CN104140046B - For method and controller and the hoisting crane of hoisting crane communication - Google Patents
For method and controller and the hoisting crane of hoisting crane communication Download PDFInfo
- Publication number
- CN104140046B CN104140046B CN201410394525.8A CN201410394525A CN104140046B CN 104140046 B CN104140046 B CN 104140046B CN 201410394525 A CN201410394525 A CN 201410394525A CN 104140046 B CN104140046 B CN 104140046B
- Authority
- CN
- China
- Prior art keywords
- electric elements
- ethernet
- data communication
- controller
- out data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Small-Scale Networks (AREA)
Abstract
The present invention discloses a kind of method for hoisting crane communication and controller and hoisting crane, and wherein this controller comprises Ethernet interface, CAN interface, wherein said Ethernet interface, for carrying out data communication by ethernet and the first electric elements; Described CAN interface, for carrying out data communication by CAN and the first electric elements.Present invention employs three-level network communication construction ethernet and CAN and analog signal, digital quantity signal be combined with each other, take full advantage of the technical advantages such as the transinformation that ethernet has is large, speed of transmission is fast, error correcting capability is strong, construction of computer network ability is strong; Real-time, the advantage such as transmission distance is comparatively far away, anti-electromagnetic interference capability is strong, cost is low of having taken into account that CAN has; Eliminate the limitation that single network communication system has, farthest improve communication reliability and the high efficiency of network communication architectures.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of method for hoisting crane communication and controller and hoisting crane.
Background technology
Current construction machinery and equipment is all adopt CAN (control area net（CAN） road, ControlAreaNetwork) bus jointly to form the communication network transmission of car load in conjunction with other digital quantity signal and analog signals substantially.CAN has that real-time, transmission distance is comparatively far away, anti-electromagnetic interference capability is strong, low cost and other advantages, make its field beyond road transporting tool, as robot, automation of industry, Medical Instruments, automatic test system, as the fields such as intelligent fire detection and control system are widely applied.
Current Crane Industry is gradually to maximization, and intelligent development, therefore has higher requirement to its safety and reliability.Hoister in large tonnage have employed more intelligent equipment, has self-diagnosis of trouble cutting capacity and telecommunication capabilities, makes current CAN communication system burden excessive.
The construction machinery and equipments such as hoisting crane adopt CAN substantially, and in use CAN is deposited not enough both ways:
On the one hand, CAN unit time transinformation is little, is only hundreds of KB/S, if need transferring large number of data, whole bus load becomes large, and speed of transmission is difficult to meet the demands.Such as between multiple telltale, between multiple controller or between telltale and controller, need mass data transmission, the simple CAN that adopts is transmitted, and existing of information transmission is delayed, cannot meet the monitoring to important information node.
Second aspect, the length of CAN to main cable length and each branch node has requirement, causes whole-vehicle wiring alerting ability to be restricted.
Summary of the invention
In view of above technical matters, the invention provides a kind of method for hoisting crane communication and controller and hoisting crane, adopt ethernet to be the communications network of core, increase transinformation, accelerate speed of transmission, improve error correcting capability, construction of computer network ability is strong.
According to an aspect of the present invention, a kind of controller for hoisting crane communication is provided, comprises Ethernet interface, CAN interface, wherein:
Described Ethernet interface, for carrying out data communication by ethernet and hoisting crane first electric elements;
Described CAN interface, for carrying out data communication by CAN and described first electric elements.
In one embodiment of the invention, the priority that described Ethernet interface carries out data communication by ethernet and described first electric elements carries out the priority of data communication by CAN and described first electric elements higher than described CAN interface.
In one embodiment of the invention, described controller also comprises the first diagnosis unit, wherein:
Whether described first diagnosis unit, carry out the ethernet transmission quality of data communication higher than predetermined value for current and described first electric elements of real-time judge;
Described Ethernet interface, also for the judged result according to described first diagnosis unit, when the ethernet transmission quality that current and described first electric elements carries out data communication is higher than predetermined value, carries out data communication by ethernet and described first electric elements.
In one embodiment of the invention, described controller also comprises the second diagnosis unit, wherein:
Described second diagnosis unit, for the judged result according to described first diagnosis unit, when the ethernet transmission quality that current and described first electric elements carries out data communication is not higher than predetermined value, whether current and described first electric elements of real-time judge carries out the CAN transmission quality of data communication higher than predetermined value;
Described CAN interface is also for the judged result according to described second diagnosis unit, when the CAN transmission quality that current and described first electric elements carries out data communication is higher than predetermined value, carry out data communication by CAN and described first electric elements;
Described Ethernet interface is also for the judged result according to described second diagnosis unit, when the CAN transmission quality that current and described first electric elements carries out data communication is not higher than predetermined value, carry out data communication by ethernet and described first electric elements.
In one embodiment of the invention, described Ethernet interface is also for carrying out data communication by ethernet and computing machine; And/or, carry out data communication by ethernet and other vehicles.
In one embodiment of the invention, described Ethernet interface is also for carrying out data communication by ethernet and hoisting crane second electric elements; And/or described CAN interface is also for carrying out data communication by CAN and hoisting crane the 3rd electric elements.
In one embodiment of the invention, described controller also comprises digital signal interface and/or analog signal interface, wherein:
Described digital signal interface, for carrying out data communication by digital signal line and hoisting crane the 4th electric elements;
Described analog signal interface, for carrying out data communication by analog signal line and hoisting crane the 5th electric elements.
According to a further aspect in the invention, provide a kind of hoisting crane, comprise the controller for hoisting crane communication as described in above-mentioned any one embodiment.
In one embodiment of the invention, described hoisting crane also comprises the first electric elements, and wherein said first electric elements is connected with described controller with CAN by ethernet.
In one embodiment of the invention, described hoisting crane also comprises the second electric elements, the 3rd electric elements, the 4th electric elements and the 5th electric elements, wherein said second electric elements is connected with described controller by ethernet, described 3rd electric elements is connected with described controller by CAN, described 4th electric elements is connected with described controller by digital signal line, and described 5th electric elements is connected with described controller by analog signal line.
According to a further aspect in the invention, a kind of method for hoisting crane communication is provided, comprises:
Crane controller carries out data communication by ethernet and hoisting crane first electric elements;
Crane controller carries out data communication by CAN and described first electric elements.
In one embodiment of the invention, in described method, the priority that crane controller carries out data communication by ethernet and described first electric elements carries out the priority of data communication by CAN and described first electric elements higher than crane controller.
In one embodiment of the invention, described method also comprises:
Whether the current crane controller of real-time judge and described first electric elements carry out the ethernet transmission quality of data communication higher than predetermined value;
If current crane controller and described first electric elements carry out the ethernet transmission quality of data communication higher than predetermined value, then crane controller carries out data communication by ethernet and described first electric elements.
In one embodiment of the invention, described method also comprises:
If current crane controller and described first electric elements carry out the ethernet transmission quality of data communication not higher than predetermined value, then whether the current crane controller of real-time judge and described first electric elements carry out the CAN transmission quality of data communication higher than predetermined value;
If current crane controller and described first electric elements carry out the CAN transmission quality of data communication higher than predetermined value, then crane controller carries out data communication by CAN and described first electric elements;
If current crane controller and described first electric elements carry out the CAN transmission quality of data communication not higher than predetermined value, then crane controller carries out data communication by ethernet and described first electric elements.
In one embodiment of the invention, described method also comprises: crane controller carries out data communication by ethernet and computing machine; And/or crane controller carries out data communication by ethernet and other vehicles; And/or crane controller carries out data communication by ethernet and hoisting crane second electric elements; And/or crane controller carries out data communication by CAN and hoisting crane the 3rd electric elements; And/or crane controller carries out data communication by digital signal line and hoisting crane the 4th electric elements; And/or crane controller carries out data communication by analog signal line and hoisting crane the 5th electric elements.
Ethernet and CAN and the first electric elements are carried out data communication by have employed by the present invention, take full advantage of the technical advantages such as the transinformation that ethernet has is large, speed of transmission is fast, error correcting capability is strong, construction of computer network ability is strong; Real-time, the advantage such as transmission distance is comparatively far away, anti-electromagnetic interference capability is strong, cost is low of having taken into account that CAN has; Eliminate the limitation that single network communication system has, farthest improve communication reliability and the high efficiency of network communication architectures.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of the controller embodiment that the present invention communicates for hoisting crane.
Fig. 2 is the schematic diagram of another embodiment of controller that the present invention communicates for hoisting crane.
Fig. 3 is the schematic diagram of the another embodiment of controller that the present invention communicates for hoisting crane.
Fig. 4 is the schematic diagram of a hoisting crane of the present invention embodiment.
Fig. 5 is the schematic diagram of the method embodiment that the present invention communicates for hoisting crane.
Fig. 6 is the schematic diagram of another embodiment of method that the present invention communicates for hoisting crane.
Fig. 7 is the schematic diagram of the another embodiment of method that the present invention communicates for hoisting crane.
Fig. 8 is the schematic diagram of hoisting crane three grades of architectures of communication networks in one embodiment of the invention.
Fig. 9 is the network architecture diagram of hoisting crane ethernet in one embodiment of the invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the present invention and application or use.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Unless specifically stated otherwise, otherwise positioned opposite, the numerical expression of the parts of setting forth in these embodiments and step and numerical value do not limit the scope of the invention.
Meanwhile, it should be understood that for convenience of description, the size of the various piece shown in accompanying drawing is not draw according to the proportionate relationship of reality.
May not discuss in detail for the known technology of person of ordinary skill in the relevant, method and apparatus, but in the appropriate case, described technology, method and apparatus should be regarded as a part of authorizing specification sheets.
In all examples with discussing shown here, any occurrence should be construed as merely exemplary, instead of as restriction.Therefore, other example of exemplary embodiment can have different values.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to be further discussed it in accompanying drawing subsequently.
Fig. 1 is the schematic diagram of the controller embodiment that the present invention communicates for hoisting crane.Described controller comprises Ethernet interface 101, CAN interface 102, wherein:
Ethernet interface 101, for carrying out data communication by ethernet and hoisting crane first electric elements.Wherein, data communication comprises data transmission between controller and telltale and control command transmission.And ethernet is the most general communication protocol standard that current existing local area network adopts, it is a kind of LAN networking technology.Generally carry out network connection and tissue by exchange, form hub-and-spoke network topology, logically still belong to bus type topological structure, there is the advantage at utmost reducing conflict, at utmost improve network speed and service efficiency.
CAN interface 102, for carrying out data communication by CAN and hoisting crane first electric elements.
In one embodiment of the invention, hoisting crane first electric elements can comprise at least one in the electric elements such as telltale, other controller.
In one embodiment of the invention, a large amount of data transmission is needed between crane controller and hoisting crane first electric elements.
In one embodiment of the invention, the priority that Ethernet interface 101 carries out data communication by ethernet and hoisting crane first electric elements carries out the priority of data communication by CAN and hoisting crane first electric elements higher than CAN interface 102.
Based on the controller for hoisting crane communication that the above embodiment of the present invention provides, ethernet and the first electric elements is adopted to carry out data communication, greatly can improve the data rate between multiple telltale, between multiple crane controller or between telltale and crane controller and volume of transmitted data, can hundreds of times be improved; Solve the simple CAN that adopts to transmit, existing of information transmission is delayed, cannot meet the problem of the monitoring to important information node; Improve error correcting capability.
The above embodiment of the present invention adopts ethernet as main cable, solves the problem of CAN to the length requirement of main cable length and each branch node, improves whole-vehicle wiring alerting ability.
The above embodiment of the present invention also carries out data communication by CAN and the first electric elements, add between controller and the first electric elements and transmit CAN auxiliary connection, thus make to carry out data communication by ethernet and CAN between controller and the first electric elements, increase information transmission redundancy, improve system reliability; Simultaneously also take into account the advantage that CAN has: real-time, transmission distance is comparatively far away, anti-electromagnetic interference capability is strong, low cost and other advantages.
In one embodiment of the invention, CAN meets J1939 agreement or CANopen agreement.
Wherein, J1939 agreement (abbreviation of SAEJ1939 agreement) is SAE (SocietyofAutomotiveEngineers, american car engineering association) proposed standard, for providing the architecture of standard for the communication on medium and heavy on-road vehicle between electronic unit, the communication speed of 250Kbps can be reached; CANopen is the high-rise communications protocol of a kind of framework on control area net（CAN） road (CAN), comprise communication son agreement and equipment agreement often use in embedded systems, be also a kind of fieldbus that Industry Control is commonly used.
The above embodiment of the present invention eliminates the limitation that single network communication system has, and improves communication reliability and the high efficiency of network communication architectures.On hardware, the sensing that current construction machinery and equipment main flow crane controller, telltale and some data transmission are many and detection module support ethernet and CAN all simultaneously, thus increase by is only needed to have the exchange (Switch) of ethernet, communicate controller, telltale, sensing with detection module bridge joint, mutual information transmission can be realized, saved cost.
Fig. 2 is the schematic diagram of another embodiment of controller that the present invention communicates for hoisting crane.Compared with embodiment illustrated in fig. 1, in the embodiment depicted in figure 2, controller also comprises the first diagnosis unit 201, wherein:
Whether first diagnosis unit 201, carry out the ethernet transmission quality of data communication higher than predetermined value for real-time judge is current with the first electric elements.
Ethernet interface 101 is also for the judged result according to the first diagnosis unit 201, when the current ethernet transmission quality carrying out data communication with hoisting crane first electric elements is higher than predetermined value, carry out data communication by ethernet and hoisting crane first electric elements.
In the above embodiment of the present invention, the priority that the priority due to ethernet communication communicates higher than CAN, carries out the ethernet transmission quality of data communication higher than predetermined value as long as therefore current with the first electric elements, then adopt ethernet to carry out data communication.
In one embodiment of the invention, transmission quality can adopt the indexs such as packet loss, delay time, network speed to assess.Predetermined value and predetermined packet loss, scheduled delay, predetermined network speed are corresponding.
Such as, if the packet loss of current ethernet transmission is less than predetermined packet loss, then judge that the transmission quality of ethernet is higher than predetermined value.
If the delay time of current ethernet transmission is less than scheduled delay, then judge that the transmission quality of ethernet is higher than predetermined value.
If the network speed of current ethernet transmission is greater than predetermined network speed, then judge that the transmission quality of ethernet is higher than predetermined value.
As shown in Figure 2, in the above embodiment of the present invention, controller also comprises the second diagnosis unit 202, wherein:
Second diagnosis unit 202, for the judged result according to the first diagnosis unit 201, when the current ethernet transmission quality carrying out data communication with hoisting crane first electric elements is not higher than predetermined value, whether real-time judge is current carries out the CAN transmission quality of data communication higher than predetermined value with hoisting crane first electric elements.
CAN interface 102 is also for the judged result according to the second diagnosis unit 202, when the current CAN transmission quality carrying out data communication with hoisting crane first electric elements is higher than predetermined value, carry out data communication by CAN and hoisting crane first electric elements.
Ethernet interface 101 is also for the judged result according to the second diagnosis unit 202, when the current CAN transmission quality carrying out data communication with hoisting crane first electric elements is not higher than predetermined value, carry out data communication by ethernet and hoisting crane first electric elements.
By the above embodiment of the present invention, when ethernet transmission quality is higher than predetermined value, ethernet is adopted to carry out data communication; At ethernet transmission quality lower than predetermined value, and CAN transmission quality higher than predetermined value time, adopt CAN carry out data communication; And when ethernet and CAN transmission quality are all lower than predetermined value, adopt ethernet to carry out data communication.
At ethernet be thus core the basis of the first communication network on, adding CAN is second communication network, utilizes the priority of ethernet and CAN and transmission quality to judge, selects suitable networks to carry out data communication, further increase information transmission redundancy, improves system reliability.
Fig. 3 is the schematic diagram of the another embodiment of controller that the present invention communicates for hoisting crane.Compared with embodiment illustrated in fig. 2, in the embodiment shown in fig. 3, Ethernet interface 101 is also connected with computing machine by ethernet, wherein:
Ethernet interface 101 is also for carrying out data communication by ethernet and computing machine.Controller can carry out data communication by ethernet and computing machine (such as supervisory control computer etc.) thus, thus improves the long-distance on-line communication capacity of hoisting crane, facilitates computer local area networking.
As shown in Figure 3, in one embodiment of the invention, Ethernet interface 101 is also connected with other vehicles by ethernet, and Ethernet interface 101 is also for carrying out data communication by ethernet and other vehicles.Wherein, other vehicles also have ethernet interface.
Controller can carry out data communication by ethernet and other vehicles thus, thus improves the car car networking communication capability of hoisting crane and other vehicles.
As shown in Figure 3, in one embodiment of the invention, Ethernet interface 101 is also connected with hoisting crane second electric elements by ethernet, Ethernet interface 101 is also for carrying out data communication by ethernet and hoisting crane second electric elements, wherein the second electric elements only has ethernet interface, does not possess CAN interface.
Controller can carry out data communication by ethernet and the second electric elements thus, thus has further expanded its communication ability of controller, can obtain the related data of hoisting crane second electric elements only possessing ethernet interface.
In one embodiment of the invention, hoisting crane second electric elements can comprise radio frequency identification module.
As shown in Figure 3, in one embodiment of the invention, CAN interface 102 is also connected with hoisting crane the 3rd electric elements by CAN, CAN interface 102 is also for carrying out data communication by CAN and the 3rd electric elements, wherein the 3rd electric elements only has CAN interface, does not possess ethernet interface.
Controller can carry out data communication by CAN and hoisting crane the 3rd electric elements thus, not only ensure that the first electric elements needing a large amount of data transmission preferably uses ethernet to transmit, taken into account the transmission of the 3rd electric elements only possessing CAN interface simultaneously, thus further expanded its communication ability of controller, and take into account the advantage that CAN has: real-time, transmission distance is comparatively far away, anti-electromagnetic interference capability is strong, cost is low.
In one embodiment of the invention, hoisting crane the 3rd electric elements can comprise at least one in the electric elementss such as power limit device control module, engine control module, wireless remote control module, GPS (GlobalPositioningSystem, global positioning system) module, chassis communication module, handle, coder.
As shown in Figure 3, in one embodiment of the invention, controller also comprises digital signal interface 301 and/or analog signal interface 302, wherein:
Digital signal interface 301, for carrying out data communication by digital signal line and hoisting crane the 4th electric elements.
Analog signal interface 302, for carrying out data communication by analog signal line and hoisting crane the 5th electric elements.
The above embodiment of the present invention ethernet be the first communication network of core, CAN is on the basis of second communication network, employing analog signal, digital quantity signal are third communication network, the three-level network communication construction adopting three to be combined with each other, takes full advantage of the respective advantage of ethernet, CAN and analog signal, digital signal line; Further obviate the limitation that single network communication system has, farthest improve communication reliability and the high efficiency of network communication architectures.
In one embodiment of the invention, hoisting crane the 4th electric elements comprises at least one in the electric elementss such as pressure switch, button switch, level switch, proximity switch.
In one embodiment of the invention, hoisting crane the 5th electric elements comprises at least one in the electric elementss such as pressure sensor, pulling force sensor, angular transducer, temperature sensor, linear transducer, speed sensor.
Fig. 4 is the schematic diagram of a hoisting crane of the present invention embodiment.As shown in Figure 4, hoisting crane comprises the controller for hoisting crane communication as Fig. 1 to Fig. 3 any one embodiment.
In one embodiment of the invention, described hoisting crane can also comprise as the first electric elements in Fig. 1-Fig. 3 any embodiment, and wherein said first electric elements is connected with described controller with CAN by ethernet.
In one embodiment of the invention, described hoisting crane can also comprise as the second electric elements in Fig. 3 embodiment, the 3rd electric elements, the 4th electric elements and the 5th electric elements, wherein said second electric elements is connected with described controller by ethernet, described 3rd electric elements is connected with described controller by CAN, described 4th electric elements is connected with described controller by digital signal line, and described 5th electric elements is connected with described controller by analog signal line.
As shown in Figure 4, in one embodiment of the invention, hoisting crane can carry out connected network communication by Ethernet interface and computing machine or other vehicles.
Fig. 5 is the schematic diagram of the method embodiment that the present invention communicates for hoisting crane.Preferably, the present embodiment can be performed by the controller of any embodiment in Fig. 1-Fig. 3.The method comprises:
Step 502, crane controller carries out data communication by ethernet and hoisting crane first electric elements.Wherein, data communication comprises data transmission between crane controller and hoisting crane first electric elements and control command is transmitted.
Step 504, crane controller carries out data communication by CAN and hoisting crane first electric elements.
Based on the controller for hoisting crane communication that the above embodiment of the present invention provides, ethernet and the first electric elements is adopted to carry out data communication, greatly can improve the data rate between multiple telltale, between multiple crane controller or between telltale and crane controller and volume of transmitted data, can hundreds of times be improved; Solve the simple CAN that adopts to transmit, existing of information transmission is delayed, cannot meet the problem of the monitoring to important information node; Improve error correcting capability; Also solve the problem of CAN to the length requirement of main cable length and each branch node, improve whole-vehicle wiring alerting ability.
In one embodiment of the invention, hoisting crane first electric elements can comprise at least one in the electric elements such as telltale, other controller.
In one embodiment of the invention, a large amount of data transmission is needed between crane controller and hoisting crane first electric elements.
In one embodiment of the invention, the priority that crane controller carries out data communication by ethernet and hoisting crane first electric elements carries out the priority of data communication by CAN and hoisting crane first electric elements higher than crane controller.
The above embodiment of the present invention also carries out data communication by CAN and the first electric elements, add between controller and the first electric elements and transmit CAN auxiliary connection, thus make to carry out data communication by ethernet and CAN between controller and the first electric elements, increase information transmission redundancy, improve system reliability; Simultaneously also take into account the advantage that CAN has: real-time, transmission distance is comparatively far away, anti-electromagnetic interference capability is strong, low cost and other advantages.
In one embodiment of the invention, CAN meets J1939 agreement or CANopen agreement.
Wherein, J1939 agreement (abbreviation of SAEJ1939 agreement) is SAE (SocietyofAutomotiveEngineers, american car engineering association) proposed standard, for providing the architecture of standard for the communication on medium and heavy on-road vehicle between electronic unit, the communication speed of 250Kbps can be reached; CANopen is the high-rise communications protocol of a kind of framework on control area net（CAN） road (CAN), comprise communication son agreement and equipment agreement often use in embedded systems, be also a kind of fieldbus that Industry Control is commonly used.
The above embodiment of the present invention eliminates the limitation that single network communication system has, and improves communication reliability and the high efficiency of network communication architectures.On hardware, the sensing that current construction machinery and equipment main flow crane controller, telltale and some data transmission are many and detection module support ethernet and CAN all simultaneously, thus increase by is only needed to have the exchange (Switch) of ethernet, communicate controller, telltale, sensing with detection module bridge joint, mutual information transmission can be realized, saved cost.
Fig. 6 is the schematic diagram of another embodiment of method that the present invention communicates for hoisting crane.Preferably, the present embodiment can be performed by the controller of any embodiment in Fig. 2-Fig. 3.Method comprises:
Step 602, whether the current crane controller of real-time judge and hoisting crane first electric elements carry out the ethernet transmission quality of data communication higher than predetermined value.If current crane controller and hoisting crane first electric elements carry out the ethernet transmission quality of data communication higher than predetermined value, then perform step 604; Otherwise, if current crane controller and hoisting crane first electric elements carry out the ethernet transmission quality of data communication not higher than predetermined value, then perform step 606.
Step 604, crane controller carries out data communication by ethernet and hoisting crane first electric elements, no longer performs other step of the present embodiment afterwards.
Step 606, whether the current crane controller of real-time judge and hoisting crane first electric elements carry out the CAN transmission quality of data communication higher than predetermined value.If current crane controller and hoisting crane first electric elements carry out the CAN transmission quality of data communication higher than predetermined value, then perform step 608; Otherwise, if current crane controller and hoisting crane first electric elements carry out the CAN transmission quality of data communication not higher than predetermined value, then perform step 604.
Step 608, crane controller carries out data communication by CAN and hoisting crane first electric elements.
In the above embodiment of the present invention, due to the priority that the priority of ethernet communication communicates higher than CAN, as long as therefore current crane controller and hoisting crane first electric elements carry out the ethernet transmission quality of data communication higher than predetermined value, then ethernet is adopted to carry out data communication; At ethernet transmission quality lower than predetermined value, and CAN transmission quality higher than predetermined value time, adopt CAN carry out data communication; And when ethernet and CAN transmission quality are all lower than predetermined value, adopt ethernet to carry out data communication.
At ethernet be thus core the basis of the first communication network on, adding CAN is second communication network, utilizes the priority of ethernet and CAN and transmission quality to judge, selects suitable networks to carry out data communication, further increase information transmission redundancy, improves system reliability.
In one embodiment of the invention, transmission quality can adopt the indexs such as packet loss, delay time, network speed to assess.Predetermined value and predetermined packet loss, scheduled delay, predetermined network speed are corresponding.
Such as, if the packet loss of current ethernet transmission is less than predetermined packet loss, then judge that the transmission quality of ethernet is higher than predetermined value.
If the delay time of current ethernet transmission is less than scheduled delay, then judge that the transmission quality of ethernet is higher than predetermined value.
If the network speed of current ethernet transmission is greater than predetermined network speed, then judge that the transmission quality of ethernet is higher than predetermined value.
Fig. 7 is the schematic diagram of the another embodiment of method that the present invention communicates for hoisting crane.Preferably, the present embodiment can perform by the controller as shown in Figure 3 in embodiment.The method comprises:
Step 702, crane controller carries out data communication by ethernet and hoisting crane first electric elements, hoisting crane second electric elements, computing machine, other vehicles.
Step 704, crane controller carries out data communication by CAN and hoisting crane first electric elements, hoisting crane the 3rd electric elements.
Step 706, crane controller carries out data communication by digital signal line and hoisting crane the 4th electric elements.
Step 708, crane controller carries out data communication by analog signal line and hoisting crane the 5th electric elements.
The above embodiment of the present invention ethernet be the first communication network of core, CAN is on the basis of second communication network, employing analog signal, digital quantity signal are third communication network, the three-level network communication construction that three be combined with each other, takes full advantage of the respective advantage of ethernet, CAN and analog signal, digital signal line; Further obviate the limitation that single network communication system has, farthest improve communication reliability and the high efficiency of network communication architectures.
In one embodiment of the invention, in step 702 and step 704, crane controller can adopt the method as Fig. 6 to carry out communication network selection by the data communication of ethernet and CAN and hoisting crane first electric elements.
In one embodiment of the invention, in a step 702, crane controller can carry out data communication by ethernet and computing machine.Controller can carry out data communication by ethernet and computing machine (such as supervisory control computer etc.) thus, which thereby enhances the long-distance on-line communication capacity of hoisting crane, facilitates computer local area networking.
In one embodiment of the invention, in a step 702, crane controller can carry out data communication by ethernet and other vehicles.Wherein, other vehicles also have ethernet interface.Controller can carry out data communication by ethernet and other vehicles thus, which thereby enhances the car car networking communication capability of hoisting crane and other vehicles.
In one embodiment of the invention, in a step 702, crane controller can carry out data communication by ethernet and hoisting crane second electric elements, and wherein the second electric elements only has ethernet interface, does not possess CAN interface.Controller can carry out data communication by ethernet and hoisting crane second electric elements thus, has further expanded its communication ability of controller thus, can obtain the related data of the second electric elements only possessing ethernet interface.
In one embodiment of the invention, hoisting crane second electric elements can comprise radio frequency identification module.
In one embodiment of the invention, in step 704, crane controller can carry out data communication by CAN and hoisting crane the 3rd electric elements, and wherein the 3rd electric elements only has CAN interface, does not possess ethernet interface.Controller can carry out data communication by CAN and the 3rd electric elements thus, not only ensure that the first electric elements needing a large amount of data transmission preferably uses ethernet to transmit, taken into account the transmission of the 3rd electric elements only possessing CAN interface simultaneously, thus further expanded its communication ability of controller, and take into account the advantage that CAN has: real-time, transmission distance is comparatively far away, anti-electromagnetic interference capability is strong, cost is low.
In one embodiment of the invention, hoisting crane the 3rd electric elements can comprise at least one in the electric elementss such as power limit device control module, engine control module, wireless remote control module, GPS (GlobalPositioningSystem, global positioning system) module, chassis communication module, handle, coder.
In one embodiment of the invention, in step 706, hoisting crane the 4th electric elements comprises at least one in the electric elementss such as pressure switch, button switch, level switch, proximity switch.
In one embodiment of the invention, in step 708, hoisting crane the 5th electric elements comprises at least one in the electric elementss such as pressure sensor, pulling force sensor, angular transducer, temperature sensor, linear transducer, speed sensor.
Below by concrete example, the present invention will be described:
Fig. 8 is the schematic diagram of hoisting crane three grades of communication networks in one embodiment of the invention.As shown in Figure 8, hoisting crane three grades of communication networks comprise three grades of communication networks of ethernet, CAN and analog signal and digital quantity signal network formation, wherein:
(1) primary communications network is using the primary communications architecture mode of ethernet as main line.
In the present embodiment, crane controller can carry out data communication by ethernet and the first electric elements, the second electric elements, computing machine, other vehicles.First electric elements comprises the first telltale, second display, and the second electric elements comprises radio frequency identification module.
Fig. 9 is the network architecture diagram of hoisting crane ethernet in Fig. 8 embodiment.As shown in Figure 9, the first telltale, second display, crane controller and radio frequency identification module are connected to the Ethernet interface 1-Ethernet interface 4 of Ethernet switch respectively, and supervisory control computer is connected to the Ethernet interface 5 of Ethernet switch.First electric elements, the second electric elements, Ethernet switch, supervisory control computer all have Ethernet interface.
Which thereby enhance the data rate between crane control and the first telltale, second display, radio frequency identification module and volume of transmitted data, also improve the speed of crane controller to supervisory control computer uploading data, be convenient to the remote monitor and control realizing the important information nodes such as the first telltale, second display, crane controller and radio frequency identification module.
(2) secondary communications network is the secondary communications architecture mode of branch line based on CAN_OPEN and CAN_1939.
In primary communications network, also connected by ethernet between the first electric elements and crane controller, the connection of such as telltale and crane controller.Thus, modular unit large for the data transmission information such as crane controller, telltale amount is connected transmission by ethernet by the present embodiment.
In secondary communications network, consider communication security redundancy, also increase that CAN is auxiliary is connected transmission between crane controller with telltale, under normal mode, ethernet priority is higher than CAN.
In one embodiment of the invention, crane controller can adopt as method in Fig. 6 carries out communication network selection with communicating of the first electric elements, selects ethernet or CAN to carry out data communication.
The connection of the second electric elements and crane controller, its current data is all forwarded by CAN and gives crane controller, so that the data of the second electric elements are sent to supervisory control computer by ethernet by crane controller by the second electric elements; Crane controller can also receive the control command of relevant second electric elements that supervisory control computer sends by ethernet, and control command is transmitted to relevant second electric elements by CAN.
Second electric elements comprises power limit device control module, engine control module, wireless remote control module, GPS module, chassis communication module, left handle, right handles, degreeof turn coder, the left coder of hoisting crane, the right coder of hoisting crane, the left coder of lift rope and the right coder of lift rope.
Second electric elements has CAN interface, according to the difference of the second electric elements interface standard, selects to adopt and supports that the CAN of CAN_OPEN and CAN_1939 agreement is connected to crane controller.The engine control module of such as certain model only supports CAN_1939 agreement, then select engine control module by supporting that the CAN of CAN_1939 agreement is connected to crane controller.
(3) three grades of communication networks are three grades of communication construction patterns based on analog signal and digital signal.
4th electric elements is connected with described crane controller by digital input-output interface, to carry out digital signal communication between described 4th electric elements and described crane controller.5th electric elements is connected with described crane controller by analog input output interface, so as described first electric elements with carry out analog signal between described crane controller and communicate.
Specifically, the 4th electric elements is connected to the digital signal interface of crane controller by digital signal line; 5th electric elements is connected to the analog signal interface of crane controller by analog signal line.
Wherein, the 4th electric elements comprises in the electric elementss such as pressure switch, button switch, level switch, proximity switch.5th electric elements comprises pressure sensor, pulling force sensor, angular transducer, temperature sensor, linear transducer, speed sensor.
Digital signal communication comprises the 4th electric elements and reports switching value data to crane controller; Crane controller issues control command to the 4th electric elements.
Analog signal communication comprises the 5th electric elements and reports sensing data to crane controller; Crane controller issues control command to the 5th electric elements.
4th electric elements can report switching value data by digital signal alignment crane controller, so that sensing data is sent to supervisory control computer by ethernet by crane controller; Crane controller can also receive the control command of relevant 4th electric elements that supervisory control computer sends by ethernet, and control command is transmitted to relevant 4th electric elements by digital signal line.
5th electric elements can report sensing data by analog signal alignment crane controller, so that sensing data is sent to supervisory control computer by ethernet by crane controller; Crane controller can also receive the control command of relevant 5th electric elements that supervisory control computer sends by ethernet, and control command analog signal line is transmitted to relevant 5th electric elements.
Above-mentioned specific embodiment of the present invention have employed three-level network communication construction ethernet and CAN and analog signal, digital quantity signal be combined with each other, and takes full advantage of the technical advantages such as the transinformation that ethernet has is large, speed of transmission is fast, error correcting capability is strong, construction of computer network ability is strong; Real-time, the advantage such as transmission distance is comparatively far away, anti-electromagnetic interference capability is strong, cost is low of having taken into account that CAN has; Eliminate the limitation that single network communication system has, farthest improve communication reliability and the high efficiency of network communication architectures; On hardware, the sensing that current construction machinery and equipment main flow controller, telltale and some data transmission are many and detection module support ethernet and CAN all simultaneously, thus increase Ethernet switch is only needed, communicate controller, telltale, sensing with detection module bridge joint, achieves mutual information transmission.
General processor for performing function described by the application, digital signal processor (DSP), special IC (ASIC), field programmable gate array (FPGA) or other programmable logic device (PLD), discrete gate or transistor logic, discrete hardware components is can be implemented as or it is appropriately combined arbitrarily at the first diagnosis unit described above, the second diagnosis unit.
So far, the present invention is described in detail.In order to avoid covering design of the present invention, details more known in the field are not described.Those skilled in the art, according to description above, can understand how to implement technical scheme disclosed herein completely.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only memory (ROM), disk or CD etc.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Claims (13)
1., for a controller for hoisting crane communication, it is characterized in that, comprise Ethernet interface, CAN interface, wherein:
Described Ethernet interface, for carrying out data communication by ethernet and hoisting crane first electric elements;
Described CAN interface, for carrying out data communication by CAN and described first electric elements;
Wherein, the priority that described Ethernet interface carries out data communication by ethernet and described first electric elements carries out the priority of data communication by CAN and described first electric elements higher than described CAN interface.
2. controller according to claim 1, is characterized in that, also comprises the first diagnosis unit, wherein:
Whether described first diagnosis unit, carry out the ethernet transmission quality of data communication higher than predetermined value for current and described first electric elements of real-time judge;
Described Ethernet interface, also for the judged result according to described first diagnosis unit, when the ethernet transmission quality that current and described first electric elements carries out data communication is higher than predetermined value, carries out data communication by ethernet and described first electric elements.
3. controller according to claim 2, is characterized in that, also comprises the second diagnosis unit, wherein:
Described second diagnosis unit, for the judged result according to described first diagnosis unit, when the ethernet transmission quality that current and described first electric elements carries out data communication is not higher than predetermined value, whether current and described first electric elements of real-time judge carries out the CAN transmission quality of data communication higher than predetermined value;
Described CAN interface is also for the judged result according to described second diagnosis unit, when the CAN transmission quality that current and described first electric elements carries out data communication is higher than predetermined value, carry out data communication by CAN and described first electric elements;
Described Ethernet interface, also for the judged result according to described second diagnosis unit, when the CAN transmission quality that current and described first electric elements carries out data communication is not higher than predetermined value, carries out data communication by ethernet and the first electric elements.
4. the controller according to any one of claim 1-3, is characterized in that,
Described Ethernet interface is also for carrying out data communication by ethernet and computing machine; And/or, carry out data communication by ethernet and other vehicles.
5. the controller according to any one of claim 1-3, is characterized in that,
Described Ethernet interface is also for carrying out data communication by ethernet and hoisting crane second electric elements;
And/or,
Described CAN interface is also for carrying out data communication by CAN and hoisting crane the 3rd electric elements.
6. the controller according to any one of claim 1-3, is characterized in that, also comprises digital signal interface and/or analog signal interface, wherein:
Described digital signal interface, for carrying out data communication by digital signal line and hoisting crane the 4th electric elements;
Described analog signal interface, for carrying out data communication by analog signal line and hoisting crane the 5th electric elements.
7. a hoisting crane, is characterized in that, comprises as the controller for hoisting crane communication in claim 1-6 as described in any one.
8. hoisting crane according to claim 7, is characterized in that, also comprises the first electric elements, and wherein said first electric elements is connected with described controller with CAN by ethernet.
9. hoisting crane according to claim 8, it is characterized in that, also comprise the second electric elements, the 3rd electric elements, the 4th electric elements and the 5th electric elements, wherein said second electric elements is connected with described controller by ethernet, described 3rd electric elements is connected with described controller by CAN, described 4th electric elements is connected with described controller by digital signal line, and described 5th electric elements is connected with described controller by analog signal line.
10., for a method for hoisting crane communication, it is characterized in that, comprising:
Crane controller carries out data communication by ethernet and hoisting crane first electric elements;
Crane controller carries out data communication by CAN and described first electric elements;
Wherein, the priority that crane controller carries out data communication by ethernet and described first electric elements carries out the priority of data communication by CAN and described first electric elements higher than crane controller.
11. methods according to claim 10, is characterized in that, also comprise:
Whether the current crane controller of real-time judge and described first electric elements carry out the ethernet transmission quality of data communication higher than predetermined value;
If current crane controller and described first electric elements carry out the ethernet transmission quality of data communication higher than predetermined value, then crane controller carries out data communication by ethernet and described first electric elements.
12. methods according to claim 11, is characterized in that, also comprise:
If current crane controller and described first electric elements carry out the ethernet transmission quality of data communication not higher than predetermined value, then whether the current crane controller of real-time judge and described first electric elements carry out the CAN transmission quality of data communication higher than predetermined value;
If current crane controller and described first electric elements carry out the CAN transmission quality of data communication higher than predetermined value, then crane controller carries out data communication by CAN and described first electric elements;
If current crane controller and described first electric elements carry out the CAN transmission quality of data communication not higher than predetermined value, then crane controller carries out data communication by ethernet and described first electric elements.
13. methods according to any one of claim 10-12, is characterized in that, also comprise:
Crane controller carries out data communication by ethernet and computing machine;
And/or,
Crane controller carries out data communication by ethernet and other vehicles;
And/or,
Crane controller carries out data communication by ethernet and hoisting crane second electric elements;
And/or,
Crane controller carries out data communication by CAN and hoisting crane the 3rd electric elements;
And/or,
Crane controller carries out data communication by digital signal line and hoisting crane the 4th electric elements;
And/or,
Crane controller carries out data communication by analog signal line and hoisting crane the 5th electric elements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410394525.8A CN104140046B (en) | 2014-08-12 | 2014-08-12 | For method and controller and the hoisting crane of hoisting crane communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410394525.8A CN104140046B (en) | 2014-08-12 | 2014-08-12 | For method and controller and the hoisting crane of hoisting crane communication |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104140046A CN104140046A (en) | 2014-11-12 |
| CN104140046B true CN104140046B (en) | 2016-04-27 |
Family
ID=51849404
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410394525.8A Active CN104140046B (en) | 2014-08-12 | 2014-08-12 | For method and controller and the hoisting crane of hoisting crane communication |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104140046B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102019207579A1 (en) * | 2019-05-23 | 2020-11-26 | Robert Bosch Gmbh | Method and device for monitoring data exchange in a communication system |
| CN110351175A (en) * | 2019-07-22 | 2019-10-18 | 北京航天发射技术研究所 | On-vehicle information interactive device and vehicle |
| CN113285889A (en) * | 2021-05-18 | 2021-08-20 | 深圳市硕控智能科技有限公司 | Communication method between industrial personal computer and controlled equipment |
| CN113867211A (en) * | 2021-09-29 | 2021-12-31 | 株洲时代电子技术有限公司 | Network control method for large road maintenance machinery |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102633191A (en) * | 2012-04-17 | 2012-08-15 | 河南高翔电器有限公司 | Distributed crane detection and control system |
| CN202429903U (en) * | 2011-12-19 | 2012-09-12 | 苏州汇川技术有限公司 | Mechanical control system for crane and crane |
| CN103145045A (en) * | 2013-03-21 | 2013-06-12 | 中船第九设计研究院工程有限公司 | Gantry crane PLC (programmable logic controller) field bus network constructed by Ethernet |
| CN103441875A (en) * | 2013-08-23 | 2013-12-11 | 中国铁道科学研究院 | Method for achieving redundant communication of signal centralized monitoring system |
| CN204111200U (en) * | 2014-08-12 | 2015-01-21 | 徐州重型机械有限公司 | For controller and the hoisting crane of hoisting crane communication |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9794378B2 (en) * | 2006-11-08 | 2017-10-17 | Standard Microsystems Corporation | Network traffic controller (NTC) |
-
2014
- 2014-08-12 CN CN201410394525.8A patent/CN104140046B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202429903U (en) * | 2011-12-19 | 2012-09-12 | 苏州汇川技术有限公司 | Mechanical control system for crane and crane |
| CN102633191A (en) * | 2012-04-17 | 2012-08-15 | 河南高翔电器有限公司 | Distributed crane detection and control system |
| CN103145045A (en) * | 2013-03-21 | 2013-06-12 | 中船第九设计研究院工程有限公司 | Gantry crane PLC (programmable logic controller) field bus network constructed by Ethernet |
| CN103441875A (en) * | 2013-08-23 | 2013-12-11 | 中国铁道科学研究院 | Method for achieving redundant communication of signal centralized monitoring system |
| CN204111200U (en) * | 2014-08-12 | 2015-01-21 | 徐州重型机械有限公司 | For controller and the hoisting crane of hoisting crane communication |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104140046A (en) | 2014-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103856993B (en) | A kind of wireless communications method and device | |
| CN104140046B (en) | For method and controller and the hoisting crane of hoisting crane communication | |
| RU2483478C2 (en) | Visual mapping of field device message routes in wireless mesh network | |
| US20120230446A1 (en) | Method and Apparatus for Incorporating a WirelessHART-Enabled Device into a Wired HART Network | |
| CN101947938B (en) | Hybrid power CAN network communication system | |
| CN205725810U (en) | A kind of electric intelligent automotive communication network system based on expansible loop ethernet | |
| CN107738667A (en) | The computational methods and device of CBTC system mid-spans overlay region train position | |
| CN104089371A (en) | Multi-split air conditioning system | |
| DE102011001794A1 (en) | A method and apparatus for communicatively coupling a portable device to process control devices in a process control system | |
| CN105700519B (en) | A kind of star-like communications network system of electric intelligent automobile based on vehicle-mounted Ethernet | |
| CN103731331B (en) | Airborne data sending method, airborne data receiving method, and data transmission device and system | |
| CN103825791A (en) | Method for controlling parallel redundancy of MVB master | |
| CN102318267A (en) | Data communication method, communication equipment and communication system | |
| CN203133584U (en) | CAN communication interface, cable monitor and cable monitoring system | |
| CN105045746A (en) | Interface expanding device | |
| CN109831546A (en) | PLC interactive signal conversion method, mobile terminal and storage medium | |
| CN204111200U (en) | For controller and the hoisting crane of hoisting crane communication | |
| CN104683266B (en) | Two-way bag transmission fault for serial communication shifts interchanger | |
| CN110321304A (en) | Bus communication system under vehicle environment between FPGA and STM32 | |
| CN106713010A (en) | Communication method and system for avionics network system | |
| CN201917907U (en) | Equipment applied to simulated train MVB (Multifunction Vehicle Bus) network environment | |
| CN106161595A (en) | Process control real-time communication method, Apparatus and system based on industry internet | |
| CN102611567B (en) | A kind of group network system of dual-host backup and message transmitting method | |
| CN104426752A (en) | Data sharing system between master inverter and slave inverter | |
| CN209627394U (en) | A kind of digital signal acquiring device and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 221000 68 Gaoxin Road, Xuzhou economic and Technological Development Zone, Jiangsu Patentee after: Xuzhou Heavy Machinery Co., Ltd. Address before: No. 165, Tongshan Road, Xuzhou, Jiangsu Province Patentee before: Xuzhou Heavy Machinery Co., Ltd. |
|
| CP02 | Change in the address of a patent holder |