CN217116115U

CN217116115U - Excavator communication system

Info

Publication number: CN217116115U
Application number: CN202221003325.1U
Authority: CN
Inventors: 王发平; 高晓程; 姜波
Original assignee: Shenzhen Haixing Zhijia Technology Co Ltd
Current assignee: Shenzhen Haixing Zhijia Technology Co Ltd
Priority date: 2022-04-27
Filing date: 2022-04-27
Publication date: 2022-08-02
Anticipated expiration: 2032-04-27

Abstract

The utility model discloses an excavator communication system, which comprises a central controller, an onboard intelligent interconnection terminal, a plurality of distributed gateways, at least one sensor and at least one actuator; all the distributed gateways are uniformly distributed around the excavator body, the distributed gateways are in communication connection with one another through an airborne Ethernet, and the sensors and the actuators are in communication connection with the distributed gateways closest to the sensors and the actuators; the central controller is in communication connection with each distributed gateway through an airborne Ethernet; the airborne intelligent interconnection terminal is in communication connection with at least one distributed gateway through airborne Ethernet, and the airborne intelligent interconnection terminal is in communication connection with the cloud computing platform. The utility model provides a technical scheme has improved data transmission speed and system upgrade speed in the excavator.

Description

Excavator communication system

Technical Field

The utility model relates to an engineering machine tool field, concretely relates to excavator communication system.

Background

Under the era of intelligent networking, the automation, digitalization and networking of engineering machinery are trends, and hardware-defined engineering machinery is being converted into software-defined engineering machinery. The intelligent development brings more sensors and controllers, at present, in order to realize an automatic driving technology, a plurality of sensors are installed on a machine body of an excavator, one sensor generally corresponds to one controller, the number of the sensors is large, the wiring is complex, the controllers in the excavator are mainly communicated through a CAN bus, some sensors are communicated through LIN and hardware, the communication bandwidth in the excavator is small, the data transmission is slow, and further, the response speed of automatic driving is slow, and the upgrading speed of an excavator system is slow.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model discloses the embodiment provides an excavator communication system to data transmission speed and system upgrade speed in the excavator have been improved.

According to a first aspect, the present invention provides an excavator communication system, the system comprising a central controller, an onboard intelligent interconnection terminal, a plurality of distributed gateways, at least one sensor and at least one actuator; all the distributed gateways are uniformly distributed around the excavator body, all the distributed gateways are in communication connection with one another through an airborne Ethernet, and the sensors and the actuators are in communication connection with the distributed gateways closest to the sensors and the actuators; the central controller is in communication connection with each distributed gateway through an airborne Ethernet; the airborne intelligent interconnection terminal is in communication connection with at least one distributed gateway through airborne Ethernet, and the airborne intelligent interconnection terminal is in communication connection with the cloud computing platform.

Optionally, the distributed gateway includes: the airborne Ethernet switch is in communication connection with the first processor, and the power management module is in circuit connection with the first processor.

Optionally, the power management module at least includes a load switch unit and a second processor, the second processor is connected to the load switch unit in a communication manner, and the load switch unit is connected to a power supply line in the distributed gateway.

Optionally, the distributed gateway further includes a CAN bus transceiver and a LIN bus transceiver, and the CAN bus transceiver and the LIN bus transceiver are respectively connected to the first processor.

Optionally, the distributed gateway further includes a mode selection circuit and a reset circuit, and both the mode selection circuit and the reset circuit are communicatively connected to the first processor.

Optionally, the distributed gateway further includes a real-time clock chip, and the real-time clock chip is in communication connection with the first processor.

Optionally, the on-board ethernet switch is further connected to a port physical layer chip.

Optionally, the on-board ethernet switch comprises at least one 1000 megabbandwidth interface.

Optionally, the distributed gateway further includes an expansion interface, the expansion interface is in communication connection with the first processor, and the expansion interface at least includes one of an SD card interface, an eMMC memory interface, a serial port, a USB interface, and a universal input/output interface expansion card.

Optionally, the onboard intelligent interconnected terminal is in communication connection with the cloud computing platform through the wireless communication module.

The technical scheme provided by the application has the following advantages:

according to the technical scheme, the excavator communication system is provided, and development of related functions of intelligent driving and unmanned operation of the excavator is supported; an airborne Ethernet is introduced to the excavator, so that the communication bandwidth inside the excavator is improved, and the high-bandwidth data transmission requirements of sensors such as an automatic driving camera and a laser radar can be met; through the cooperation of the onboard intelligent interconnection terminal and the onboard Ethernet inside the excavator, high-speed over-the-air downloading upgrade is realized, and the time for upgrading system software is shortened. Only one central controller is reserved on the excavator, and the functions of chassis control, power control, unmanned control and unmanned operation control of the excavator are integrated. According to the actual situation, the distributed gateways are arranged on the periphery of the excavator body of the excavator, and the distributed gateways can simplify wiring inside the excavator.

Furthermore, the embodiment of the utility model provides a still provide multiple standardized interface, can compatible multiple communication interface controller, sensor, executor, plug-and-play is convenient for realize the flexible and extension of framework.

Drawings

The features and advantages of the invention will be more clearly understood by reference to the accompanying drawings, which are schematic and should not be understood as imposing any limitation on the invention, in which:

fig. 1 is a schematic structural diagram of an excavator communication system according to an embodiment of the present invention;

fig. 2 is another schematic structural diagram of an excavator communication system according to an embodiment of the present invention;

fig. 3 shows a schematic structural diagram of a distributed gateway according to an embodiment of the present invention.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, in one embodiment, an excavator communication system includes a central controller 101, an onboard intelligent interconnection terminal 103, a plurality of distributed gateways 102, at least one sensor, and at least one actuator. All the distributed gateways 102 are evenly distributed around the excavator body, all the distributed gateways 102 are in communication connection with one another through an airborne Ethernet, and the sensors and the actuators are in communication connection with the distributed gateways 102 which are closest to each other. The central controller 101 is in communication connection with each distributed gateway 102 through an onboard Ethernet; the onboard intelligent interconnection terminal 103 is in communication connection with at least one distributed gateway 102 through an onboard Ethernet, and the onboard intelligent interconnection terminal 103 is in communication connection with the cloud computing platform.

Specifically, facing to the excavator of unmanned operation, automatic driving, chassis Control, executive device Control and power Control on the excavator are integrated on a Central Control unit 101 (CCM), thereby the controller quantity and the complexity of wiring are greatly reduced, the utility model discloses take to arrange 4 distributed gateways 102 around the excavator body as an example, every distributed gateway 102 has the function of switch and gateway route, form the looped netowrk through the connection of airborne ethernet between the distributed gateways 102; each distributed gateway 102 and central controller 101 are connected by an on-board ethernet; as shown in fig. 2, sensors (including but not limited to laser radar, camera, millimeter wave radar, ultrasonic radar, 5G module, RTK measuring instrument, and onboard self-diagnosis system) and actuators (including but not limited to throttle-by-wire, brake-by-wire, shift-by-wire, steer-by-wire, and hydraulic arm-by-wire controller) on the excavator are directly connected to the distributed gateway 102, or connected to the distributed gateway 102 through a part of Electronic Control Unit (ECU); the distributed gateway 102 has basic logic function control, the central controller 101 is responsible for the control and reasoning calculation of the whole excavator, the central controller 101 can adopt the CPU including but not limited to the CPU of the TDA4VM of Texas instruments TI chip, the CPU of the EyeQ series chip of Mobiley corporation in Israel, the CPU of the R-CAR chip R-CAR H3 of Japan, and the CPU of the journey series chip of Chinese horizon corporation. Besides being processed in the central controller 101, the sensor data acquired by the excavator can be processed in an auxiliary manner through the cloud computing platform in the embodiment, communication is established with the cloud computing platform based on the intelligent onboard terminal (T-BOX module), and the data is sent to the cloud end through the intelligent onboard terminal for processing, so that the excavator can not only perform unmanned operation under the decision of the central controller 101, but also realize control scheduling and unmanned operation through the cloud computing platform. The 4G wireless communication adopted by the existing excavator theoretically has the network speed of 10-100Mbps, the reduced download speed of 1.5M/s-10M/s and the download speed of 5G CAN reach 1.25Gb/s, and the download speed of a software package completely meets the requirements, but the CAN communication transmission speed adopted by the existing excavator CAN only reach 1M/s at most, so that the internal signal response speed of the excavator is low, the automatic driving action response is low, and the system upgrading speed through a cloud computing platform is low. And machine carries ethernet and can increase substantially data at the inside transmission speed of excavator, increases substantially the speed that excavator self responded autopilot decision-making instruction, and it is very much to notice, the embodiment of the utility model provides a mutually support through machine carries ethernet and cloud computing platform, has improved the supplementary decision-making speed that carries out autopilot of cloud computing platform. When the excavator needs software upgrading and system upgrading, the cloud computing platform is used for downloading the upgrading package in the air, and then the installation package is rapidly transmitted and installed through the airborne Ethernet, so that the software upgrading speed is further increased.

Specifically, as shown in fig. 3, in an embodiment, the distributed gateway 102 includes an on-board ethernet switch 104, a first processor 105, and a power management module 112, where the on-board ethernet switch 104 is communicatively connected to the first processor 105, and the power management module 112 is electrically connected to the first processor 105.

Specifically, the ethernet switch is deployed in the distributed gateway 102, so that the distributed gateway 102 is ensured to have a plurality of ethernet data forwarding interfaces, which is convenient for forming an ethernet ring network between the distributed gateway 102 and the central controller 101, and between the distributed gateway 102 and the distributed gateway 102. The distributed gateway 102 further includes a first processor 105, so that the distributed gateway 102 has a basic logic control function, can receive the decision signal sent by the central controller 101, and control an actuator connected to the distributed gateway 102 through the decision signal. The power Management module 112, i.e., pmic (power Management ic) power Management chip, may adopt a PF5020 chip of NXP corporation, which is mainly responsible for monitoring the power voltage (or current) on the first processor 105 to ensure that they are not too high or too low. Generally, the power management module 112 is capable of active high, active low, or active high/active low signal reset.

Specifically, in an embodiment, the power management module 112 includes at least a load switch unit 113 and a second processor, the second processor is connected to the load switch unit 113 in communication, and the load switch unit 113 is connected to a power supply line in the distributed gateway 102. Specifically, the load switch unit 113 is a load switch circuit, and the basic principle thereof is to turn on and off the power supply through a control pin. The load switch can be built using a separate device or can be implemented using an integrated IC. In the power management module 112, when the second processor monitors that the power voltage or the current is abnormal, the second processor controls the load switch unit 113 to interrupt the power supply of the distributed gateway 102, and stops supplying power to the components such as the first processor 105 in the distributed gateway 102, so that the power safety of the distributed gateway 102 is improved.

Specifically, in an embodiment, the distribution gateway 102 further includes a CAN bus transceiver 106 and a LIN bus transceiver 107, and the CAN bus transceiver 106 and the LIN bus transceiver 107 are respectively connected to the first processor 105. Specifically, as the types of manufacturers of sensors such as a laser radar, a camera, a millimeter wave radar, an ultrasonic radar and the like and actuators such as a drive-by-wire gear and the like are more, interfaces of devices of different manufacturers are not uniform, and part of the sensors or the actuators do not support a communication protocol of an airborne ethernet, a CAN bus transceiver 106 and a LIN bus transceiver 107 are also deployed in the distributed gateway 102, for example, a car lamp is connected to the distributed gateway 102 through a LIN bus, so that the compatibility of the distributed gateway 102 is improved.

Specifically, in one embodiment, the distributed gateway 102 further includes a mode selection circuit 114 and a reset circuit 115, and the mode selection circuit 114 and the reset circuit 115 are both communicatively coupled to the first processor 105. Specifically, in the present embodiment, the mode selection circuit 114 is configured to select a startup mode of the distributed gateway 102, including but not limited to a tuning mode, an update mode, a normal operation mode, and the like. Different starting modes are used for different work, and the modes are not disturbed, so that debugging, upgrading and stability and reliability of normal work of the distributed gateway 102 are facilitated. In this embodiment, the specific construction method of the multiple mode selection circuit 114 can refer to the prior art, and is not described herein again. In this embodiment, the reset circuit 115 is used to repair the system to realize self-healing of the fault, and is used to reset the whole system to a controllable state when the whole distributed gateway 102 is in an unstable state. The reset circuit 115 may be implemented by using a resistor-capacitor circuit in the prior art, such as a differential type reset circuit 115, an integral type reset circuit 115, a comparator type reset circuit 115, or a watchdog type reset circuit 115. The reset circuit 115 includes, but is not limited to, a power-on automatic reset and a manual button reset, and a specific configuration manner of the reset circuit 115 is the prior art and is not described herein again.

Specifically, the distributed gateway 102 further includes a real-time clock chip 116, i.e., an rtc (real time clock) chip, the embodiment of the present invention adopts PCA85073A of NXP corporation, and the real-time clock chip 116 is in communication connection with the first processor 105. The PCA85073A CMOS real time clock chip 116 is a vehicle scale RTC optimized for low power consumption. An offset register may fine tune the clock. All addresses and data are transmitted serially over the two-wire bidirectional I2C bus. The maximum data rate of PCA85073A is up to 400 kbit/s. The register address is automatically incremented after each write or read of a data byte. The method is mainly used for accurate timing, clock synchronization among the distributed gateways 102, clock synchronization with the central controller 101 and the cloud computing platform, and quick and timely response of decision instructions.

Specifically, in one embodiment, on-board ethernet switch 104 is also connected to port physical layer chip 118. The embodiment of the utility model provides an adopt port physical layer chip 118 for the airborne ethernet converter of bocm 89881 giga of bongo, the data bulk of laser radar and camera is great usually, and traditional CAN bus and LIN communication CAN not satisfy the demand, and laser radar needs to communicate with the ethernet, and the camera needs high definition coaxial line or ethernet to communicate. Based on this, this embodiment connects the physical layer chip at ethernet switch port department to realize the data protocol conversion with equipment such as camera, lidar, thereby guarantee that distributed gateway 102 passes through the airborne ethernet, receives the data that sensors such as camera, lidar gathered.

Specifically, in one embodiment, on-board ethernet switch 104 includes at least one 1000 megabbandwidth interface. Generally, the central controller 101 is adept at processing simple tasks such as logic calculation and signal instruction forwarding, the data volume transmitted by the sensor is large, and the central controller 101 in the excavator needs large calculation work for performing tasks such as fusion, identification and processing on the sensor data, so that it is difficult to perform all data fusion and decision generation work, and data processing is often assisted by a cloud computing platform. The onboard ethernet switch 104 includes at least one 1000-megabyte bandwidth interface, so that the distributed gateways 102 are in communication connection with each other through the 1000-megabyte bandwidth interface, the data transmission speed of data between the cloud computing platform and the internal hardware of the excavator is stabilized, and the efficiency of remote auxiliary automatic driving and software upgrading of the excavator through an over-the-air technology is ensured.

Specifically, in an embodiment, the distributed gateway 102 further includes an expansion interface, where the expansion interface is in communication connection with the first processor 105, and the expansion interface includes at least one of an SD card interface 110, an eMMC memory interface 111, a serial port 108, a USB interface 109, and a universal input/output interface expansion card 117 (mainly used for expanding the number of pins of the first processor 105 in the distributed gateway 102). Specifically, the addition of the standard SD card interface 110 and the eMMC memory interface 111 facilitates the development personnel to connect the SD card or the eMMC memory for gateway debugging, and in addition, in consideration of the difference between the sensor and actuator interfaces produced by various manufacturers, the addition of the standard serial port 108, the USB interface 109 and the universal input/output interface expansion card 117 realizes the plug and play functions of various sensors and actuators. The compatibility of the distributed gateway 102 provided by the present embodiment is further improved.

Specifically, in an embodiment, the onboard intelligent interconnection terminal 103 is in communication connection with the cloud computing platform through the wireless communication module, so that the data transmission speed of the cloud computing platform and the excavator during working is further increased, and the cooperative working efficiency is further improved.

The excavator computing communication architecture based on central domain control adopts a software and hardware decoupling mode, software development does not depend on hardware suppliers, business cooperation is more flexible, meanwhile, software and hardware decoupling can also be achieved through software and hardware parallel development, and the development period of the whole excavator is shortened.

Based on the excavator communication system provided by the embodiment of the utility model, the excavator can realize the functions of equipment monitoring, software remote updating and the like, thereby reducing the after-sale cost; the excavator is firstly put into the market and then upgraded, so that the development period is shortened. In addition, vehicle cloud cooperation and data mining can be realized through wireless communication such as 4G/5G, and iterative upgrading of products is facilitated.

Through the steps, the technical scheme provided by the application provides an excavator communication system which supports development of related functions of intelligent driving and unmanned operation of an excavator; an airborne Ethernet is introduced to the excavator, so that the communication bandwidth inside the excavator is improved, and the communication of the high-bandwidth data transmission requirements of sensors such as an automatic driving camera and a laser radar can be met; through the cooperation of the onboard intelligent interconnection terminal 103 and an onboard Ethernet inside the excavator, high-speed over-the-air downloading upgrade is realized, and the time for upgrading system software is shortened. Only one central controller is reserved on the excavator, chassis control, power control, unmanned control and unmanned operation control functions of the excavator are integrated, and then distributed gateways are arranged on the periphery of an excavator body of the excavator according to actual conditions, so that wiring inside the excavator can be simplified.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. The excavator communication system is characterized by comprising a central controller, an onboard intelligent interconnection terminal, a plurality of distributed gateways, at least one sensor and at least one actuator;

all the distributed gateways are uniformly distributed around the excavator body, all the distributed gateways are in communication connection with one another through an airborne Ethernet, and the sensors and the actuators are in communication connection with the distributed gateways closest to the sensors and the actuators;

the central controller is in communication connection with each distributed gateway through an airborne Ethernet;

the airborne intelligent interconnection terminal is in communication connection with at least one distributed gateway through airborne Ethernet, and the airborne intelligent interconnection terminal is in communication connection with the cloud computing platform.

2. The system of claim 1, wherein the distributed gateway comprises:

the airborne Ethernet switch is in communication connection with the first processor, and the power management module is in circuit connection with the first processor.

3. The system of claim 2, wherein the power management module comprises at least a load switch unit and a second processor, the second processor communicatively coupled to the load switch unit, the load switch unit coupled to a power supply line in the distributed gateway.

4. The system of claim 2, further comprising a CAN bus transceiver and a LIN bus transceiver in the distributed gateway, wherein the CAN bus transceiver and the LIN bus transceiver are respectively connected to the first processor.

5. The system of claim 2, further comprising a mode selection circuit and a reset circuit in the distributed gateway, the mode selection circuit and the reset circuit each communicatively coupled to the first processor.

6. The system of claim 2, further comprising a real-time clock chip in the distributed gateway, the real-time clock chip communicatively coupled to the first processor.

7. The system of claim 2, wherein the on-board ethernet switch is further connected to a port physical layer chip.

8. The system of claim 2, wherein the on-board ethernet switch comprises at least one 1000 megabbandwidth interface.

9. The system of claim 2, wherein the distributed gateway further comprises an expansion interface, the expansion interface being communicatively coupled to the first processor, the expansion interface including at least one of an SD card interface, an eMMC memory interface, a serial port, a USB interface, and a universal input output interface expansion card.

10. The system of claim 1, wherein the onboard intelligent internet terminal is in communication connection with the cloud computing platform through a wireless communication module.