WO2023221143A1 - Système, procédé et appareil de commande de bus, et dispositif informatique et support lisible par ordinateur - Google Patents

Système, procédé et appareil de commande de bus, et dispositif informatique et support lisible par ordinateur Download PDF

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Publication number
WO2023221143A1
WO2023221143A1 PCT/CN2022/094282 CN2022094282W WO2023221143A1 WO 2023221143 A1 WO2023221143 A1 WO 2023221143A1 CN 2022094282 W CN2022094282 W CN 2022094282W WO 2023221143 A1 WO2023221143 A1 WO 2023221143A1
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Prior art keywords
control
bus
control instruction
subsystem
instruction
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PCT/CN2022/094282
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English (en)
Chinese (zh)
Inventor
屈晓峰
杨威
�田宏
刘章华
陶师正
万小康
Original Assignee
广东逸动科技有限公司
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Priority to CN202280001458.1A priority Critical patent/CN115087964A/zh
Priority to PCT/CN2022/094282 priority patent/WO2023221143A1/fr
Publication of WO2023221143A1 publication Critical patent/WO2023221143A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
    • G06F13/38—Information transfer, e.g. on bus
    • G06F13/40—Bus structure
    • G06F13/4004—Coupling between buses
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • This specification relates to the field of bus control technology, and in particular to bus control systems, wireless control systems, remote control systems, bus control methods, bus control devices, computer equipment and computer-readable media.
  • the bus control modes include: serial link mode, scheduled query mode and independent request mode; the bus controlled by the scheduled query mode is also called the master-slave control bus, such as the RS485 bus, that is, one host connects multiple slaves, where The information sent by the host can be transmitted to each slave or a designated slave through the bus, while the information of each slave can only be sent to the host.
  • the host uses query mode to receive and send data, and the slave uses interrupt mode to receive and send data;
  • each control device and the controlled device need to be connected through the same bus, so each control device needs to use the same communication protocol.
  • the control device and the controlled device often need to be configured with the same configuration when they are connected and assembled as much as possible.
  • the communication protocol is used for corresponding debugging, so the master-slave control bus has poor adaptability.
  • this specification provides a bus control system, a wireless control system, a remote control system, a bus control method, a bus control device, computer equipment and a computer-readable medium.
  • a bus control system includes at least one control subsystem and a switching device; the switching device has a first bus interface and a second bus interface.
  • the first bus interface It is used to connect with the control subsystem through the first bus; the second bus interface is used to communicate with the external control device through the second bus; the transfer device is used as the external control device when the external control device sends the first control instruction.
  • the slave machine forwards the first control instruction to the control subsystem, so that the external control device controls the control subsystem through the first control instruction.
  • a wireless control system includes a wireless receiving terminal and a wireless transmitting terminal that are wirelessly connected; the wireless receiving terminal has a second bus interface, and the second bus interface passes through the second bus.
  • the wireless sending terminal is used to send remote wireless control signals to the wireless receiving terminal; the wireless receiving terminal is used to convert the remote wireless control signals into first control instructions, and the wireless receiving terminal serves as the bus
  • the host of the control system sends the first control instruction to the bus control system through the second bus.
  • a remote bus control system including the bus control system and the wireless control system of the first aspect;
  • the wireless control system includes a wireless receiving terminal and a wireless sending terminal that are wirelessly connected;
  • the wireless receiving terminal has There is a second bus interface, and the second bus interface is connected to the bus control system through the second bus;
  • a wireless sending terminal is used to send remote wireless control signals to the wireless receiving terminal;
  • the wireless receiving terminal is used to convert the remote wireless control signals into a third A control instruction, and the wireless receiving terminal serves as the host of the bus control system and is sent to the bus control system through the second bus.
  • a bus control method is provided, which is applied to a switching device, and the switching device is connected to at least one control subsystem; the method includes: when receiving the first command sent by the external control device through the second bus. When a control instruction is received, the first control instruction is forwarded to the control subsystem through the first bus, so that the control subsystem responds to the first control instruction; when the first control instruction sent by the external control device through the second bus is not received, A second control instruction is generated and sent to the control subsystem through the first bus, so that the control subsystem responds to the second control instruction.
  • a bus control device which is applied to a switching device.
  • the switching device is connected to a bus control system.
  • the bus control system includes at least one control subsystem.
  • the bus control device includes: a first control system.
  • a module configured to forward the first control instruction to the control subsystem through the first bus when receiving the first control instruction sent by the external control device through the second bus, so that the control subsystem responds to the first control instruction;
  • the second control The module is used to generate a second control instruction and send it to the control subsystem through the first bus when the external control device does not receive the first control instruction within a preset time, so that the control subsystem responds to the second control instruction.
  • a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the fourth aspect is implemented method.
  • a computer-readable storage medium on which computer instructions are stored, and when the instructions are executed by a processor, the method of the fourth aspect is implemented.
  • the present disclosure adds a switching device to the bus control system, and through the first bus interface and the second bus interface provided on the switching device, the switching device can be connected to the first bus and the second bus.
  • the first control instruction sent by the external control device is received through the second bus, and then the first control instruction is forwarded to the control subsystem on the first bus, so that the external control device on the second bus does not need to be connected to the first bus.
  • the bus can also send first control instructions to the control subsystem on the first bus, that is, the external control device connected to the second bus does not need to configure the same communication protocol as the first bus to meet the requirements between different buses.
  • the device needs to be controlled, thereby achieving the effect of improving the adaptability of the master-slave control bus.
  • Figure 1 is a schematic diagram of a master-slave control bus scenario in traditional technology shown in this disclosure.
  • Figure 2 is a schematic structural diagram of a bus control system shown in the present disclosure.
  • FIG. 3 is a schematic structural diagram of a bus control system according to another exemplary embodiment of the present disclosure.
  • FIG. 4A is a schematic diagram of control using a first control signal in a bus control system according to an exemplary embodiment of the present disclosure.
  • FIG. 4B is a schematic diagram of control using a second control signal in a bus control system according to an exemplary embodiment of the present disclosure.
  • FIG. 5 is a schematic structural diagram of a bus control system according to another exemplary embodiment of the present disclosure.
  • FIG. 6 is a schematic structural diagram of a bus control system according to another exemplary embodiment of the present disclosure.
  • FIG. 7 is a schematic structural diagram of a bus control system according to another exemplary embodiment of the present disclosure.
  • FIG. 8 is a schematic structural diagram of a bus control system according to another exemplary embodiment of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a specific implementation of a bus control system according to an exemplary embodiment of the present disclosure.
  • Figure 10 is a schematic structural diagram of a wireless control system according to an exemplary embodiment of the present disclosure.
  • FIG. 11 is a flow chart of a bus control method according to an exemplary embodiment of the present disclosure.
  • FIG. 12 is a flowchart of a bus control method according to another exemplary embodiment of the present disclosure.
  • FIG. 13 is a flowchart of a bus control method according to another exemplary embodiment of the present disclosure.
  • FIG. 14 is a flowchart of a bus control method according to another exemplary embodiment of the present disclosure.
  • FIG. 15 is a block diagram of a bus control device according to an exemplary embodiment of the present disclosure.
  • Figure 16 is a hardware structure diagram of a computer device where a bus control device is located.
  • first, second, third, etc. may be used in this specification to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other.
  • first information may also be called second information, and similarly, the second information may also be called first information.
  • word “if” as used herein may be interpreted as "when” or “when” or “in response to determining.”
  • the bus system refers to the channel for transmitting information between the microcomputer and each device.
  • the working principle of the bus system is simply to control and manage the devices connected to the bus through the bus device interface under the action of the bus controller.
  • serial connection mode In related technologies, there are three bus control modes: serial connection mode, scheduled query mode and independent request mode.
  • the specific method of timing query mainly uses the centralized bus control method of query mode; the principle of the query mode is to set a query counter in the bus controller; the bus controller tests each device in turn to see whether it sends a bus Request; when the bus controller receives the signal to apply for the bus, the counter starts counting. If the applying device number is consistent with the counter output, the counter stops counting. The device can obtain the right to use the bus and establish a bus busy signal, and then start the bus operation. ; After use, cancel the bus busy signal and release the bus. If there is still a bus request signal at this time, the controller will continue to query in turn and start the next bus allocation process.
  • the bus that adopts the scheduled query mode is also called the master-slave control bus.
  • the bus controller serves as the host and the other devices serve as slaves.
  • the settings of the master and slaves can be modified according to needs; among them, the slaves do not It will actively send data to the host, and the host will poll to obtain the data of each slave.
  • the polling process is: the host sends a data packet to the bus, and the data packet contains the slave address. After the data packet sent by the host, the host completes Then it changes to the receiving state. At this time, all slaves can receive the data packets sent by the master through the bus. After receiving the data packet, the slave machine will respond and send a response data packet when the detection address is consistent with its own address. If the address is inconsistent, , it will not be processed.
  • the specific bus types that use the master-slave control bus include RS485, SPI (Serial Peripheral Interface) and other types; combined with the above content, it can be seen that the master-slave control bus is composed of one host and multiple slaves, and the host communicates according to the preset The protocol communicates with each slave machine, so each device needs to be configured with the same communication protocol.
  • the master and slave machines only differ in signal transceiver logic and are not equivalent to controlled devices or control devices.
  • the host machine can be used as a control device.
  • the slave machine acts as a controlled device.
  • the host machine sends control signals to each slave machine to control the slave machine.
  • the host machine can also be used as a controlled device, and the slave machine acts as a control device.
  • the host machine receives each slave machine through polling.
  • the control signal sent by the machine therefore, when multiple control devices control a controlled device, each control device needs to be configured with the same communication protocol.
  • the control device needs to be connected to the same bus as the controlled device to communicate, but for the master-slave control bus chip, its serial port
  • the number is often small, so there is a problem that it is difficult to connect more control devices or controlled devices to the same bus; on the other hand, when the communication protocols of the control device and the controlled device are different, re-processing is required.
  • the communication protocol of the slave is usually configured to be consistent with the host. That is, the provider of the host needs to expose its own communication protocol to the assembler, so that the assembler can configure and communicate with the slave. And connected to the same bus, and the communication protocol is often the provider's private protocol, so it is difficult for the assembler to configure, and the provider needs to disclose its own private protocol.
  • the master-slave control bus is used in multiple scenarios.
  • This disclosure takes the application to the ship control system as an example.
  • the traditional ship control system often includes a left drive subsystem 01 and a right drive subsystem. 02, handle 03, wireless receiving terminal 04 and other equipment; among them, the left drive subsystem 01 uses A bus 05 to connect and communicate, and the right drive subsystem 02 uses B bus 06 to connect and communicate.
  • the handle 03 plays the role of human input control signal, as Proximal control equipment is used, such as accelerator; the wireless receiving terminal 04 is used to receive the control signal of the wireless sending terminal as a remote control, plays the role of receiving and forwarding the remote control signal, and is used as a remote control device; therefore, the handle 03 and the wireless receiving terminal
  • the terminals are connected to A bus 05 and B bus 06, and can each send control signals to the left drive subsystem 01 of A bus 05 or send control signals to the right drive subsystem 02 of B bus 06, thereby achieving close range control and The effect of remotely controlling the movement of the hull; both the handle 03 and the unmanned receiving terminal need to communicate with A bus 05 and B bus 06, so both the handle 03 and the unmanned receiving terminal need to be configured with the communication protocols of A bus 05 and B bus 06, As the communication protocol of A bus 05 and B bus 06 is a private protocol of the providers of left drive subsystem 01 and right drive subsystem 02, there are the following problems: on the one hand, it is difficult to
  • Embodiments of the present disclosure provide a solution.
  • a switching device is added to the bus control system.
  • Figure 2 is a schematic structural diagram of a bus control system 10 shown in the present disclosure
  • the bus control system 10 includes at least one control subsystem 2 and a switching device 1; the switching device 1 has a first bus interface 11 and a second bus interface 12, and the first bus interface 11 is used to pass The first bus 4 is connected to the control subsystem 2; the second bus interface 12 is used to communicate with the external control device 3 through the second bus 5; the switching device 1 is used as a signal when the external control device 3 sends a first control instruction.
  • the slave machine of the external control device 3 forwards the first control instruction to the control subsystem 2 so that the external control device 3 controls the control subsystem 2 through the first control instruction.
  • the bus control system 10 of the present disclosure includes a switching device 1.
  • the switching device 1 is provided with a first bus interface 11 and a second bus interface 12.
  • the first bus interface 11 is used to connect to the first bus. 4
  • the second bus interface 12 is used to connect to the second bus 5;
  • the first bus 4 is also provided with a control subsystem 2, and the control subsystem 2 serves as the master of the first bus 4 and receives the transfer as a slave.
  • the signal of device 1; the second bus 5 is also provided with an external control device 3, and the switching device 1 serves as the host of the second bus 5 to receive the signal of the external control device 3 as a slave; in this way, the switching device 1 passes
  • the second bus 5 receives the first command sent by the external control device 3, it forwards the first control command to the control subsystem 2 through the first bus 4, so that the external control device 3 can send the first control command on the second bus 5.
  • the instruction controls the control subsystem 2 on the first bus 4; that is, the external control device 3 connected to the second bus 5 does not need to be configured with the same communication protocol as the first bus 4 where the control subsystem 2 is located, and The control can be completed, which improves the adaptability of the bus control system 10 .
  • the bus control system 10 of the present disclosure can be installed in a variety of scenarios, such as unmanned ships, unmanned cars, production lines and other scenarios.
  • This specific embodiment takes an unmanned ship as an example for description. It should be noted that unmanned ships and unmanned cars can be controlled by users on the ship or car through close operation (also called manual control), or through remote control.
  • Each control subsystem 2 of the present disclosure includes a first control device 21 and a first controlled device. 22;
  • the switching device 1 is used to forward the first control instruction to the first control device 21, and the first control device 21 controls the first controlled device 22 based on the first control instruction.
  • the first control device 21 and the first controlled device 22 in the control subsystem 2 are both connected to the first bus 4.
  • the first control device 21, as the host of the first bus 4, can Query the switching device 1 as a slave to obtain the first control instruction, and actively send a control signal to the first controlled device 22 based on the first control instruction to control the first controlled device 22 to complete the first control instruction correspondence operations, such as acceleration and deceleration of the ship, in order to achieve the effect of the external control device 3 controlling the first controlled device 22 through the first control instruction.
  • the adapter device 1 in this disclosure also uses After generating and sending the second control instruction to the control subsystem 2 to control the control subsystem 2 through the second control instruction; when controlling the control subsystem 2 through the second control instruction, it is similar to through the first control instruction.
  • the master of the first bus 4 can obtain the second control instruction by polling the switching device 1 as the slave, and based on the second control instruction, the first control device 21 actively sends a control signal to the first controlled device 22,
  • the first controlled device 22 is controlled to complete the operation corresponding to the first control instruction, such as acceleration and deceleration of the ship, thereby achieving the effect of the switching device 1 controlling the first controlled device 22 through the second control instruction.
  • the switching device 1 can be a human-controlled device on an unmanned ship.
  • the human-controlled device can be, but is not limited to, a human-controlled handle equipped with buttons or levers.
  • the second control command can be generated by manually operating the human-controlled handle. , for example, moving the lever on the human control handle or pressing the button on the human control handle to generate a second control command.
  • the human control handle is connected to a control subsystem 2, it is used as a single-sided handle to control a control subsystem.
  • the switching device 1 when the human control handle is connected to the two control subsystems 2, it is used as a dual throttle handle to control the two control subsystems 2; therefore, the switching device 1 can not only send the received first control command to the control subsystem System 2 can also send the second control instruction generated by itself to the control subsystem 2. Therefore, for the switching device 1, it is necessary to preset the priority for the first control instruction and the second control instruction, such as setting the first control instruction.
  • the switching device 1 When the priority is higher than the second control instruction, then when the switching device 1 receives the first control instruction and generates the second control instruction at the same time, it will give priority to the first control instruction to the control subsystem 2, thereby realizing the external
  • the priority of the control device 3 is higher than the priority of the switching device 1, that is, when the external control device 3 controls the ship, the human control handle cannot send the second control command to the control subsystem 2; vice versa, when the second
  • the priority of the control instruction when the switching device 1 receives the first control instruction and generates the second control instruction at the same time, the second control instruction will be sent to the control subsystem 2 first, thus achieving
  • the priority of the switching device 1 is higher than the priority of the external control device 3, that is, when the ship is controlled by the second control instruction generated by the human control handle, the human control handle cannot forward the first control instruction to the control subsystem 2; Therefore, corresponding settings can be made according to usage requirements, achieving the effect of flexible selection of priority control devices.
  • the switching device 1 is used to forward the first control command to the control subsystem 2 as a slave of the external control device 3 when the external control device 3 sends the first control command, so that the external control device 3. Control the control subsystem 2 through the first control instruction;
  • the switching device 1 is also used to, as a slave of the control subsystem 2, send a second control instruction to the control subsystem 2 without communicating with the external control device 3, so as to pass the second control subsystem 2.
  • Control instructions control control subsystem 2.
  • the conversion device sends the first control command or the second control command, it is necessary to determine in advance whether to communicate with the external control device 3.
  • the conversion device communicates with the external control device 3, it is used to receive the first control command issued by the external control device 3. And forwarded to the control subsystem 2, so as to achieve the effect that the external control device 3 can control the control subsystem 2 through the switching device 1; and the external control device 3 does not need to be configured with the same communication protocol as the control subsystem 2, only The first control command is converted by the switching device 1. That is, the provider does not need to disclose the communication protocol of the first bus 4.
  • the assembler only needs to It is only necessary to complete the communication protocol configuration of the second bus 5 on the switching device 1, and there is no need to configure the communication protocol of the first bus 4.
  • the switching device 1 does not communicate with the external control device 3
  • the second control command generated by the switching device 1 itself controls the control subsystem 2. Therefore, the first control command and the second control command play the role of remote and near. The role of distance control control subsystem 2.
  • the achieved effects are: on the one hand, it reduces the difficulty of configuring the communication protocol of the assembler, and also eliminates the need for the provider to disclose the communication protocol of the first bus 4, which improves the closure and stability of the control subsystem 2.
  • the communication protocol of the second bus 5 between the external control device 3 and the switching device 1 does not involve specific
  • the control logic only needs to recognize the instruction actions, such as forward, backward or turn and other basic instructions; and the first bus 4 is the communication protocol used to control the control subsystem 2, so its communication logic will be more low-level, This makes the configuration of the first bus 4 difficult; therefore, the communication logic of the second bus 5 is relatively simple and easy to configure, allowing the assembler to flexibly replace the external control device 3, thereby reducing the difficulty of replacing the external control device 3.
  • the switching device 1 determines whether to communicate with the external control device 3, for example, by whether it receives the first control instruction from the external control device 3 within a preset time or whether it continues to receive the external control device 3.
  • the first control command may be any one. The description will be made by taking whether the first control command from the external control device 3 is received within a preset time as an example.
  • the switching device 1 first determines whether the first control command is received. If the first control instruction is not received and the second control instruction is generated under the manual control of the user, the second control instruction is forwarded to the first bus 4; if the first control instruction is received, the first control instruction is forwarded. Instruction to first bus 4.
  • the newly received first control command is forwarded to the first bus 4; if the preset time after receiving the first control command is The first control command is not received within the time, but the second control command is generated. At this time, the second control command can be shielded, that is, the second control command is not forwarded to the first bus 4. When the second control command is still not received after the preset time, When a control instruction is generated, the newly generated second control instruction is forwarded to the first bus 4. Of course, if there is a newly generated second control instruction at this time, the newly generated second control instruction can also be forwarded to the first bus 4. on the first bus 4; this prevents frequent switching of the control mode of the switching device 1, and achieves the effect of improving the control fluency of the external control device 3.
  • the bus control system 10 in the present disclosure may include several control subsystems 2 .
  • each control subsystem 2 is connected to the switching device 1, so the control signals of each control subsystem 2 are obtained from the switching device 1 as a slave, so if each control If subsystem 2 uses the same bus connection, each control subsystem 2 can obtain all the control signals of the switching device 1, and the control signal of the switching device 1 cannot be sent to a specific control subsystem 2, which will cause failure.
  • each control subsystem 2 passes through the first bus 4 and the third bus respectively.
  • the communication format allows the switching device 1 to parse the first control instruction based on the customized communication format; by presetting the parsing method of the switching device 1, control of different control subsystems 2 is achieved.
  • This disclosure proposes two specific ways to achieve control of different control subsystems 2 by presetting the analysis method of the switching device 1:
  • One way is to control different controls between the external control device 3 and the switching device 1.
  • Subsystem 2 generates a first control instruction or a second control instruction suitable for different bus communication protocols, and the switching device 1 analyzes the first control instruction or the second control instruction according to the preset analysis method, so that it is sent to the corresponding
  • the control subsystem 2 enables the two control subsystems 2 to obtain the first control instruction or the second control instruction adapted to their communication protocol through the first bus 4 and the third bus respectively, achieving the effect of controlling different control subsystems 2 ;
  • the external control device 3 issues the first control instructions to the second bus 5 according to predetermined rules; the predetermined rules are used to define the order of the first control instructions sent to each control subsystem 2 so that the transfer After receiving the first control instruction, the device 1 forwards it to the corresponding control subsystem 2.
  • the order may be an odd-even sequence rule, that is, the switching device 1 sends the received first control instruction in an odd order to the first control subsystem 2. bus, and sends the received even-sequence first control instructions to the third control bus; similarly, the second control instructions generated by the switching device 1 can also be sent to different control subsystems 2 in sequence using predetermined rules.
  • This disclosure takes setting up two control subsystems 2 as an example for explanation. The control methods of other numbers of control subsystems 2 are similar and can be derived by analogy based on the above description, and will not be described again here.
  • FIG. 6 it is a schematic structural diagram of a bus control system 10 according to another exemplary embodiment of the present disclosure.
  • the number of switching devices 1 of the present disclosure is greater than 1, so multiple switching devices 1 can be provided.
  • Each switching device 1 is a functionally identical device; the second bus interface 12 of the switching device 1 is also used to connect with another switching device 1 through the second bus 5, so that each switching device 1 passes
  • the second bus 5 receives the first control command from the external control device 3; the other switching device 1 is used to refer to other switching devices 1 added in addition to the first switching device 1; the other switching device 1 is also provided with a first bus interface 11 and a second bus interface 12.
  • the first bus interface 11 is used to connect to the control subsystem 2 through the first bus 4; the second bus interface 12 is used to connect to the control subsystem 2 through the second bus 5.
  • the second bus interface 12 of the connecting device 1 is connected, thereby achieving the effect that all the switching devices 1 are connected through the second bus 5 and can obtain the first control instruction of the external control device 3 through the second bus 5.
  • another switching device 1 will also be connected to at least one control subsystem 2.
  • the other switching device 1 is used as a control subsystem connected to another switching device 1 without communicating with the external control device 3.
  • the slave machine of system 2 sends a second control instruction to the control subsystem 2 to control the control subsystem 2 through the second control instruction. This achieves the effect of another switching device 1 controlling the control subsystem 2 connected thereto through the second control command.
  • All switching devices 1 of the present disclosure are connected to the second bus 5, so when another switching device 1 does not communicate with the external control device 3, as a slave of the switching device 1,
  • the device 1 sends a second control command to control the control subsystem 2 connected to the switching device 1 through the second control command; vice versa, when the switching device 1 does not communicate with the external control device 3, as another
  • the host of one switching device 1 actively sends a second control command to another switching device 1 to control the control subsystem 2 connected to the other switching device 1 through the second control command; so that the switching device 1 and the other switching device 1
  • a switching device 1 can control each other's connected control subsystem 2 through the second bus 5, which increases the flexibility of use of each switching device 1.
  • FIG 7 it is a schematic structural diagram of a bus control system 10 according to another exemplary embodiment of the present disclosure.
  • a display device 6 is often needed to display the current ship status information.
  • the present disclosure also includes a display device 6 , the second bus interface 12 of the adapter device 1 is also used to connect with the display device 6 through the second bus 5 , and the adapter device 1 is also used to communicate with the external control device 3 when it is not connected.
  • the host of the display device 6 it sends the information to be displayed to the display device 6; when the switching device 1 does not communicate with the external control device 3, at this time, there are only switching devices 1 and 2 on the second bus 5.
  • the display device 6 and the switching device 1 serve as hosts and actively send data to the display device 6 to display the current ship status information; when the switching device 1 communicates with the external control device 3, there is a switching on the second bus 5 at this time.
  • the external control device 3 needs to actively send the second control command to the switching device 1. Therefore, the external control device 3 needs to be used as the host on the second bus 5.
  • the switching device 1 and the display device 6 as slaves.
  • the external control device 3 as the host needs to actively send data to the display device 6 to display the current ship status information; among them, the switching device 1 performs the master function according to whether it communicates with the external control device 3.
  • the switching process of the slave machine can be realized based on the control program preset inside the switching device 1 .
  • unmanned ship systems In addition to the control subsystem 2 with more complex functions, unmanned ship systems often also have some auxiliary devices with single functions, such as paddles for steering, horns, etc.
  • FIG 8 it is a schematic structural diagram of a bus control system 10 according to another exemplary embodiment of the present disclosure.
  • the present disclosure also includes a second controlled device 7, and the second bus interface 12 of the switching device 1 also It is used to connect with the second controlled device 7 through the second bus 5.
  • the adapter device 1 is also used to serve as the host of the second controlled device 7 and send data to the second controlled device 7 without communicating with the external control device 3.
  • the device 7 sends the third control command to control the second controlled device 7; the same logic as discussed above, when the switching device 1 does not communicate with the external control device 3, the switching device 1 serves as the host of the second bus 5 and generates the third The three control instructions control the second controlled device 7; when the switching device 1 communicates with the external control device 3, the external control device 3 acts as the host of the second bus 5, generates a fourth control instruction and sends it to the third controlled device through the second bus 5.
  • Two controlled devices 7; wherein, the third control instruction and the fourth control instruction are both used to control the second controlled device 7 to perform corresponding actions.
  • the second device is a steering drive device
  • the third control instruction and the fourth control instruction are used to control the second controlled device 7 to perform corresponding actions.
  • the control command is a steering control signal, which is used to control the rotational drive device to drive the steering.
  • the rotational drive device can be used to drive the paddle for steering or drive the steering of the propeller.
  • FIG. 9 it is a schematic structural diagram of a specific implementation of a bus control system 10 according to an exemplary embodiment of the present disclosure.
  • the bus control system 10 of the present disclosure is used to transfer when loaded onto an unmanned ship.
  • the device 1 is a human-controlled handle
  • the external control device 3 is an unmanned receiving terminal.
  • the unmanned receiving terminal is used to receive the remote wireless control signal sent by the unmanned remote sending terminal 9, and convert the remote wireless control signal into the first control instruction, where
  • the unmanned remote sending terminal 9 can be a mobile phone, and the unmanned remote receiving terminal is connected to the human control handle through the 485_3 bus;
  • the bus control system 10 also has two control subsystems 2, namely the left control subsystem 2 and the right control subsystem 2.
  • both the left control subsystem 2 and the right control subsystem 2 can specifically be a left drive system and a right drive system.
  • the left drive system is connected to the human control handle through the 485_1 bus
  • the right drive system is connected to the human control handle through the 485_2 bus.
  • the left drive system is connected to the human control handle through the 485_2 bus.
  • the first controlled device 22 in the drive system and the right drive system includes a drive device, which may be but is not limited to a throttle drive device.
  • the first control device 21 is a communication circuit board.
  • the left drive system and the right drive system also include a power supply for The battery is used to power the drive system;
  • the bus control system 10 also includes a display screen for displaying status information of the unmanned ship, and the display screen is connected to the human control handle through the 485_3 bus.
  • the unmanned receiving terminal After the user sends the wireless control signal through the unmanned remote sending terminal 9, the unmanned receiving terminal receives the wireless control signal, and the wireless receiving terminal 81 converts the received wireless control signal into a first control instruction and sends it to the human through the 485_3 bus.
  • control handle when the human control handle receives the first control instruction, and the human control handle itself also generates a second control instruction, it blocks the second control instruction generated by itself, and transmits the first control instruction through the 485_1 bus or the 485_2 bus.
  • the communication circuit board controls the throttle drive device and battery according to the first control command to achieve the driving effect of the unmanned ship; when the human control handle receives the first control command, and When the human control handle itself does not generate a second control command, the first control command is directly forwarded to the communication circuit board of the corresponding drive system through the 485_1 bus or the 485_2 bus.
  • the communication circuit board controls the throttle drive device and battery according to the first control command.
  • Control is performed to achieve the driving effect of the unmanned ship; wherein, the human control device forwards the first control instruction to the corresponding driving system according to the odd or even number of times the wireless receiving terminal 81 sends the first control instruction, for example, the human control handle receives When the first control command of an odd number is received, it is forwarded to the communication circuit board of the left drive system through the 485_1 bus; when the human control handle receives the first control command of an even number, it is forwarded to the communication circuit board of the right drive system through the 485_2 bus. In this way, the effect of controlling the unmanned ship in different driving modes is achieved.
  • the human control handle When the wireless receiving terminal 81 does not receive the wireless control signal, that is, when the human control handle does not receive the first control command, the human control handle sends the second control command generated by itself to the corresponding drive system through the 485_1 bus or the 485_2 bus.
  • Communication circuit board the communication circuit board controls the throttle drive device and battery according to the second control command to achieve the driving effect of the unmanned ship; wherein, the human control handle sends the second control command to the left drive system or the right drive system
  • the logic is the same as the above method and will not be repeated here.
  • the devices and communication protocols on the 485_1 bus and 485_2 bus in the bus control system 10 of the present disclosure are pre-configured.
  • the external control device 3 on the 485_3 bus is required to be configured, and no external The control device 3 participates in the 485_1 bus and the 485_2 bus to control the drive operation, but achieves indirect control through the unified 485_3 bus, simplifying the control and communication methods of the external control device 3, and also realizing the 485_1 bus in the bus control system 10 Relatively independent from the 485_1 bus, the development of unmanned ships controlled by the bus control system 10 is simpler and more convenient.
  • the second aspect of this specification provides a wireless control system 8.
  • the wireless control system 8 includes a wireless receiving terminal 81 and a wireless sending terminal 82 that are wirelessly connected; the wireless receiving terminal 81 has a second bus interface. 12.
  • the second bus interface 12 is connected to the bus control system 10 of the first aspect through the second bus 5; the wireless sending terminal 82 is used to send remote wireless control signals to the wireless receiving terminal 81; the wireless receiving terminal 81 is used to transmit the remote wireless control signal to the wireless receiving terminal 81;
  • the wireless control signal is converted into a first control instruction, and the wireless receiving terminal 81 serves as the host of the bus control system 10 and sends the first control instruction to the bus control system 10 through the second bus 5 .
  • the wireless receiving terminal 81 in the wireless control system 8 in this embodiment can be used as an external control device in the first aspect.
  • the wireless receiving terminal 81 is connected to the bus control system 10 through the second bus 5.
  • the wireless sending terminal 82 can be, but is not limited to Mobile terminals, servers, etc. are equipped with devices that send remote wireless control signals.
  • the wireless sending terminal 82 is a mobile phone and the bus control system 10 is mounted on an unmanned ship
  • the mobile phone sends an acceleration signal to the wireless receiving terminal 81
  • the wireless receiving terminal 81 converts the acceleration signal into a first control command, and wirelessly receives
  • the terminal 81 serves as the host of the second bus 5 and sends the first control instruction to the bus control system 10 through the second bus 5.
  • the bus control system 10 completes the acceleration action of the unmanned ship based on the first control instruction, thereby realizing that the unmanned ship can be accelerated through the mobile phone. The effect of remotely controlling the movement of unmanned ships.
  • the third aspect of this specification provides a remote bus control system 100, including the bus control system 10 of the first aspect and the wireless control system 8;
  • the wireless control system 8 includes a wirelessly connected wireless receiving terminal 81 and Wireless sending terminal 82;
  • wireless receiving terminal 81 has a second bus interface 12, and the second bus interface 12 is connected to the bus control system 10 through the second bus 5;
  • wireless sending terminal 82 is used to send remote wireless control signals to the wireless receiving terminal 81;
  • Wireless receiving terminal 81 used to convert remote wireless control signals into first control instructions, and the wireless receiving terminal 81 serves as the host of the bus control system 10 and sends it to the bus control system 10 through the second bus 5.
  • FIG. 11 it is a flow chart of a bus control method according to an exemplary embodiment of the present disclosure.
  • the fourth aspect of this specification provides a bus control method, which is applied to a switching device.
  • the switching device and At least one control subsystem connection; methods include:
  • the bus control method of this embodiment is applied to the switching device in the first aspect.
  • the switching device is a device that corresponds to a specific scene, such as a human-controlled handle in an unmanned ship; or the switching device can also be a console, a control center, a server, and other equipment.
  • the step of generating the second control instruction does not mean that the second control instruction is generated immediately when the first control instruction is not received. instruction.
  • the first control command is not received, it indicates that the bus control system is in a manual control state, not a remote control state. In the manual control state, the second control command will only be generated if a user controls the human control handle.
  • the bus control method is in step S100: when receiving the external control device through the second When the first control instruction is sent through the bus, before forwarding the first control instruction to the control subsystem through the first bus so that the control subsystem responds to the first control instruction, it also includes:
  • S020 If not, generate a second control instruction and send it through the first bus
  • the steps to control the subsystem include:
  • step S021 includes:
  • the control subsystem if the first control instruction is received again within a preset time after the first control instruction is not received, if the control subsystem is controlled by the second control instruction during the preset time of waiting, it will cause Frequent replacement of the control signals of the control subsystem will also cause the external control device to send the first control instruction again within the preset time for control. Therefore, in this embodiment, it is determined whether the first control instruction is not received within the preset time. The first control instruction, if so, it means that the external control device is more likely to suspend control. At this time, the second control instruction is generated and sent to the control subsystem through the first bus. Therefore, S000: judgment needs to be continued within the preset time. The step of whether the first control instruction is received; the effect of increasing control coherence is achieved.
  • the first control instruction is a customized communication format; the method further includes: parsing the first control instruction based on the customized communication format.
  • the external control device issues the first control instruction to the second bus according to predetermined rules; the predetermined rules are used to define the order of the first control instructions sent to each control subsystem; when the external control device receives the When the first control instruction is sent from the second bus, the step of forwarding the first control instruction to the control subsystem through the first bus includes: forwarding the first control instruction to the corresponding control subsystem through the first bus based on preset rules.
  • the method further includes: when the first control instruction is not received, sending information to be displayed to the display device.
  • the method further includes: when the first control instruction is not received, sending a third control instruction to the steering drive device to control the steering drive device; the third control instruction is a steering control signal.
  • the first control instruction is converted by the external control device after receiving the remote wireless control signal sent by the wireless receiving terminal.
  • forwarding the first control instruction to the control subsystem through the first bus includes: forwarding the first control instruction to the corresponding control subsystem according to the odd or even number of times the external control device sends the first control instruction.
  • FIG. 15 it is a block diagram of a bus control device according to an exemplary embodiment of the present disclosure.
  • the fifth aspect of this specification provides a bus control device that is applied to a switching device.
  • the first control module 1501 is configured to forward the first control instruction to the control subsystem through the first bus when receiving the first control instruction sent by the external control device through the second bus, so that the control subsystem responds to the first control instruction. ;
  • the second control module 1502 is used to generate a second control instruction and send it to the control subsystem through the first bus when the external control device does not receive the first control instruction within a preset time, so that the control subsystem responds to the second control instruction. .
  • the bus control device further includes:
  • a judgment module used to judge whether the first control instruction is received
  • the first control module 1501 is also configured to, if the first control instruction is received, forward the first control instruction to the control subsystem through the first bus;
  • the second control module 1502 is also configured to, if the first control instruction is not received, generate a second control instruction and send it to the control subsystem through the first bus.
  • the second control module 1502 is also configured to generate a second control instruction and send it to the control subsystem through the first bus when the first control instruction is not received within a preset time.
  • the first control instruction is a customized communication format; the bus control device further includes:
  • the parsing module is used to parse the first control instruction based on the customized communication format.
  • the external control device issues the first control instructions to the second bus according to predetermined rules; the predetermined rules are used to define the order of the first control instructions sent to each control subsystem; the first control module 1501 also uses Finally, the first control instruction is forwarded to the corresponding control subsystem through the first bus based on the preset rules.
  • the bus control device further includes:
  • the display module is configured to send information to be displayed to the display device when the first control instruction is not received.
  • the bus control device further includes:
  • the steering module is configured to send a third control instruction to the steering drive device to control the steering drive device when the first control instruction is not received; the third control instruction is a steering control signal.
  • the first control command is converted by the external control device after receiving the remote wireless control signal sent by the wireless sending terminal.
  • the first control module 1501 is also configured to forward the first control instruction to the corresponding control subsystem according to the odd or even number of times the external control device sends the first control instruction.
  • the device embodiment since it basically corresponds to the method embodiment, please refer to the partial description of the method embodiment for relevant details.
  • the device embodiments described above are only illustrative.
  • the modules described as separate components may or may not be physically separated.
  • the components shown as modules may or may not be physical modules, that is, they may be located in One place, or it can be distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the disclosed solution. Persons of ordinary skill in the art can understand and implement the method without any creative effort.
  • the sixth aspect of this specification is a hardware structure diagram of a computer device in which a bus control device is located. It provides a computer device, including a memory 1602, a processor 1601 and a computer device stored in the memory 1602. A computer program that can be run on the processor 1601, wherein when the processor 1601 executes the program, the bus control method as described in any embodiment of the fourth aspect is implemented.
  • the device may include: processor 1601, memory 1602, input/output interface 1603, communication interface 1604, and bus 1605.
  • the processor 1601, the memory 1602, the input/output interface 1603 and the communication interface 1604 implement communication connections between each other within the device through the bus 1605.
  • the processor 1601 can be implemented using a general-purpose CPU (Central Processing Unit, central processing unit), a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute related program to implement the technical solutions provided by the embodiments of this specification.
  • a general-purpose CPU Central Processing Unit, central processing unit
  • a microprocessor an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits
  • ASIC Application Specific Integrated Circuit
  • the memory 1602 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc.
  • the memory 1602 can store operating systems and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 1602 and called and executed by the processor 1601.
  • the input/output interface 1603 is used to connect the input/output module to realize information input and output.
  • the input/output/module can be configured in the device as a component (not shown in the figure), or can be externally connected to the device to provide corresponding functions.
  • Input devices can include keyboards, mice, touch screens, microphones, various sensors, etc., and output devices can include monitors, speakers, vibrators, indicator lights, etc.
  • the communication interface 1604 is used to connect a communication module (not shown in the figure) to realize communication interaction between this device and other devices.
  • the communication module can realize communication through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).
  • Bus 1605 includes a path that carries information between various components of the device (eg, processor 1601, memory 1602, input/output interface 1603, and communication interface 1604).
  • the above device only shows the processor 1601, the memory 1602, the input/output interface 1603, the communication interface 1604 and the bus 1605, during the specific implementation, the device may also include necessary components for normal operation. Other components.
  • the above-mentioned equipment may only include components necessary to implement the embodiments of this specification, and does not necessarily include all components shown in the figures.
  • the seventh aspect of this specification also provides a computer-readable storage medium.
  • the computer-readable storage medium stores a computer program.
  • the bus control method described in any of the foregoing method embodiments can be implemented.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Selective Calling Equipment (AREA)

Abstract

L'invention concerne un système de commande de bus, un système de commande sans fil, un système de télécommande, un procédé de commande de bus, un appareil de commande de bus, un dispositif informatique, et un support lisible par ordinateur. Dans le système de commande (10) de bus, un appareil adaptateur (1) peut être connecté à un premier bus (4) et un deuxième bus (5) au moyen d'une première interface (11) de bus et d'une deuxième interface (12) de bus disposées dans l'appareil adaptateur (1), et sert à recevoir, au moyen du deuxième bus (5), une première instruction de commande envoyée par un appareil de commande externe (3), et puis à transférer la première instruction de commande à un sous-système de commande (2) sur le premier bus (4), de sorte que l'appareil de commande externe (3) sur le deuxième bus (5) puisse envoyer la première instruction de commande au sous-système de commande (2) sur le premier bus (4) sans qu'il soit nécessaire de se connecter au premier bus (4), c'est-à-dire qu'il n'est pas nécessaire de configurer l'appareil de commande externe (3), lequel est connecté au deuxième bus (5), avec le même protocole de communication que le premier bus (4), satisfaisant ainsi à l'exigence de commande entre appareils sur des bus différents.
PCT/CN2022/094282 2022-05-20 2022-05-20 Système, procédé et appareil de commande de bus, et dispositif informatique et support lisible par ordinateur WO2023221143A1 (fr)

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CN202280001458.1A CN115087964A (zh) 2022-05-20 2022-05-20 总线控制系统、方法、装置、计算机设备及可读介质
PCT/CN2022/094282 WO2023221143A1 (fr) 2022-05-20 2022-05-20 Système, procédé et appareil de commande de bus, et dispositif informatique et support lisible par ordinateur

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US20050090940A1 (en) * 2000-05-31 2005-04-28 Pajakowski Andrew J. Handheld computer based system for collection, display and analysis of engine/vehicle data
CN101641940A (zh) * 2007-03-14 2010-02-03 罗伯特·博世有限公司 车辆中的接口和数据交换方法
CN106094668A (zh) * 2016-08-26 2016-11-09 广东中科瑞泰智能科技有限公司 一种无人机机载设备管理系统
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