RU2635214C1 - Method of information and technical connection of information-controller computer with mobile robotic complex engine control unit - Google Patents

Abstract

FIELD: information technology.

SUBSTANCE: in the method, it is possible to receive and transmit information via computational means through communication channels to control terminals - automated workstations and peripherals of complex, packet data transmission, parameter management and modes of mobile robotic complex engine control unit by transmitting the CONTROL message to the information flow, in response to this message, the engine control unit transmits a RECONTROL message to the information flow. Response to RECONTROL control command, the command field contains information on the size of transmitted packet, the response message block according to the operating mode set in the engine control unit, the response to the request for permission to control the movement of complex, the response message block on the actual presence of warnings and errors during complex operation.

EFFECT: increasing the reliability of interaction of the calculator with the engine control unit of mobile robotic complex.

1 dwg, 2 tbl

Description

The invention relates to methods and systems for the information interaction of airborne information and computing tools with peripheral devices, in particular with an engine control unit.

There is a method of information interaction of autonomous topographic and navigation equipment with an on-board computer (see No. 2510585, H04L 29/00, 03/27/2014), adopted as a prototype. The method of information interaction of the autonomous equipment of topographic location and navigation with an onboard computer includes the conversion, transmission, reception of measuring and control signals over communication lines according to the protocol of information interaction. The protocol of information interaction ensures the operation of topographic and navigation equipment in various modes. Information is transferred between the onboard computer and the topographic and navigation system using binary digital serial code in asynchronous mode. Information interaction is carried out in accordance with the following lists of parameters, each of which has a corresponding data type: receiving AATN data from the on-board computer — data packet number, object latitude, object longitude, object elevation, northern component of the linear velocity of the object, eastern component the linear velocity of the object, the vertical component of the linear velocity of the object, the true course of the object, roll of the object, pitch of the object, Moscow time of day, geometric parameter, medium the apparent quadratic error in determining the coordinates, the altitude barometric absolute, the mechanical linear speed of the object, the Doppler linear speed of the object, Moscow time of day at the time of measuring the speed, the word of reliability signs, command word, checksum, data output from the AATN to the on-board computer - data packet number, the latitude of the object’s location, the longitude of the object’s location, the height of the object’s elevation, the northern component of the linear velocity of the object, the eastern component of the linear velocity of the object, the vertical component the linear speed of the object, the true course of the object, roll of the object, pitch of the object, Moscow time of day at the time of measurement of the issued parameters, distance traveled, status word, mode word, checksum.

The disadvantages of the prototype are:

- lack of clarity in organizing the logical interaction of information flows;

- The complex structure of command and response messages.

The present invention solves the problem of increasing the efficiency and reliability of information and technical interaction of the information-control computer with the engine control unit of a mobile robotic complex.

The technical result obtained by the implementation of the invention is to create a method of information and technical pairing of the information and control computer with the engine control unit of the mobile robotic complex, which provides reception and transmission of information between the information and control computer and the engine control unit of the mobile robotic complex.

The specified technical result is achieved by the fact that in the method of information and technical pairing of the information-control computer with the engine control unit of the mobile robotic complex, which provides, according to the pairing protocol, information reception and transmission of information through computing means through communication channels to the control terminals — automated workstations and peripheral devices of the complex , packet data transmission, new is that the control of parameters and modes of the control unit The owners of the mobile robotic complex are carried out by sending a CONTROL message to the information stream, in response to this message, the engine control unit transmits a RECONTROL message to the information stream, the CONTROL control command has the following configuration: the command field contains information about the size of the transmitted packet, a block of information about task names and information flows - message identifier (ID), recipient identifier (DA) and source identifier (SA), installation command block in the control unit engine operating modes: basic, technological, duty, self-monitoring and emergency, a request for permission to control the movement of a self-propelled platform complex, a block of command messages for controlling the on / off power of units of a self-propelled platform complex: electric motors of drive drives, diesel generator set, parking brakes, pumps, fans and gearboxes, command block for controlling the units of the self-propelled platform complex: parking brake actuator, left and right side drives, gearbox, left and right side accelerators and left and right side brakes, command message block for setting / resetting warning and error flags, the response to the RECONTROL control command has the following configuration: the command field contains information about the size of the transmitted packet, a block of information about the names of tasks and information flows - message, recipient and source identifiers, a response message block according to the set in the control block engines operating mode, response to a request for permission to control the complex’s movement, a block of response messages for performing the power on / off operation of the units of the self-moving platform complex, a block of response messages for the units to work out the self-moving platform of the complex of received commands, a response message block for the actual presence of warnings and errors during the operation of the complex, a block of messages about the technical condition of the batteries.

The control of the parameters and modes of the engine control unit of the mobile robotic complex by transmitting command and response messages to the information stream allows:

- organize information exchange between the information management computer and the engine control unit;

- receive constant telemetric data on the state of the aggregates of the complex.

Introduction to the structure of the CONTROL command a block of command messages for setting operating modes in the engine control unit allows:

- operate engines in the entire range of its technical capabilities;

- conduct a self-test of their technical condition;

- choose the most economical mode of operation.

Introduction to the structure of the CONTROL team of a request for permission to control the movement of a self-propelled platform complex allows:

- remove all forced locks at the beginning of the platform movement;

- start moving after eliminating all the causes that cause prohibition warnings and errors in the command field.

Introduction to the structure of the CONTROL team of a block of command messages for controlling the on / off power of the units of the self-propelled platform complex allows to prepare for operation its main systems that allow performing the tasks as intended.

Introduction to the structure of the CONTROL team of a block of command messages for controlling the units of a self-propelled platform complex allows you to directly control the actuators of the platform propulsion, the speed of the platform.

The introduction into the structure of the CONTROL command of a block of command messages for setting / resetting the warning and error flags allows the operators managing the mobile robotic complex to timely eliminate emergency situations during operation.

Introduction to the structure of the RECONTROL command of the response message block according to the operating mode set in the engine control unit allows you to obtain confirmation of the selected operation mode.

The introduction of the response to the request for permission to control the movement of the complex into the structure of the RECONTROL command allows, if there is a positive response, to start the movement of the complex.

Introduction to the structure of the RECONTROL command of a block of response messages for performing the operation of turning on / off the power of the units of the self-propelled platform complex allows you to obtain confirmation of the readiness for operation of the units.

Introduction to the RECONTROL command structure of the block of response messages for the development by the aggregates of the self-moving platform of the complex of received commands allows you to receive confirmation of the execution of the sent commands to the executive devices.

An introduction to the structure of the RECONTROL command of the response message block based on the actual presence of warnings and errors during the operation of the complex allows us to assess the readiness for the tasks and the technical condition of the complex.

Introduction to the structure of the RECONTROL command of a block of messages on the technical condition of rechargeable batteries makes it possible to evaluate the technical condition of rechargeable batteries: supply voltage, current, battery charge in%.

Technical solutions with features distinguishing the claimed solution from the prototype are not known and do not follow explicitly from the prior art. This suggests that the claimed solution is new and has an inventive step.

The method of information and technical pairing of the information and control computer with the engine control unit of the mobile robotic complex based on the corresponding protocol is implemented as follows.

The basis of the mobile robotic complex is a self-propelled platform, consisting of a body, power plant, propulsion and control system. In this case, a hybrid power plant was selected as the power plant. The diesel generator set charges the battery pack, from which voltage is supplied to the drive motor control unit.

The method determines the procedure for receiving and transmitting information between the information-managing computer (IUV) and the engine control unit (ECU). The interface between the IWS and the ECU is through an Ethernet network router.

Physical interaction is organized as follows:

- interface standard: Fast Ethernet IEEE 802.3u;

- physical interface: twisted pair UTP Cat.5 (5e);

- exchange rate: 100 Mbps.

Logical organization of interaction

The ECU receives and transmits information from the following information flows:

- information flow of commands and requests entering the ECU - cbdud;

- information flow of responses to requests and commands from the ECU - tbdud.

The ECU has a network address: a static IP address, a UDP port for receiving control commands from the PSI.

Management of parameters and operating modes of the ECU

The ECU is controlled by sending CONTROL messages to the information stream. In response to the CONTROL message, the ECU sends RETCONTROL messages to the information stream. The CONTROL message is transmitted periodically, even if the state of the controls is unchanged - to constantly receive telemetry in the RETCONTROL message. The frequency is determined by the side of the IWM and lies in the range of 20-50 Hz.

The CONTROL control team has the structure shown in table 1.

The response to the RETCONTROL control command has the structure shown in Table 2.

Data types

A bit sequence b of length n is an ordered set of bits of length from 0 to n, where 0≤n≤64. Each bit of the sequence is indicated by an index:

b = b ₀ b ₁ b ₂ ... b _n-1

Concatenation (+) and inversion (~) operations are defined for bit sequences. A bit sequence of length n is converted and transmitted at the physical level as a sequence of octets of length l = [n / 8]. Bits of the high octet, whose numbers exceed n, do not contain bits of the transmitted sequence, their value is not defined.

Type VOIDn

Here n is an integer, 0≤n≤64. Data of type VOIDn is represented by a bit sequence of length n.

Type UNSIGNEDn

The type is designed to store positive integers in the range 0, 1, 2, ..., 2 ⁿ -1. A type is represented by a bit sequence of length n. The bit sequence b = b ₀ b ₁ b ₂ ... b _n-1 corresponds to the value:

UNSIGNEDn (b) = b _n-1 (2 ₁ b ^n-1 ) + ... + b ₁ 2 ¹ + b ₀

Type UNTEGERn

The type is designed to store integer values in the range - 2 ⁿ -1, ... 2 ^n-1 -1. The bit sequence b = b ₀ b ₁ b ₂ ... b _n-1 corresponds to the value:

UNTEGERn (b) = b _n-2 (2 ₁ b ^n-2 ) + ... + b ₁ 2 ¹ + b ₀ if b _n-1 = 0

UNTEGERn (b) = - UNTEGERn (~ b) +1 if b _n-1 = 1

Type STRINGn

The type STRING is intended for storing string data and is defined as follows:

ARRAY [n] OF UNSIGNED8 STRINGn

Each element of the array is a character code in accordance with the ASCII table and the encoding KOI8-R.

Type bool

The Bool type is designed to store logical values; it can take the following values: 0 and 1.

Type float16

The type Float16 is intended for storing floating-point floating-point numbers of half precision in accordance with the IEEE 754. This type occupies 16 bytes in memory. Data Presentation Format:

The order is recorded with a shift of -15. To get the actual value of the order, you need to subtract the shift from it. The shift can be obtained by the formula 2 ^b-1 -1, where b is the number of bits allocated to the storage order (in the case of a half-precision number b = 5).

Thus, in the present invention, the problem is achieved to achieve a technical result, which consists in creating a method of information and technical pairing of the information and control computer with the engine control unit of the mobile robotic complex, which provides the reception and transmission of information between the information control computer and the engine control unit of the mobile robotic complex .

Claims (1)

The method of information and technical pairing of the information-control computer with the engine control unit of the mobile robotic complex, which provides, according to the pairing protocol, information reception and transmission through computing means via communication channels to control terminals — workstations and peripheral devices of the complex, packet data transmission, characterized in that that the control of the parameters and modes of the engine control unit of the mobile robotic complex is is entered by sending a CONTROL message to the information stream, in response to this message, the engine control unit transmits a RE-CONTROL message to the information stream, the CONTROL control command has the following configuration: the command field contains information about the size of the transmitted packet, a block of information about the names of tasks and information flows - message identifier (ID), recipient identifier (DA) and source identifier (SA), command message block for setting operation modes in the engine control unit: main, technological service, duty, self-monitoring and emergency, a request for permission to control the movement of a self-propelled platform complex, a block of command messages for controlling the on / off power of the units of a self-propelled platform complex: electric motors for drive drives, a diesel generator set, parking brake, pump, fan and gearbox gear shifting, command message block for controlling the units of the self-propelled platform platform: parking brake actuator, left and right drives side of the board, gearbox, left and right side accelerators and left and right side brakes, command message block for setting / resetting warning and error flags, the response to the RECONTROL control command has the following configuration: the command field contains information about the size of the transmitted packet, block information about the names of tasks and information flows - message, recipient and source identifiers, response message block according to the operating mode set in the engine control unit, response to a request for sex teaching permission to control the complex’s movement, a block of response messages for performing power on / off operations for the units of the self-moving platform complex, a block of response messages for the units to work out the self-moving platform of the complex of received commands, a block of response messages for the actual presence of warnings and errors during the operation of the complex, a block of messages about the technical condition of the batteries.

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