A frequency-adaptive mining dump truck software architecture system and storage medium

Abstract

The application discloses a frequency self-adaptive software architecture system of a mine dump truck and a storage medium, and relates to the technical field of software architecture systems of mine dump trucks. The frequency self-adaptive software architecture system of the mine dump truck comprises a device driving module, an application layer logic unit and a self-adaptive frequency control unit. The device driving module is used for driving an external sensing device to collect data. The application layer logic unit is used for processing business logic nodes. The self-adaptive frequency control unit is used for monitoring the data sending frequency of the device driving module and the data sending frequency of a data processing unit under different road surface environments, taking the smaller one of the data sending frequency of the device driving module and the data sending frequency of the data processing unit as the actual running frequency of the sensing device, obtaining the running frequency of the application layer logic unit, judging whether the actual running frequency of the sensing device and the running frequency of the application layer logic unit are equal, and updating the running frequency of the application layer logic unit with the actual running frequency of the sensing device if the actual running frequency of the sensing device and the running frequency of the application layer logic unit are not equal. The data processing unit is used for processing the collected data of the sensing device processed by the application layer logic unit and the device driving module.

Description

Technical Field

[0001] The present invention relates to a frequency-adaptive mining dump truck software architecture system and a storage medium, belonging to the technical field of mining dump truck software. Background Art

[0002] In the process of designing and implementing application software for mining dump trucks, it is necessary to combine the bumpy road conditions and complex external environment of actual operation of mining dump trucks. It is particularly important to ensure the robustness and real-time performance of the system and the security of data transmission of perception equipment and system reliability.

[0003] Patent CN201710120042.2 describes an embedded software architecture system, which consists of a bidirectionally connected operating system unit, a communication adapter unit, a data transceiver management unit, a data processing unit and a business logic unit, as well as a fault monitoring unit and a fault handling unit. It mainly improves the inheritance of new and old projects and the efficiency of software development, but cannot guarantee the real-time and robustness of the system software when mining dump trucks operate on bumpy roads and complex mining areas. Summary of the Invention

[0004] In order to solve the technical problem that existing mining dump trucks may cause the system to mistakenly identify a fault in the sensing device and trigger an emergency stop of the dump truck in bumpy road conditions and complex external environments, and to improve the real-time performance and robustness of the system and the data transmission security of the sensing device, the present invention provides a frequency-adaptive mining dump truck software architecture system and storage medium.

[0005] To achieve the above objectives, the present invention provides a frequency-adaptive mining dump truck software architecture system, comprising:

[0006] Device driver module, used to drive external sensing devices to collect data;

[0007] Application layer logic unit, used to process business logic nodes;

[0008] Adaptive frequency control unit for:

[0009] Monitor the data transmission frequency of the device driver module and the data transmission frequency of the data processing unit under different road conditions, and take the smaller of the data transmission frequency of the device driver module and the data transmission frequency of the data processing unit as the actual operating frequency of the sensing device;

[0010] Obtaining the operating frequency of the application layer logic unit, determining whether the actual operating frequency of the sensing device is equal to the operating frequency of the application layer logic unit, and if not, updating the operating frequency of the application layer logic unit with the actual operating frequency of the sensing device;

[0011] The data processing unit is used to process the collected data of the sensing device after being processed by the application layer logic unit and the device driver module.

[0012] Preferably, the data processing unit includes a data verification module, a data pre-processing module, a data access module and a data post-processing module;

[0013] The data verification module is used to perform CRC validity verification on the collected data of the sensing device before it reaches the data preprocessing module. If the sensing device signal data passes the verification, the sensing device signal data will be passed to the data preprocessing module.

[0014] Preferably, the data preprocessing module is used to:

[0015] The data preprocessing module converts the data format of the sensory device signal data that has passed the verification to obtain the converted data;

[0016] Writing the converted data into the data access module and transmitting it to the application layer logic unit;

[0017] The data access module is used to store and convert data and forward data from the application layer logic unit.

[0018] Preferably, the data post-processing module is used to:

[0019] Reading data stored in the data access module and performing data format conversion on the data stored in the data access module;

[0020] The data stored in the data access module after data format conversion is subjected to effective data length calculation and encryption to obtain the encrypted data stored in the data access module.

[0021] Preferably, the adaptive frequency control unit includes a heartbeat monitoring module, a data status monitoring module and a frequency decision module;

[0022] The heartbeat monitoring module is used to monitor the actual operating frequency of the sensing device and send it to the frequency decision module;

[0023] The data status monitoring module is used to monitor the data sending frequency of valid data processing that complies with the CRC check within the unit cycle of the data processing unit. It is used to count the frequency of publishing valid data that complies with the CRC check by the application layer logic unit after the data post-processing module converts the data format after reading the data stored in the data access module according to the application layer logic unit instruction.

[0024] Preferably, the frequency decision module is used to:

[0025] Receive the actual operating frequency of the sensing device obtained from the heartbeat monitoring module and the data sending frequency of the data processing unit in a unit cycle that complies with the CRC check valid data processing obtained by the data status monitoring module;

[0026] Obtain the actual operating frequency of the sensing device and the frequency of publishing valid data that meets the CRC check within a unit cycle of the data processing unit;

[0027] It decides whether the actual operating frequency of the application layer logic unit needs to be updated with the actual operating frequency of the sensing device. If an abnormal frequency occurs, an emergency stop command is triggered.

[0028] Preferably, the abnormal frequency includes less than 1 / 2 of the configured frequency of the sensing device or greater than 2 times the configured frequency of the sensing device.

[0029] Preferably, the heartbeat monitoring module is used to:

[0030] The operating cycle of the sensing device is calculated based on the configuration frequency of the sensing device;

[0031] Set the timer period, start the timer synchronously when the sensing device is initialized, add 1 to the counter when the sensing device is called, and obtain the counting result of the counter when the set timer period is reached;

[0032] The counting result is used as the actual operating frequency of the sensing device and sent to the frequency decision module;

[0033] Clear the counter.

[0034] Preferably, the data status monitoring module is used to:

[0035] The data pre-processing module in the data processing unit processes the data sending frequency of valid data that meets the CRC check within the unit cycle, and the counter is incremented by 1 each time the data check module is called within the unit cycle to obtain the valid number of results;

[0036] After the valid number of results is sent to the frequency decision module, the counter is cleared.

[0037] Preferably, the data status monitoring module is used to:

[0038] The data post-processing module converts the data format after reading the data stored in the data access module according to the application layer logic unit instruction, and then counts the frequency of publishing valid data that meets the CRC check of the application layer logic unit;

[0039] Each time the data verification module is called within a unit period, the counter is incremented by 1 to obtain the statistical result of the counter's release frequency within the unit period;

[0040] The publication frequency counting result is used as the actual operating frequency of the application layer logic unit, and the statistical publication frequency is sent to the frequency decision module to clear the counter.

[0041] Prioritize obtaining the actual operating frequency of the sensing device, including:

[0042] The counting result of the heartbeat monitoring module and the valid number result of the data status monitoring module are compared within a unit period, and the smaller one is taken as the actual operating frequency of the sensing device.

[0043] Prioritizes the decision on whether to update the actual operating frequency of the application layer logic unit and triggers an emergency stop command when an abnormal frequency occurs, including:

[0044] Obtain the actual operating frequency of the sensing device and the actual operating frequency of the application layer logic unit. If the actual operating frequency of the sensing device and the actual operating frequency of the application layer logic unit are both outside the system preset frequency threshold or an abnormal frequency occurs, immediately trigger the emergency stop command of the mining dump truck. Otherwise, determine whether the actual operating frequency of the sensing device and the actual operating frequency of the application layer logic unit are equal. If they are not equal, use the actual operating frequency of the sensing device to update the actual operating frequency of the corresponding application layer logic unit. Otherwise, there is no need to update the actual operating frequency of the corresponding application layer logic unit.

[0045] Preferably, a message processing unit is included for the device driver module to communicate with the application layer logic unit and publish the encrypted data stored in the data access module.

[0046] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above methods when executing the program.

[0047] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of any of the above methods.

[0048] The beneficial effects achieved by the present invention are:

[0049] (1) The adaptive frequency control unit in the present invention monitors the data transmission frequency of the device driver module and the data transmission frequency of the data processing unit under different road conditions, including bumpy roads, and takes the smaller of the data transmission frequency of the device driver module and the data transmission frequency of the data processing unit as the actual operating frequency of the sensing device (such as a laser radar or a millimeter-wave radar). At the same time, the operating frequency of the application layer logic unit is obtained. By comparing the actual operating frequency of the sensing device and the operating frequency of the application layer logic unit to see whether they are equal, if they are not equal, the operating frequency of the application layer logic unit is updated to ensure that the program operating frequency is consistent with the actual operating frequency of the sensing device such as the laser radar or the millimeter-wave radar, so that the mining dump truck can obtain the actual operating frequency of the sensing device in real time under bumpy road conditions, avoiding an emergency stop caused by the inconsistency between the program operating frequency and the actual operating frequency of the sensing device;

[0050] (2) The adaptive frequency control unit can adaptively adjust the operating frequency of each business logic node in real time according to the external operating environment to improve the robustness of the application;

[0051] (3) Data verification can preliminarily solve the problem of data corruption caused by data transmission of sensing equipment or external unlimited data interference and malicious intrusion, which leads to perception failure and improves the safety and reliability of mining dump trucks. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 It is a principle block diagram of the present invention;

[0053] Figure 2 It is a structural diagram of the frequency adaptation process architecture of the present invention;

[0054] Figure 3 This is a flow chart of the monitoring module of the present invention

[0055] Figure 4 It is a flow chart of the frequency decision of the present invention. DETAILED DESCRIPTION

[0056] The following examples are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0057] The present invention provides a frequency adaptive mining dump truck software architecture system and method, including an adaptive frequency control unit, a device driver module, a message processing unit, a data processing unit, an application layer logic unit and a task scheduling unit.

[0058] The adaptive frequency control unit is used to monitor the data transmission frequency of the device driver module and the data transmission frequency of the data processing unit under different road environments, including bumpy roads, and take the smaller of the data transmission frequency of the device driver module and the data transmission frequency of the data processing unit as the actual operating frequency of the sensing device (such as a lidar or millimeter-wave radar). At the same time, the operating frequency of the application layer logic unit is obtained. By comparing the actual operating frequency of the sensing device and the operating frequency of the application layer logic unit to see whether they are equal, if they are not equal, the operating frequency of the application layer logic unit is updated to ensure that the program operating frequency is consistent with the actual operating frequency of the sensing device such as the lidar or millimeter-wave radar.

[0059] The adaptive frequency control unit includes a heartbeat monitoring module, a data status monitoring module and a frequency decision module;

[0060] like Figure 3 As shown, the heartbeat monitoring module is used to monitor the actual operating frequency of all sensing devices. The operating cycle of the sensing device can be calculated based on the configuration frequency of the sensing device. When the sensing device is initialized, a timer with a unit of second as the base period is synchronously started. When the data-driven interface function of the sensing device is called, the counter plus 1 program is synchronously called to obtain the counting result within the set timer period. The counting result is used as the real data sending frequency (actual operating frequency) of the sensing device, and the counting result is sent to the frequency decision module; the counter clearing program is called to clear the counter for use as statistics for the next period.

[0061] The data status monitoring module is used to monitor the frequency of valid data processing that meets the CRC check within a unit cycle of the data processing unit, and includes the following two sub-functions:

[0062] Function 1: Monitor the frequency of publishing valid data that meets CRC check by the data pre-processing module in the data processing unit within the unit cycle: Each time the data check module is called within the unit second cycle, the counter is incremented by 1, and the valid number of results is obtained by counting. After the counted valid number of results is sent to the frequency decision module, the counter clearing program is called to clear the counter for use as statistics for the next cycle;

[0063] Function 2: After the application layer logic unit triggers the data post-processing module, the frequency of the application layer logic unit publishing valid data that meets the CRC check is counted: when the data check module is called within the unit second period, the counter plus 1 program is called at the same time to perform sampling and dotting to obtain the statistical result of the counter's publishing frequency within the unit period; the publishing frequency counting result is used as the actual operating frequency of the application layer logic unit, and the statistical number of publishing frequencies is sent to the frequency decision module, and then the counter clearing program is called to clear the counter for use as statistics for the next period.

[0064] like Figure 4 As shown, the frequency decision module is used to receive the actual operating frequency of the sensing device obtained from the heartbeat monitoring module and the publishing frequency of the data processing unit that complies with the CRC check valid data obtained by the data status monitoring module (monitoring status information), and complete the corresponding decision redundancy calculation to obtain the actual operating frequency of the sensing device and the publishing frequency of the data processing unit that complies with the CRC check valid data, and decide whether it is necessary to use the actual operating frequency of the sensing device to update the actual operating frequency of each application layer logic unit. If an abnormal frequency occurs, an emergency stop instruction is triggered.

[0065] like Figure 4 As shown, let F1 = Min (data status evaluation rate, device heartbeat frequency), F2 = actual operating frequency of the application layer logic unit;

[0066] Determine whether F1 is between the set Min threshold and max threshold, and whether F2 is between the set Min threshold and max threshold. If both are between the set Min threshold and max threshold, determine whether F1 is equal to F2. Otherwise, trigger the emergency stop command and end the operation.

[0067] If F1 is equal to F2, the operation is terminated, otherwise the actual operating frequency of the application layer logic unit is adjusted;

[0068] The min threshold is set to 1 / 2 of the configured frequency of the sensing device, and the max threshold is set to 2 times the configured frequency of the sensing device.

[0069] The data status evaluation rate refers to the data sending frequency of the device driver module, and the device heartbeat frequency refers to the data sending frequency of the data processing unit.

[0070] The frequency decision module includes the following three sub-functions:

[0071] Function 1: Compare the heartbeat monitoring module's counting result with the valid number of times within a unit second period, and take the smaller one as the actual operating frequency of the sensing device;

[0072] Function 2: Obtain the actual operating frequency of the corresponding application layer logic unit by obtaining the above-mentioned release frequency statistics;

[0073] Function three: obtain the actual operating frequency of the sensing device and the actual operating frequency of the application layer logic unit. If the actual operating frequency of either of them is not within the system preset frequency threshold or an abnormal frequency occurs, the emergency stop command of the mining dump truck is immediately triggered. Otherwise, determine whether the actual operating frequency of the sensing device and the actual operating frequency of the application layer logic unit are equal. If they are not equal, use the actual operating frequency of the sensing device to update the actual operating frequency of the corresponding application layer logic unit, which solves the problem that the actual operating frequency of the sensing device is within the frequency threshold, causing the running program to misjudge the stop. Otherwise, there is no need to update the actual operating frequency of the corresponding application layer logic unit.

[0074] The device driver module is used to drive external sensing devices to collect data, including data driver interfaces for various external sensing devices, such as lidar or millimeter-wave radar.

[0075] The message processing unit is used for communication and interaction between the device driver module and the application layer logic unit;

[0076] Specifically, it is used to further encapsulate the data driver interfaces of different manufacturers in the device driver module, further encapsulate the subscription function interface and message publishing function interface of the data processing unit, shield the communication protocol differences, and provide a message publishing function interface for message interaction between the device driver module and the application layer logic unit. The device driver module inputs the perception device collected data to the data processing unit by calling the message publishing module, and the application layer logic unit obtains the input data (such as lidar point cloud data) to the data processing unit by calling the message subscription module, and outputs the data (such as lidar point cloud data processed by the perception ground segmentation node) to the data processing unit by calling the message publishing module. In an embodiment of the present invention, the message processing unit can at least include a message subscription module and a message publishing module, wherein the message subscription module is responsible for receiving messages and the message publishing module is responsible for broadcasting messages.

[0077] The data processing unit is used to process the data collected by the sensing device after being processed by the application layer logic unit and the device driver module to ensure the validity, security and reliability of the data. The data processing unit includes a data verification module, a data pre-processing module, a data access module and a data post-processing module;

[0078] Among them, the data verification module performs a CRC validity check on the collected data of the sensing device before it reaches the data preprocessing module, and the sensing device signal data that passes the check is transmitted to the data preprocessing module; the data preprocessing module converts the data format of the sensing device signal data that passes the check to obtain converted data. The data format is such as the text format describing the message type used in ROS, and the converted data is written into the data access module and transmitted to the application layer logic unit. The application layer logic unit processes business logic nodes such as ground segmentation, obstacle clustering, and fusion. The data access module is responsible for storing the converted data written by the data preprocessing module and forwarding the data of the application layer logic unit (the data of the application layer logic unit is such as the lidar point cloud data after ground segmentation, the lidar point cloud data after obstacle clustering, and the fusion of lidar point cloud and millimeter wave signal). The data post-processing module performs a predetermined data format conversion after reading the data stored in the data access module according to the instructions of the application layer logic unit. The predetermined data format is such as a binary code stream, and then handed over to the data verification module for effective data length calculation and encryption processing, and calls the message publishing module equipped with a message publishing function interface for publishing.

[0079] The data stored in the data access module includes lidar point cloud data, lidar point cloud data after ground segmentation, lidar point cloud data after obstacle clustering, and fused lidar point cloud and millimeter wave signals.

[0080] The application layer logic unit refers to a collection of specific algorithm nodes, which are business logic nodes that implement the functions of specific algorithms, such as ground segmentation, obstacle clustering and fusion nodes.

[0081] The task scheduling unit is used to schedule the application layer logic unit, data preprocessing module, data storage module, data post-processing module and data verification module to ensure task execution efficiency, such as the task scheduling of the perception ground segmentation node.

[0082] There are many models of the above-mentioned components of the laser radar or millimeter wave radar that can be used in the prior art. Those skilled in the art can select a suitable model according to actual needs, and this embodiment will not give examples one by one.

[0083] like Figure 2 As shown, the frequency adaptation process structure includes a data pre-processing module, a data post-processing module, a device driver module, a data status monitoring module, a heartbeat monitoring module, a frequency decision module and various business logic nodes of the application layer logic unit.

[0084] The device driver module refers to the driver interface of various sensing external devices of mining dump trucks, including the API of the driver provided by laser radar, millimeter wave, inertial navigation and other devices to output the corresponding raw data.

[0085] likeFigure 3 As shown, the working process of the heartbeat monitoring module and the data status monitoring module is as follows. The so-called heartbeat monitoring module is a logic module used to monitor the operating frequency of all sensing devices. It can calculate the device operating cycle according to the frequency configured by the sensing device, and synchronously start the timer with the unit second as the base cycle when the sensing device is initialized. When the data-driven interface function of the sensing device is called, the counter plus 1 program is called at the same time to perform sampling and marking. The counting result that can be obtained within the timer period is the actual data sending frequency of the sensing device. After the calculation result is sent to the frequency decision module, the counter clearing program is called to clear the counter for use as statistics for the next period.

[0086] The data status monitoring module monitors the frequency of effective data processing in the data processing unit within a unit cycle, and includes the following two sub-functions: Function 1, monitoring the frequency of effective data processing in the pre-processing module in the data processing unit. When the data verification module is called within the unit second cycle, the counter plus 1 program is called at the same time for sampling and marking, and the result of the statistical effective number of times is sent to the frequency decision module, and then the counter clearing program is called to clear the counter for use as statistics for the next cycle; Function 2, when the business logic node triggers the data post-processing module of the data processing unit to count the frequency of effective data release, when the data verification module is called within the unit second cycle, the counter plus 1 program is called at the same time for sampling and marking, and the result of the statistical effective number of times is sent to the frequency decision module, and then the counter clearing program is called to clear the counter for use as statistics for the next cycle.

[0087] like Figure 4 As shown, the frequency decision module receives inputs from the heartbeat monitoring module and the data status monitoring module to complete the corresponding decision-making process, calculates the operating frequency of the sensing device and the frequency of the data processing unit, and decides whether the operating frequency of each business logic node needs to be updated. If an abnormal frequency occurs, an emergency stop instruction is triggered. It includes the following three sub-functions: Function 1, in a unit second period, the actual frequency of the sensing device is obtained by taking the smaller of the result of the heartbeat monitoring module and the result of the function 1 of the above-mentioned data status monitoring module; Function 2, by obtaining the result of the function 2 of the above-mentioned data status monitoring module, the actual operating frequency of the corresponding business logic node can be obtained; Function 3, the actual frequency of the sensing device and the actual operating frequency of the business logic node are obtained. If either frequency does not meet the system frequency threshold, an emergency stop instruction is triggered immediately. Otherwise, the equality of the two is determined. If they are not equal, the operating frequency of the corresponding business logic node is updated. Otherwise, there is no need to update the operating frequency of the corresponding business logic node.

[0088] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above methods when executing the program.

[0089] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of any of the above methods.

[0090] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0091] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0092] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0093] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A frequency-adaptive mining dump truck software architecture system, characterized in that: include: Device driver module, used to drive external sensing devices to collect data; Application layer logic unit, used to process business logic nodes; Adaptive frequency control unit for: Monitor the data transmission frequency of the device driver module and the data transmission frequency of the data processing unit under different road conditions, and take the smaller of the data transmission frequency of the device driver module and the data transmission frequency of the data processing unit as the actual operating frequency of the sensing device; Obtaining the operating frequency of the application layer logic unit, determining whether the actual operating frequency of the sensing device is equal to the operating frequency of the application layer logic unit, and if not, updating the operating frequency of the application layer logic unit with the actual operating frequency of the sensing device; A data processing unit is used to process the collected data of the sensing device after being processed by the application layer logic unit and the device driver module; The data processing unit includes a data verification module, a data pre-processing module, a data access module and a data post-processing module; The data verification module is used to perform CRC validity verification on the data collected by the sensing device before it reaches the data preprocessing module. If the sensing device signal data passes the verification, the sensing device signal data is passed to the data preprocessing module; Data preprocessing module, used to: The data preprocessing module converts the data format of the sensory device signal data that has passed the verification to obtain the converted data; Writing the converted data into the data access module and transmitting it to the application layer logic unit; Data access module, used for storing and converting data and forwarding data from the application layer logic unit; Adaptive frequency control unit, including heartbeat monitoring module, data status monitoring module and frequency decision module; The heartbeat monitoring module is used to monitor the actual operating frequency of the sensing device and send it to the frequency decision module; The data status monitoring module is used to monitor the data sending frequency of valid data processing that complies with the CRC check within the unit cycle of the data processing unit. It is used to count the frequency of publishing valid data that complies with the CRC check by the application layer logic unit after the data post-processing module converts the data format after reading the data stored in the data access module according to the application layer logic unit instruction.

2. The frequency-adaptive mining dump truck software architecture system according to claim 1, characterized in that: Data post-processing module, used to: Reading data stored in the data access module and performing data format conversion on the data stored in the data access module; The data stored in the data access module after data format conversion is subjected to effective data length calculation and encryption to obtain encrypted data stored in the data access module.

3. The frequency-adaptive mining dump truck software architecture system according to claim 1, characterized in that: Frequency decision module, used to: Receive the actual operating frequency of the sensing device obtained from the heartbeat monitoring module and the data sending frequency of the data processing unit in a unit cycle that complies with the CRC check valid data processing obtained by the data status monitoring module; Obtain the actual operating frequency of the sensing device and the frequency of publishing valid data that meets the CRC check within a unit cycle of the data processing unit; It decides whether the actual operating frequency of the application layer logic unit needs to be updated with the actual operating frequency of the sensing device. If an abnormal frequency occurs, an emergency stop command is triggered.

4. The frequency-adaptive mining dump truck software architecture system according to claim 3, characterized in that: Abnormal frequencies include less than 1 / 2 of the configured frequency of the sensing device or greater than 2 times the configured frequency of the sensing device.

5. The frequency-adaptive mining dump truck software architecture system according to claim 1, characterized in that: Heartbeat monitoring module, used for: The operating cycle of the sensing device is calculated based on the configuration frequency of the sensing device; Set the timer period, start the timer synchronously when the sensing device is initialized, add 1 to the counter when the sensing device is called, and obtain the counting result of the counter when the set timer period is reached; The counting result is used as the actual operating frequency of the sensing device and sent to the frequency decision module; Clear the counter.

6. The frequency-adaptive mining dump truck software architecture system according to claim 1, characterized in that: Data status monitoring module, used for: The data pre-processing module in the data processing unit processes the data sending frequency of valid data that meets the CRC check within the unit cycle, and the counter is incremented by 1 each time the data check module is called within the unit cycle to obtain the valid number of results; After the valid number of results is sent to the frequency decision module, the counter is cleared.

7. The frequency-adaptive mining dump truck software architecture system according to claim 1, characterized in that: Data status monitoring module, used for: The data post-processing module converts the data format after reading the data stored in the data access module according to the application layer logic unit instruction, and then counts the frequency of publishing valid data that meets the CRC check of the application layer logic unit; Each time the data verification module is called within a unit period, the counter is incremented by 1 to obtain the statistical result of the counter's release frequency within the unit period; The publication frequency counting result is used as the actual operating frequency of the application layer logic unit, and the statistical publication frequency is sent to the frequency decision module to clear the counter.

8. The frequency-adaptive mining dump truck software architecture system according to claim 3, characterized in that: Get the actual operating frequency of the sensing device, including: The counting result of the heartbeat monitoring module and the valid number result of the data status monitoring module are compared within a unit period, and the smaller one is taken as the actual operating frequency of the sensing device.

9. The frequency-adaptive mining dump truck software architecture system according to claim 3, characterized in that: It is used to determine whether the actual operating frequency of the application layer logic unit needs to be updated, and to trigger an emergency stop command when an abnormal frequency occurs, including: Obtain the actual operating frequency of the sensing device and the actual operating frequency of the application layer logic unit. If the actual operating frequency of the sensing device and the actual operating frequency of the application layer logic unit are both outside the system preset frequency threshold or an abnormal frequency occurs, immediately trigger the emergency stop command of the mining dump truck. Otherwise, determine whether the actual operating frequency of the sensing device and the actual operating frequency of the application layer logic unit are equal. If they are not equal, use the actual operating frequency of the sensing device to update the actual operating frequency of the corresponding application layer logic unit. Otherwise, there is no need to update the actual operating frequency of the corresponding application layer logic unit.

10. The frequency-adaptive mining dump truck software architecture system according to claim 1, characterized in that: It includes a message processing unit, which is used for the device driver module to communicate with the application layer logic unit and publish the encrypted data stored in the data access module.

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