NFC interface, and SPI Flash storage chip links to each other with a SPI mouth; 1 25MHZ crystal oscillator links to each other with DSP kernel clock interface; 32.768KHZ crystal oscillator links to each other with the real-time clock interface of DSP, CAN isolates transceiving chip and links to each other with 1 CAN control unit interface, and 3 RS232 transceiving chips link to each other with 4 UART mouths of DSP respectively with 1 RS485 transceiving chip; Show that output interface links to each other with 2 parallel bus interfaces respectively with keyboard interface, trigger button links to each other with the GPIO mouth of DSP.
As shown in Figure 2, realize communicating by letter through 2G or 3G network with server unit in car-mounted terminal of the present invention unit, and as shown in Figure 8, concrete steps are following:
Step 101: car-mounted terminal unit employing AT order control communication module is set up TCP/IP with remote server unit and is connected;
Step 102: remote server unit responds the connection request of car-mounted terminal unit;
Step 103: after the car-mounted terminal unit detects TCP/IP successful connection feedback response, to remote server unit request authentication;
Step 104: remote server unit is distributed online sign for the car-mounted terminal unit;
Step 105: the car-mounted terminal unit after receiving online sign, the active upload vehicle data.Car number for example, the geographical position that vehicle is current, running status, engine running time, vehicle arrangement unit emm message, engine oil pressure, exhaust pressure, exhaust temperature, hydraulic oil temperature, diesel oil oil level, level voltage, running parameter, historical alarm logging etc.; If fail to receive online sign, then get back to step 103;
Step 106: car-mounted terminal unit and remote server unit are carried out data interaction; The car-mounted terminal unit occurs when unusual like vehicle and upload exception reporting to remote server unit; Again such as remote server unit to of the collection of car-mounted terminal unit about vehicle data, shut down the functions such as modification setting of limit to the Long-distance Control of vehicle or to the warning of vehicle arrangement.
Step 107: car-mounted terminal unit and server unit periodically send heartbeat packet to keep the vehicle presence to the other side; For the car-mounted terminal unit, whether the transmission success or not of heartbeat packet conduct breaks off one of foundation of connection.
Step 108: signal is not good or occur under the situation of communication abnormality, and the car-mounted terminal unit breaks off TCP/IP with remote server unit and is connected.
Here be that example is explained the car-mounted terminal unit with the 2G network.
Dsp processor in the car-mounted terminal unit uses the RS232 serial port chip to be connected with the GSM/GPRS communication module; After powering at first through AT order to the communication module configuration that routinizes, order and set up TCP/IP with server unit and be connected through send AT to communication module afterwards.The application layer communication protocol of formulating according to server unit afterwards carries out data communication.Data are divided into two types:
The first kind is direct control command, like Vehicle locking, and release, maintenance resets, the alarm command code, reporting to the police shields/resets etc.This type instruction does not have the effect data, and car-mounted terminal unit or server unit receive promptly to resolve and come into force.Second type for having the effect parameter command, and as revising maintenance period, warnings/shutdowns limit is revised, and need could resolve through twice reception this type instruction and come into force, and at first is the command header reception, secondly is the valid data receptions.
First kind order is the fixed length form, and second type of order is the random length form, so the car-mounted terminal unit adopts the data flow mode of variable reception buffering.Application layer protocol according to remote server unit is formulated is resolved definite the current command, and change data buffer zone size is redistributed to data buffering and is used to receive valid data or receives next command.
In setting up communication and communication process, DSP divides three kinds of states according to the communication module return results:
State one: communication module is returned normally, successful connection, and the application layer communication protocol of formulating according to server unit carries out data communication; And through periodically sending the form of heartbeat packet, it is online to keep vehicle, carries out the detection of connection status simultaneously; When connecting unusual the disconnection, get the hang of two.For the setting of heartbeat packet time, according to the current demand signal Strength Changes.
State two: the current environment poor signal quality, can't accomplish network and connect or connect unusual the disconnection, this moment is with the set of connection failure state; Utilize the cycle timing function of real-time clock afterwards; Periodically detect this mode bit, attempt connecting again, if successful connection then gets into first kind of state.The duration that the periodic quantity of this real-time clock is set according to second kind of state increases progressively, and more than lasting half an hour, thinks that then current network conditions is not good, abandons network and connects, and withdraws from.The geography information of obtaining as GPS comes back to state two when bigger variation is arranged.
State three: external communication module does not have feedback; Confirm through secondary this moment; If still have feedback and do not explain that then communication module is removed or damages, this moment, the car-mounted terminal unit alarm signal of dishing out withdrawed from the communication process with server unit; And with this abnormal show in human-computer interaction interface, remind the personnel that control.
Local communication and data transmission method
2.1 communications and data transmission with vehicle electrically controlling unit and engine electric-controlled unit
As shown in Figure 3, the communications and data transmission of car-mounted terminal unit and vehicle electrically controlling unit and engine electric-controlled unit is based on the CAN bus network.Car-mounted terminal unit and vehicle electrically controlling unit adopt CAN2.0B standard frame agreement, and car-mounted terminal unit and engine electric-controlled unit adopt SAE J1939 agreement.
2.1.1 communication steps
As shown in Figure 9, be the communication scheme of car-mounted terminal unit and vehicle electrically controlling unit and engine electric-controlled unit.
Step 201: the car-mounted terminal unit starting, after initialization is accomplished, send enabling signal through the mode of remote frame to the vehicle electrically controlling unit and inform that the car-mounted terminal unit is ready, and the inquiry protocol version, the state of current vehicle;
Step 202: the vehicle electrically controlling unit receives the remote frame request on the CAN bus, sends the protocol version of informing car-mounted terminal unit current vehicle state and employing, so far car-mounted terminal unit and vehicle electrically controlling units synchronization through sending Frame;
Step 203: be divided into two kinds of situation:
(1) the vehicle electrically controlling unit will not be mounted to the vehicle sensors parameter on the CAN bus, periodically send on the CAN bus, and like temperature, oil temperature, air pressure, oil pressure etc.;
(2) engine electric-controlled unit periodically sends to engine and appurtenances parameter on the CAN bus, like engine speed, and running time, water temperature etc.;
Step 204: the car-mounted terminal unit sends vehicle data through the mode request vehicle electrically controlling unit or the engine electric-controlled unit of remote frame;
Step 205: be divided into two kinds of situation:
(1) the vehicle electrically controlling unit sends to the CAN bus with the remote frame request msg that receives;
(2) engine electric-controlled unit sends to the CAN bus with the remote frame request msg that receives;
Step 206: be divided into two kinds of situation:
(1) the car-mounted terminal unit transmits control signal to the vehicle electrically controlling unit, controls vehicle-state indirectly.For example; Remote server unit is sent the order of Telelock car, after the car-mounted terminal unit receives this order, through the CAN bus; Send the order of lock car according to the basic Frame Protocol of CAN2.0B to the vehicle electrically controlling unit forwards; The vehicle electrically controlling unit obtains this order back the controlled function of vehicle is carried out restriction in various degree, and sends halt instruction according to SAE J1939 agreement to engine electric-controlled unit, forces engine out of service.
(2) the car-mounted terminal unit directly transmits control signal to engine electric-controlled unit.For example, remote server unit is sent long-range halt command, after the car-mounted terminal unit receives this order, through the CAN bus, sends halt command according to SAE J1939 agreement.In addition also can be according to the corresponding control command of transmission of SAE J1939 agreement, rotating speed etc. is started in adjustment.
Step 207: car-mounted terminal unit and vehicle electrically controlling unit adopt affirmation mechanism.For instance, control command is assigned to the vehicle electrically controlling unit in the car-mounted terminal unit, and the vehicle electrically controlling unit need feed back control command, sends the feedback acknowledgment signal by the car-mounted terminal unit to the vehicle electrically controlling unit more afterwards, and this moment, this control command just came into force.
2.1.2 packet to CAN communication
Data on the CAN bus have three kinds of sources, and for engineering vehicle, the data class that relates to is various, and the CAN controller can send 8 byte datas at most at every turn, Given this, need and will divide into groups to send and receive to data.
Data are divided into five groups, and every group of data are corresponding to one or several Mailbox and the MessageID of ECU.
The A group: the sensor parameters that the vehicle electrically controlling unit collects, vehicle-state, like hydraulic fluid temperature, exhaust temperature, air compressor machine pressure, air compressor machine pressure, level voltage, oil level etc.Parameters information Pagination Display is on the car-mounted terminal unit display.
B group: the data that engine electric-controlled unit periodically sends.Like engine speed, running time, water temperature etc.
C group: inquire that through the mode of remote frame obtaining the A group organizes corresponding data transmission with B.
The D group: the control messages signal, be divided into two types of printenv signal and actual parameters, the printenv signal occupies a byte at most; Warning/shutdown like certain device; Long-range vehicle-locking signal, the actual parameter signal comprises order and valid data, as sets certain equipment alarm limit etc.
E group: feedback acknowledgment signal.All control commands all need feedback acknowledgment to improve the reliability of communication.
2.2 communications and data transmission with the vehicle body degree of balance or gradient detecting unit
As shown in Figure 4, tilt angular detection unit and vehicle body tilt fore and aft degree detecting unit of car-mounted terminal unit and vehicle body adopts the RS485 bus communication.
Shown in figure 10, the communication scheme of car-mounted terminal unit and body sway angular detection unit,
Step 301: the car-mounted terminal unit sends enabling signal to the RS485 bus, and this signal is used to inquire body sway angular detection unit link information and device id;
Step 302: body sway angular detection unit with the mode transmitting apparatus number of broadcasting to the RS485 bus;
Step 303: the car-mounted terminal unit is on the RS485 bus; Intercept and capture and definite device id; Distinguish vehicle body left and right sides angle detecting unit and vehicle body front and rear angles detecting unit, and send the Frame request signal, this signal indication request body sway angular detection unit sends Frame;
Step 304: about vehicle body and tilt fore and aft degree detecting unit periodically send Frame respectively, the current two-dimensional tilting angle with respect to the horizontal plane of indication vehicle.
Step 305: the car-mounted terminal unit obtains and calculates the vehicle front and back and the angle that tilts with respect to the horizontal plane; In conjunction with the vehicle current state; And the frequency of angle variation; To angular detection unit transmitting control commands, the control command function comprises, the startup of (1) vehicle body angular detection unit, closes; (2) sending mode is like single or the Frame request of transmission continuously; (3) send frequency, select different transmission rates for continuous sending mode;
Illustrate: when vehicle is in walking states, need monitor in real time the angle of vehicle body at this moment, so the car-mounted terminal unit sends continuous data frame request command to body sway angular detection unit; Afterwards according to before and after the vehicle and the rate of change of the angle that tilts; Select to send frequency, be divided into 5 ranks for the speed of sending, when receive rate of change when slow; Selection is than low rate, on the contrary the selection two-forty; When vehicle is in job state, adopt the periodically mode of single acquisition, the Frame of promptly selecting body sway angular detection unit is that single sends;
2.3 with communicating by letter and transfer of data of geography information detecting unit
Communicate by letter based on the RS232 communication mode with the geography information detecting unit in the car-mounted terminal unit; Geography information detecting unit essence is the gps signal receiver; This unit periodically sends the Frame based on the NMEA-0183 data transmission standard, and Frame comprises the time, longitude and latitude; Height above sea level, information such as speed.The car-mounted terminal unit receives all Frames, and screening calculation goes out time and geographical location information, for example, following Frame is arranged:, 120027.00; A, 3015.9043, N, 12006.8153; E, 0.05,313.59,261010;,, second comma of A67 back ' A ' representative locatees, otherwise is no-fix.Under the situation of having located, field 3015.9043, N, 12006.8153, E represents the longitude and latitude of current vehicle.120027.00 261010 represent current time and date respectively.Wherein temporal information is used for the real-time clock of car-mounted terminal unit synchronously, and geographical location information will be stored in the car-mounted terminal unit, and upload to remote server unit.
2.4 based on I/O and parallel bus mode and mutual input, the output unit of operating personnel
As shown in Figure 6, the car-mounted terminal unit is connected with the high-resolution digital LCD through parallel bus interface (PPI), as with operating personnel's mutual output.Display mode is 640*480 RGB666.The car-mounted terminal unit is that display device distributes special-purpose direct memory visit (DMA) passage, and adopts double buffering loop-around data stream mode.Specifically, two block bufferings zones pBufferA and pBufferB are arranged, they are the first to link to each other, and forms loop, shows the between circulation is switched, thereby avoid occurring the data phenomenon of hungering and thirst.Each circular buffering is divided into a plurality of sub-buffering areas; Like pBufferA (1); PBufferA (2) ... PBufferA (n), they are connected in turn, and each sub-buffering area head pointer all points to same blocks of data zone; Be respectively A data area and B data area, actual data presented is being deposited in the inside.The number n size of sub-buffering area can be regulated, and the speed that the many more display frames of number are upgraded is slow more, otherwise frame update speed is fast more, according to current vehicle data variation speed, the number of regulating sub-buffering area.
For data area A, the renewal of B is adopted regularly renewal and is changed the mode that combines of upgrading.Regularly upgrade and be meant that every separated time of confirming produces one and upgrades demand; Be embodied in each demonstration and accomplish pBufferA or all son bufferings of pBufferB; Produce an incident A or incident B, in the processing function of the triggering of incident A or incident B, generate new display page data and be deposited in data a-quadrant or the data B zone.Time regularly is by two parameter determining, is respectively the reference frequency f that shows and the number n of sub-buffering area, regularly time=(f*n)/(640*480*3).Change to upgrade being meant preceding former data and the latest data that compares the current page place of renewal,, then do not upgrade the current data zone if do not have variation or variation in threshold range.Double buffering looping traffic and the mode of regularly upgrading combination with variation have been saved the expense of car-mounted terminal unit in the display part.
As shown in Figure 6, car-mounted terminal unit external 2*2 matrix form button has 4 buttons, confirms the input of button, its conduct and the mutual input unit of operating personnel by the mode of horizontal frame scan.4 buttons are defined as respectively and turn over, and turn over down, and affirmation is returned in the inquiry of warning/outage record.Through on turn over and down turn over the switching that can realize the vehicle parameter display page, reach the purpose of each parameter information inquiry of vehicle.Query key is used for the historical warning/outage record of enquiring vehicle successively.Return and confirm to be used for reporting to the police or shutting down under the page, realization is artificial to be confirmed and page handoff functionality.It is to receive the button input that scans through the car-mounted terminal unit that button triggers page change mechanism, gets into the button interrupt service routine, and corresponding button switch flag is set, and indicate the purpose page.And in main program, be polled to respective markers, trigger the synthetic again new frame of display module, and remove mark.
2.5 with the communications and data transmission that detects, safeguards computer unit
Car-mounted terminal unit and detection, safeguard compunlcation based on the RS232 communication mode, shown in figure 11, for car-mounted terminal unit and external detection, safeguard the communication scheme of computer unit.
Step 401: the car-mounted terminal unit sends the successful connection order;
Step 402: detect, safeguard that computer unit sends requests verification message to the car-mounted terminal unit, the requests verification message field comprises protocol-identifier, car number, password.Protocol-identifier refers to vehicle production producer, vehicle model and protocol version, and car number and password are bound each other, and both are as the unique identification of confirming vehicle.
Step 403: the car-mounted terminal unit contrasts affirmation to checking message, returns to allow or the refusal instruction;
Step 404: possess the one-level authority and detect, safeguard that computer unit sends sense command, detect instruction and realize obtaining and the vehicle self check to the vehicle build-in attribute; Possess the secondary authority and detect, safeguard that computer unit sends parameter modification or control command.All instructions are the fixed length form, are divided into two fields of order and data, and valid data are not enough to adopt null byte to fill;
Step 405: receive order, and resolve, the order that receives is returned detection again, safeguarded computer unit;
Step 406: external computer unit sends confirms order;
Step 407: car-mounted terminal unit fill order, complete back return results is given and is detected, safeguards computer unit.
The on-vehicle terminal device explanation:
It is acp chip that on-vehicle terminal device adopts the Blackfin54x series DSP of ADI company.On-vehicle terminal device utilizes above-described communication means to realize following function:
(1) connect and data communication with remote server unit, realize uploading of vehicle operation status data, and the request of sending and the control command of reception server.
(2) connect and data communication with vehicle electrically controlling unit, engine electric-controlled unit, obtain vehicle attribute, status data; The output control command.
(3) be connected and data communication with body sway angular detection unit, obtain vehicle body horizontal tilt status data.
(4) be connected communication with input, output unit, realize inquiry, the demonstration page turning of button input, the data zero clearing; With the functions such as page automatic switchover that show output.
(5) with the communicating by letter of outside pluggable equipment unit, mainly refer to detect, safeguard computer, realize vehicle-state and parameter setting.
Shown in figure 12, be car-mounted terminal unit program flow process,
The first step: chip initiation work comprises interior nuclear clock, the configuration of system clock, system break configuration.
Second step: the state-detection of GPIO, if GPIO is a low level, then select to load normal working procedure, external computer detects, maintenance program otherwise load.
The 3rd step, the peripheral unit configuration.Specifically comprise the external bus interface unit, UART equipment, NAND flash, keyboard unit, EPPI module, PIXC module, CAN module, RTC module, timer module etc.
Wherein 4 UART equipment are respectively applied for car-mounted terminal unit and GPS unit, with server unit, with body sway angular detection unit, and detect, safeguard compunlcation.The CAN module is used for communicating by letter with engine electric-controlled unit with the vehicle electrically controlling unit.EPPI and PIXC are used for the demonstration output equipment mutual with the people, and Keypad is used for the keyboard input devices mutual with the people.Other several modules all are to be above module service, and each item function of on-vehicle terminal device is accomplished in acting in conjunction.
The 4th step, read system information from data storage, like display page, graphic interface, vehicle build-in attribute information etc.
Whether the 5th step: it is normal to detect peripheral each unit, and sets up communication.As with GPS receiving equipment unit, with server unit, with body sway angular detection unit, with communicating by letter and transfer of data of vehicle electrically controlling and engine electric-controlled unit.If loaded trace routine, then also need set up and the communicating by letter and transfer of data of external detection, service equipment unit.
The 6th step: the car-mounted terminal unit gets into waits for polling status; Main program can interrupt by the summary responses peripheral hardware during this period; The peripheral hardware interrupt service routine can to a certain task handle immediately or through change system and user be marked at return interrupt service routine after, carry out handled by main program according to these flag states.Illustrate: when receiving the order of server unit, in interrupt service routine, resolve corresponding control command, and set the mark of different brackets according to the application layer communication protocol that server is formulated; In principal function, respective markers is resolved then; And the execution corresponding operating, like the vehicle mechanical hand control, the parameter correction; Storage, feedback etc.Again for instance; When obtaining the respective angles signal from body sway angular detection unit, receive and judge in the interrupt handling routine whether angle surpasses change threshold, and the set angle update mark; According to the angle update mark, whether decision upgrades the graphic interface on the adjustment display in main program.Use same quadrat method, surpass alarm limit regularly as parameter, need accomplish the prompting and the analytic record of fault message, fault message is transferred to server unit and display unit.These tasks all are in the Interrupt Process function that peripheral hardware produces, to dish out with mark pattern, and are complete by main program, and remove mark.
Automatically report to the police
On-vehicle terminal device possesses automatic warning/shutdown function.It below is related description with automatic warning function.
4.1 alarm level is distinguished
On-vehicle terminal device is divided into Pyatyi with alarm level.Highest ranking is the mistake that system itself produces, and this mistake is produced by the on-vehicle terminal device hardware anomalies, runs into that this type of is unusual, and system resets automatically.
The fourth stage: peripheral hardware exception error.Illustrate:
(1) the car-mounted terminal unit sends the AT order through serial ports, and can't obtain corresponding feedback.
(2) the car-mounted terminal unit can't be set up with engine electric-controlled unit with the vehicle electrically controlling unit and communicate by letter.
(3) the car-mounted terminal unit can't be set up with gps data collecting device unit and communicate by letter.
(4) the car-mounted terminal unit can't be set up with the vehicle angles unit and communicate by letter.
The third level: the parameter that is related to vehicle safety and key equipment has surpassed the highest warning line; Like water temperature, oil temperature, vehicle angles etc.; Run into this type of warning; The car-mounted terminal unit sends stopping signal to vehicle electrically controlling unit, engine electric-controlled unit, shows corresponding alarm content, stores and upload alarm logging.
The second level: the parameter that is related to vehicle safety and key equipment has surpassed second warning line, and repeated alarm indication prompting is selected in the car-mounted terminal unit, stores and be uploaded to server unit.
The first order: vehicle attaches abnormal parameters, arrives like service time, and the car-mounted terminal unit adopts single alarm indication prompting.
Annotate: high-grade warning can be seized inferior grade and reported to the police.
4.2 warning affirmation mechanism
Unite realization through external key and current state; When the alarm signal generation, the warning page is shown in Vehicular display device, only under current alarm condition releasing situation fully; The user could remove the warning page through the mode that button is confirmed, otherwise it is invalid to confirm that button is regarded as.
4.3 reduce false alarm and fail to report alarm probability.
Reduce false alarm and fail to report alarm probability through two kinds of means:
(1) bulk billing system.When parameter surmounts alarm limit, opening timing device and periodic triggers, acquired signal repeatedly, and with alarm limit relatively, when the inferior alarm limit that surmounts of continuous n (can establish), dishing out, it is unusual to report to the police.
(2) parameter value that collects is made even all in individual cycle time at n (can establish), when surmounting alarm limit, dishing out, it is unusual to report to the police.
The car-mounted terminal unit possesses the inquiry and the function of reminding automatically of vehicle maintenance information, and following mask body is introduced the extraction and the implementation procedure of emm message.
Behind the car-mounted terminal unit starting, from local storage, obtain 3 groups of parameter informations, be respectively items of equipment part set point maintenance period, the accumulative total corrected parameter when all previous maintenance resets, the accumulative total corrected parameter during vehicle all reset state.Obtain engine current running time from the CAN bus afterwards, computing formula is: the accumulative total corrected parameter during the accumulative total corrected parameter of the maintenance of device A remaining time=when all previous maintenance of the device A She maintenance period Zhi of Dinging – present engine ECU running time+device A resets+vehicle all reset state.
If maintain remaining time=0, then alarm level being changed to one-level, after corresponding main program detected this state, the service time of display device A was to reminding.The user can confirm to remind through the keyboard of man-machine interaction, and after this vehicle switches to the normal page.
Annotate: the accumulative total corrected parameter is meant when the last time resets to certain equipment through long-range or local maintenance, the running time of engine.
The above is merely preferred implementation of the present invention, but protection range of the present invention is not limited thereto.Any those skilled in the art all can carry out suitable change or variation to it in technical scope disclosed by the invention, and this change or variation all should be encompassed within protection scope of the present invention.
Claims (7)
1. the car-mounted terminal communication means of an engineering machinery vehicle working application; It is characterized in that the communicating by letter and method two parts of transfer of data of the method that this method comprises communicating by letter of car-mounted terminal unit and remote server unit and transfer of data and car-mounted terminal unit and local function unit; Wherein, Said car-mounted terminal unit and local function unit communicate by letter and the method for transfer of data comprises: car-mounted terminal unit and communicating by letter and data transmission method based on the vehicle electrically controlling unit of CAN communication mode, engine electric-controlled unit; The car-mounted terminal unit with based on the vehicle body degree of balance of RS485 communication mode or communicating by letter and data transmission method of gradient detecting unit; Car-mounted terminal unit and communicating by letter and data transmission method based on the geographical location information detecting unit of RS232 communication mode; The car-mounted terminal unit with communicate by letter and data transmission method car-mounted terminal unit and five partial contents such as outside pluggable equipment unit communication of communicating by letter and data transmission method with mutual input, the output unit of operating personnel based on IO and bus mode based on RS232.
2. according to the car-mounted terminal communication means of the said engineering machinery vehicle working application of claim 1; It is characterized in that; Said car-mounted terminal unit and remote server unit communicate by letter and the method for transfer of data is utilized the 2G/3G wireless network; Realize the communicating by letter and transfer of data of server unit on car-mounted terminal unit and the Internet, specifically may further comprise the steps:
(1) the car-mounted terminal unit is set up TCP/IP with remote server unit and is connected;
(2) the checking request is initiated to remote server unit in the car-mounted terminal unit;
(3) remote server unit is sent checking message to the car-mounted terminal unit;
(4) car-mounted terminal unit Receipt Validation sign indicating number, active upload current vehicle data and historical record are running under the failure condition active upload failure code;
(5) remote server unit is sent vehicle data collection or vehicle control command to the car-mounted terminal unit;
(6) the car-mounted terminal unit sends vehicle data or sends the feedback response to remote server unit;
(7) the car-mounted terminal unit periodically sends heartbeat packet, and selects the heartbeat packet cycle according to the current demand signal quality;
(8) can't connect with remote server unit for a long time, select initiatively to break off or abandon connecting,, attempt newly connecting after this according to the rate of change in signal quality and geographical position.
3. according to the car-mounted terminal communication means of the said engineering machinery vehicle working application of claim 1; It is characterized in that; Said car-mounted terminal unit with based on the communicating by letter and data transmission method of the vehicle electrically controlling unit of CAN communication mode, engine electric-controlled unit, may further comprise the steps:
(1) the car-mounted terminal unit sends enabling signal through the remote frame mode to the vehicle electrically controlling unit;
(2) the vehicle electrically controlling unit sends protocol version through Frame to the car-mounted terminal unit, and the vehicle current state, with the car-mounted terminal units synchronization;
(3) the car-mounted terminal unit is according to protocol version, to vehicle electrically controlling unit and engine electric-controlled unit inquiry vehicle data;
(4) vehicle electrically controlling unit and engine electric-controlled unit periodically send the vehicle conventional parameter, and according to the request of data of the car-mounted terminal unit that receives, send data;
(5) car-mounted terminal unit selectivity receives on the CAN bus Frame from vehicle electrically controlling unit and engine electric-controlled unit; Carry out packet stores, management according to Data Source and data category;
(6) the car-mounted terminal unit sends the vehicle control command to vehicle electrically controlling unit and engine electric-controlled unit;
(7) vehicle electrically controlling unit and engine electric-controlled unit receive control command, send feedback to the car-mounted terminal unit and confirm order.
4. according to the car-mounted terminal communication means of the said engineering machinery vehicle working application of claim 1; It is characterized in that; Said car-mounted terminal unit with based on the vehicle body degree of balance of RS485 communication mode or communicating by letter and data transmission method of gradient detecting unit, may further comprise the steps:
(1) the car-mounted terminal unit sends enabling signal to the RS485 bus, the inquiry vehicle body degree of balance or gradient detecting unit link information and device id;
(2) the vehicle body degree of balance or gradient detecting unit transmitting apparatus ID are to the RS485 bus;
(3) the car-mounted terminal unit sends the Frame request to the vehicle body degree of balance or gradient detecting unit;
(4) the vehicle body degree of balance or gradient detecting unit periodically send Frame to the RS485 bus;
(5) according to the vehicle current state, and the frequency of angle of inclination data variation, transmit control signal to the vehicle body degree of balance or gradient detecting unit.
5. according to the car-mounted terminal communication means of the said engineering machinery vehicle working application of claim 1; It is characterized in that, said car-mounted terminal unit with based on the geographical location information detecting unit of RS232 communication mode communicate by letter and data transmission method is specially: the car-mounted terminal unit obtains vehicle geographical location information, the temporal information that the geographical location information detecting unit sends through the RS232 communication mode.
6. according to the car-mounted terminal communication means of the said engineering machinery vehicle working application of claim 1; It is characterized in that; Said car-mounted terminal unit with based on the communicating by letter and data transmission method of IO and bus mode with mutual input, the output unit of operating personnel, comprise following content:
(1) the parallel bus mode is adopted in output, is connected with high resolution digital liquid crystal screen, shows output employing double buffering looping traffic, regularly with the update displayed mode that combines by data variation;
(2) the IO keyboard is adopted in input, confirms input with scan mode.
7. according to the car-mounted terminal communication means of the said engineering machinery vehicle working application of claim 1; It is characterized in that; Said car-mounted terminal unit and the outside pluggable equipment unit communication and the data transmission method of communicating by letter based on RS232; Said outside pluggable equipment unit based on RS232 communication mainly refers to be used to detect, the computer of maintenance cart mounted terminal unit and vehicle electrically controlling unit, and this method may further comprise the steps:
(1) car-mounted terminal unit and detection, safeguards that computer sets up physical connection;
Detect (2), safeguard that computer sends the cipher authentication request to the car-mounted terminal unit;
(3) the car-mounted terminal unit sends authenticate-acknowledge or authentification failure message to detecting, safeguard computer;
Detect (4), safeguard that computer sends sense command or maintenance command to the car-mounted terminal unit;
(5) both sides' data check is confirmed.
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| CN2012100219768A CN102638562A (en) | 2012-02-01 | 2012-02-01 | Vehicle-mounted terminal communication method applied to engineering machinery vehicle networking |
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Application publication date: 20120815 |