A data synchronization method based on a transmission system

Abstract

The application designs the operation controller and the data synchronization system, proposes the data synchronization system based on CAN bus and the operation controller based on the modularization concept, and verifies the function modules through the built test platform. Considering the more actual slip and slip conditions, the relationship between the distance of the instantaneous rotation center and the rotation speed of the driving motor is established, the Simulink simulation is established through the Newton iteration method, the relationship between the yaw angular velocity and the motor rotation speed difference is analyzed, and the approximate solution of the linear equation instead of the nonlinear equation is proposed in engineering. The full-automatic operation module realizes the simplified formula calculation based on the Newton iteration method, the fuzzy PID controller is designed, the collected images are binarized and the basic morphological processing is carried out, the intercept and the slope are obtained by using the linear fitting method, the straight correction strategy is formulated, and the lateral threshold and the tolerance value are set according to different use conditions in the design.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection of mechanical equipment, in particular to a data synchronization method based on a transmission system. BACKGROUND

[0002] The driving belt walking device has the characteristics of strong ground adhesion ability, large supporting area and strong load capacity during operation, and is widely used in the field of engineering machinery, especially in airport construction. The engineering machinery used basically adopts the driving belt walking device. The electrically driven driving belt engineering machinery has the characteristics of fast response speed and high energy utilization rate because it can directly drive the engineering machinery to run through the driving motor. The battery pack and motor controller in the driving system of the electrically driven driving belt engineering machinery do not need mechanical connection, saving space, and being conducive to the realization of single vehicle intelligence and multi-vehicle intelligence.

[0003] In a distributed control system, the design of the data synchronization system determines whether the operating controller can accurately, timely and reliably receive the sensing data, and implement compatibility for various hardware interfaces and synchronization protocols on the market. The development of the bus distributed operating control system depends on the data synchronization system, which mainly meets the specific requirements of airport pavement construction, ensures the operation quality of the airport driving belt engineering machinery, improves the compatibility of the control system, reduces the development cycle of the operating controller, and thus reduces the problem of labor shortage in airport construction.

[0004] The demand for machinery is large, and full-automatic operation is a necessary requirement for its intelligence, and the operating controller is the most important part. However, the operating controller applied to the special operating environment of the airport does not have a mature market like electric vehicles. Its high-precision straight-line control requirement, signal multi-input and multi-output, and frequent replacement of parts make its development iteration cycle too long. SUMMARY

[0005] In order to ensure the synchronization of the bilateral driving belt, improve the operation quality, operation efficiency and overall reliability of the engineering vehicle, the present application claims a data synchronization method based on a transmission system, characterized in that it comprises:

[0006] The running state motion of the driving belt engineering machinery is analyzed to obtain the relationship between the kinematic parameters of the driving belt engineering machinery and the right motor speed during operation;

[0007] The data synchronization system structure based on the CAN bus is designed to design the hardware interface and synchronization mode of each module, and build the sensor and human-computer interaction layer module;

[0008] The driving belt engineering machinery operating controller is designed to realize the full-automatic operation module driving belt synchronization function;

[0009] Build CAN bus protocol module, build test platform, verify the periodic reporting and interaction functions of the data synchronization system through CAN analysis software, and test the drive belt engineering machine prototype in a simulated environment.

[0010] Further, the operation state motion analysis of the drive belt engineering machine to obtain the relationship between the kinematic parameters of the drive belt engineering machine and the right motor speed during operation further comprises:

[0011] Kinematic and dynamic analysis of the drive belt engineering machine;

[0012] Modeling and analysis of the drive belt engineering machine using the independent drive structure of the double-sided switched reluctance motor to obtain the relationship between the double-sided motor speed and the yaw angular velocity of the engineering machine;

[0013] During straight-line operation, the relationship between the kinematic parameters of the drive belt engineering machine and the left and right motor speeds is obtained, including straight-line speed calculation considering slip and slip;

[0014] During the steering operation, the kinematic and dynamic models are established under the actual slip and slip conditions to obtain the high-speed and low-speed drive belt actual speed, steering resistance, and steering torque formula;

[0015] The relationship between the distance of the instantaneous rotation center and the drive motor speed is established through the dynamic equation, and the Simulink simulation is established through the Newton iteration method to analyze the relationship between the yaw angular velocity and the motor speed difference under the slip and slip conditions.

[0016] Further, the data synchronization system structure based on the CAN bus includes designing the hardware interface and synchronization method of each module, and building the sensor and human-computer interaction layer module.

[0017] Design the data synchronization system structure according to the architecture of the operation control system, and connect the human-computer interaction layer, the perception layer, and the operation controller through the data synchronization layer.

[0018] Build the data synchronization system module, including the obstacle avoidance radar module, the encoder module, the camera module, and the yaw angular velocity module.

[0019] Build the CAN bus protocol module hardware, including the input interface circuit, the output interface circuit, and the chip peripheral circuit.

[0020] Build the CAN bus protocol module software, including the input interface software and the output interface software.

[0021] Further, the drive belt engineering machine operation controller design realizes the full-automatic operation module drive belt synchronization function, further comprising:

[0022] According to the actual demand of the transmission belt engineering machinery, the operation controller is selected;

[0023] The software of the driving controller is designed, the whole framework of the software part is designed by using the state machine concept, and the four modules of the operation controller are developed by using the NI Vision, NI-IMAQdx and NI-XNET special function libraries on the LabVIEW platform.

[0024] The in-place turning obtained by analysis is used as the turning condition in the design of the manual operation module;

[0025] The target vehicle speed is analyzed, and the corresponding double-side driving motor target rotating speed is obtained;

[0026] By using the Newton iteration method, the simplified formula of the actual yaw angular velocity and the rotating speed difference of the double-side motor under the slip and sliding condition is obtained.

[0027] The target rotating speed is calculated, and the CAN motor rotating speed control frame is sent.

[0028] The actual yaw angular velocity value is collected in real time, the rotating speed synchronization error of the double-side motor is inversely calculated according to the simplified formula, and the target rotating speed is calculated by the fuzzy PID controller.

[0029] Further, the CAN bus protocol module is built, the test platform is built, the periodic reporting and interactive functions of the data synchronization system are verified by using the CAN analysis software, the transmission belt engineering machinery test prototype is tested in the simulated environment, and the method further comprises the following steps:

[0030] The periodic reporting function verification of the data synchronization end, the interactive function verification of the data synchronization end and the module function verification of the operation controller are verified.

[0031] The module function verification of the operation controller comprises the self-check alarm module, the manual operation module, the full-automatic operation module and the safety brake module function verification.

[0032] The operation controller and the data synchronization system are designed, the data synchronization system based on the CAN bus and the modular operation controller are proposed, and the function modules are verified by using the test platform. The relationship between the distance of the instantaneous rotating center and the rotating speed of the driving motor is established under the slip and sliding condition, the Simulink simulation is established by using the Newton iteration method, the relationship between the yaw angular velocity and the rotating speed difference of the motor is analyzed, the approximate solution of the straight line is proposed in engineering, the full-automatic operation module realizes the simplified formula calculation based on the Newton iteration method, the fuzzy PID controller is designed, the intercept and slope are obtained by using the straight line fitting method, the straight correction strategy is formulated, and the lateral threshold and tolerance value are set according to different use conditions in the design. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0034] Figure 1 The workflow diagram of the data synchronization method based on the transmission system according to the present application;

[0035] Figure 2 The workflow diagram of the first embodiment of the data synchronization method based on the transmission system according to the present application. DETAILED DESCRIPTION

[0036] The illustrative embodiments of the present application include, but are not limited to, the workflow diagram of the data synchronization method based on the transmission system.

[0037] It can be understood that, as used herein, the terms; module; unit; can refer to or include an application specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group) and / or memory executing one or more software or firmware programs, combinational logic circuit, and / or other suitable hardware components that provide the described functionality, or can be part of these hardware components.

[0038] It can be understood that, in the embodiments of the present application, the processor can be a microprocessor, a digital signal processor, a microcontroller, etc., and / or any combination thereof. According to another aspect, the processor can be a single-core processor, a multi-core processor, etc., and / or any combination thereof.

[0039] It can be understood that the workflow diagram of the data synchronization method based on the transmission system provided by the present application can be implemented on various electronic devices, including but not limited to servers, distributed server clusters composed of multiple servers, mobile phones, tablet computers, laptop computers, desktop computers, wearable devices, head-mounted displays, mobile email devices, portable game consoles, portable music players, reader devices, personal digital assistants, virtual reality or augmented reality devices, televisions embedded or coupled with one or more processors, and other electronic devices.

[0040] The present application claims a data synchronization method based on a transmission system, characterized in that it comprises:

[0041] The running state motion of the transmission belt engineering machinery is analyzed to obtain the relationship between the kinematic parameters of the transmission belt engineering machinery and the right motor speed during running.

[0042] The CAN bus-based data synchronization system structure is used to design the hardware interface and synchronization mode of each module, and to build sensor and human-computer interaction layer modules.

[0043] A drive belt engineering machinery operation controller is designed to realize the drive belt synchronization function of the full-automatic operation module.

[0044] A CAN bus protocol module is built, and a test platform is built. Through CAN analysis software, the periodic reporting and interaction functions of the data synchronization system are verified, and the drive belt engineering machinery test prototype is tested in a simulated environment.

[0045] Further, the running state motion analysis of the drive belt engineering machinery is performed to obtain the relationship between the kinematic parameters of the drive belt engineering machinery and the right motor speed during the running process, and further comprises:

[0046] Kinematics and dynamics analysis is performed on the drive belt engineering machinery.

[0047] Independent drive structure of double-sided switched reluctance motor is adopted to model and analyze the drive belt engineering machinery, and the relationship between the double-sided motor speed and the engineering machinery yaw angular velocity is obtained.

[0048] During the straight running process, the relationship between the kinematic parameters of the drive belt engineering machinery and the left and right motor speeds is obtained, including the calculation of straight running speed under the consideration of slip and slip.

[0049] During the steering running process, the kinematic and dynamic models are established under the actual slip and slip conditions, and the high-speed and low-speed drive belt actual speed, steering resistance, and steering resistance torque formulas are obtained.

[0050] The relationship between the distance of the instantaneous rotation center and the drive motor speed is established through the dynamic equation, and the Simulink simulation is established through the Newton iteration method to analyze the relationship between the yaw angular velocity and the motor speed difference under the slip and slip conditions.

[0051] In the straight running kinematics analysis of the drive belt engineering machinery, the straight running speed of the drive belt engineering machinery in the ideal state depends on the speed of the driving wheel. The speed of the left drive belt v l and the speed of the right drive belt v l move at the same speed, and since there is no speed difference between them, the running speed v of the engineering machinery at the center of mass C m is consistent with the speed of the left and right drive belts, and the yaw angular velocity ω of the engineering machinery is 0.

[0052] In the analysis of the steering operation of the transmission belt engineering machinery, the steering operation condition in the transmission belt engineering machinery operation control system mainly appears in the transfer field in the non-working mode, and due to the influence of random interference from the outside world, the synchronous error of the rotating speeds of the left and right motors will appear, that is, the differential speed of the bilateral transmission belts will cause the steering to be forced to occur. When the speeds of the left and right transmission belts of the engineering machinery are equal and the directions are opposite, the steering center and the center of mass C of the transmission belt engineering machinery m coincide, and the steering is realized in situ; when the speeds of the left and right transmission belts of the engineering machinery are different in size and direction, the steering center is inside the engineering machinery, and the small-radius steering is realized; when the speeds of the left and right transmission belts of the engineering machinery are different in size but the same in direction, the steering center is outside the engineering machinery, and the large-radius steering is realized.

[0053] In order to analyze the steering of the transmission belt engineering machinery, certain assumptions need to be made for the model of the transmission belt engineering machinery to establish a simplified model for analysis.

[0054] (1) The center of mass and the centroid of the transmission belt engineering machinery coincide;

[0055] (2) The load of the transmission belt engineering machinery in the normal direction is evenly divided by the bilateral transmission belts, and the pressure of the ground contact part of the bilateral transmission belts is uniformly distributed;

[0056] (3) The transmission belt engineering machinery works on the hard ground, and the shear resistance caused by the ground deformation during the running of the bilateral transmission belts is not considered;

[0057] (4) The transmission belt engineering machinery satisfies the Coulomb friction law between the transmission belt and the ground contact;

[0058] (5) The bilateral transmission belts of the transmission belt engineering machinery are consistent in running except for the speed;

[0059] (6) The slip and centrifugal force are not considered during the steering process of the transmission belt engineering machinery.

[0060] During the straight running of the transmission belt engineering machinery, if the bilateral transmission belts cannot be strictly synchronized under the external interference, the differential speed of the bilateral transmission belts will occur, thereby causing the large-radius steering and forming the straight running error. In order to develop a high-precision bilateral transmission belt synchronization control strategy, the motion state needs to be analyzed, the mathematical model of the transmission belt engineering machinery is obtained through kinematic and dynamic analysis, and is used for subsequent research. When the structural parameters of the transmission belt engineering machinery do not change, the greater the linear speed difference between the high-speed transmission belt and the low-speed transmission belt, the greater the yaw angular velocity of the engineering machinery, and the linear speed of the transmission belt engineering machinery is the average value of the linear speeds of the high-speed transmission belt and the low-speed transmission belt.

[0061] Simulink is a simulation tool of Matlab, which is commonly used for theoretical analysis of engineering problems. Simulink is designed with system-level simulation ideas, and uses visual modular combination to accurately and quickly create computer models of various systems. In order to be closer to the actual running process of the transmission belt engineering machinery, the m file is established in the Matlab workspace to import the basic parameters, and the dynamic simulation is carried out in the discrete state of Simulink, and the simulation data is analyzed in Scope.

[0062] The transmission belt engineering machinery adopts a double-sided motor drive power system, and in high-power engineering machinery, a switched reluctance motor control system is often used as a power system. This drive motor has the characteristics of simple structure, reliability, controllability, etc., and its excessive noise defects can be ignored in the airport construction operation environment. The basic speed regulation characteristics of switched reluctance can be divided into constant torque, constant power and natural characteristic area in theory, but since the transmission belt engineering machinery for airport construction basically works in the constant torque area, the external characteristic curve of this part is simplified according to the external characteristic curve of the variable frequency motor.

[0063] For the motion analysis of engineering machinery, the high and low speed transmission belt speed is used for analysis, and the left and right motor speeds are controlled by the running controller, so the size of the left and right motor speed output needs to be judged, so a motor speed ω analysis module is added before the kinematic model of the transmission belt engineering machinery, which is used to judge the high and low speed motors.

[0064] Further, the data synchronization system structure based on the CAN bus includes designing hardware interfaces and synchronization methods of each module, building sensor and human-computer interaction layer modules, and the following:

[0065] Designing the data synchronization system structure, according to the architecture design of the running control system, the data synchronization layer connects the human-computer interaction layer, the perception layer and the running controller;

[0066] Building data synchronization system modules, including obstacle avoidance radar modules, encoder modules, camera modules, and yaw angular velocity modules;

[0067] Building CAN bus protocol module hardware, including input interface circuit, output interface circuit, and chip peripheral circuit;

[0068] Building CAN bus protocol module software, including input interface software and output interface software.

[0069] In the transmission belt engineering machinery running control system,

[0070] The synchronization method between each data layer is designed as follows:

[0071] (1) The hardware interface of the industrial camera is RS232, RS485 and USB three serial port synchronous mode, the supported baud rate is generally in the range of 9600-115200bps, and the compression format is standard JPEG image output. Because the running controller uses Ni CompactRio 9042 model, the built-in Linux kernel installs the bottom layer driver of Smart Camera, so the software layer protocol of this part does not need to be formulated, and the industrial camera and the running controller are connected in a direct connection mode.

[0072] (2) The environmental sensors mainly include temperature and humidity sensors, barometric pressure sensors and ultrasonic radars. This type of environmental sensor is manufactured in a modular way, and the data transmission method is not a long-distance differential signal, but mainly short-distance on-chip transmission, including asynchronous transmission UART and synchronous transmission integrated circuit bus IIC (Inter-Integrated Circuit). For the running control system of the transmission belt engineering machinery, this method is not applicable because it is easily disturbed and cannot achieve long-distance transmission. In addition, each sensor manufacturer follows its own software transmission protocol.

[0073] (3) The encoder generally uses an optical rotary incremental type. This type of encoder outputs A, B, Z three-phase pulses to measure the rotational speed and angular displacement through phase difference and pulse count. The output of the encoder is an analog quantity, which needs to use an STM32 type processor to realize the conversion of analog and digital quantities, and is connected to the data network of the running control system through the UART and CAN bus protocol modules according to the self-defined synchronization protocol.

[0074] (4) The yaw rate sensor generally integrates high-precision gyroscopes and accelerometers. The common synchronous method for this part is UART, RS232 and RS485, which has multiple functions and complex module calibration functions, and its frequency range is 0.1Hz-100Hz. This part occupies too many control resources of the running controller, so it uses the RS232 mode and the CAN bus protocol module to connect and synchronize with the running controller through the CAN bus protocol module, reducing the workload of the running controller.

[0075] (5) The motor and power controller is the main actuator, which itself uses the CAN bus synchronization method. In the design of the running controller, the synchronization protocol of the CAN bus is formulated according to the control strategy, and this part will be explained in detail in the software design.

[0076] (6) Zigbee synchronization module and alarm module are both human-computer interaction execution mechanism, Zigbee synchronization module adopts UART and CAN bus protocol module connection, alarm module through AIO external STM32 controller again adopts USART and CAN bus protocol module connection. For Zigbee synchronization module, in the airport construction scene self-organizing network needs to realize wireless connection through the production manufacturer's hexadecimal instruction set, therefore, the CAN bus protocol module connected therewith needs to complete the access protocol analysis and driver controller data packaging.

[0077] The obstacle avoidance radar module uses an integrated ultrasonic ranging radar, model AJ-SR04M-T-X, the basic working voltage is 3.3-5V, and the output level of the serial port is TTL. The module adopts a waterproof transceiver integrated probe with a wire, the working temperature is between-20-75 degrees Celsius, and can be used in the harsh environment of airport pavement construction, directly installed on the outside of the drive belt chassis. It uses non-contact ultrasonic detection technology, the detection distance for planar objects is 20cm-800cm, and the detection distance for human body is 20cm-250cm. The running speed of the drive belt engineering machinery in full-automatic mode is very slow, the commonly used speed is 0.1m / s, and for the obstacle avoidance radar with a working frequency of 40KHz, enough braking time can be reserved.

[0078] The hardware of the input interface, the hardware design of the input interface part of the CAN bus protocol module is mainly composed of three chips, which are RS232 level conversion chip SP3232EB, RS485 differential signal conversion chip MAX485CSA and optocoupler isolation chip HCPL2630.

[0079] Output interface circuit design, the hardware design of the output interface part of the CAN bus protocol module is mainly composed of two kinds of chips, of which the optocoupler isolation chip is two 6N137 chips, and the CAN transceiver chip TJA1057. The optocoupler isolation chip 6N137, the voltage isolation is 5000Vrms, the data transmission rate is 10Mbps, which can ensure that CAN can work at the maximum baud rate. The working temperature is-40℃-85℃, which can meet the environmental temperature of the application scene. The number of channels of the chip is 1, and both output interfaces of the CAN bus need to be isolated by the optocoupler chip.

[0080] The peripheral hardware design of the CAN bus protocol module mainly consists of three chips, namely, EEPROM chip AT24C01 for storing system synchronization protocol, FLASH chip MX25L6406E for storing key data, and temperature and humidity sensor SHT21. The working voltage of the AT24C01 chip is 2.5V-5.5V, and the 3.3V of the MCU is used for its power supply in the design. The working temperature is within the range of -40℃-125℃, and the synchronization mode with the upper computer is IIC. The memory of the chip is 1Kb. In the design, the CAN bus protocol for the transmission belt engineering machinery needs to save the CAN ID of each data synchronization end and the definition of the data segment, and the entire protocol framework will not occupy many bytes. Therefore, it is feasible to use this small memory chip and can save resources.

[0081] Further, the transmission belt engineering machinery operation controller designed above realizes the full-automatic operation module transmission belt synchronization function, and further comprises:

[0082] According to the actual needs of the transmission belt engineering machinery, the type of the operation controller is selected;

[0083] The software of the driving controller is designed, the state machine concept is used to design the overall framework of the software part, and the NI Vision, NI-IMAQdx, and NI-XNET special function libraries on the LabVIEW platform are used to develop the software of the four modules of the operation controller;

[0084] The in-place turning obtained by analysis is used as the transition condition in the design of the manual operation module;

[0085] The target vehicle speed is analyzed to obtain the corresponding target speed of the double-sided driving motor;

[0086] The simplified formula of the actual yaw angular velocity and the speed difference of the double-sided motor under the slip and slip condition is obtained by the Newton iteration method;

[0087] The target speed is calculated, and the CAN motor speed control frame is sent;

[0088] The actual yaw angular velocity value is collected in real time, the speed synchronization error of the double-sided motor is inversely calculated according to the simplified formula, and the target speed is calculated by the fuzzy PID controller.

[0089] The full-automatic operation module is a core working module of the operation controller. In the module, the transmission belt engineering machinery needs to be ensured to run straight at a certain bilateral transmission belt synchronization rate, to reduce the generated transverse error. In order to ensure that it does not touch the to-be-constructed pavement during the running process, a transverse deviation threshold needs to be set to judge the guide line and thus execute straight-line correction control to correct the yaw angle and transverse offset. In order to ensure the realization of the function, the fuzzy PID control based on image straight-line correction is adopted to correct the transverse offset and yaw angle error caused in the straight-line running process while ensuring the bilateral transmission belt synchronization rate.

[0090] The bilateral transmission belt synchronization control needs to analyze the target vehicle speed first, and the target speed of the bilateral drive motor is calculated according to the formula. However, the bilateral transmission belt cannot achieve strict synchronization in the straight-line running of the transmission belt engineering machinery, and the bilateral transmission belt differential speed appears in the straight-line running. When the speed difference appears, the movement mode of the transmission belt engineering machinery is similar to large-radius steering, and there is a slip and slip condition. The formula of the speed of the bilateral drive motor and the yaw angle speed can be obtained by solving the non-homogeneous equation set. In the simulation analysis, it can be seen that when there is a slip and slip condition, the actual yaw angle speed and the bilateral drive wheel speed difference can be approximately replaced by the straight-line equation ω s = kΔω d In order to obtain the slope k of the straight-line equation, Newton iteration method needs to be used to solve the instantaneous turning radius of a certain motor speed difference before the bilateral transmission belt synchronization control is performed, so as to obtain the slope k of the straight-line equation. The whole structure of the Newton iteration method is established in the while loop. In the solving process of the Newton iteration method, all local variable parameters are passed into the loop in the form of a tunnel except the initial solution of the Newton iteration method. The tunnel is used to pass the value, and the value of the tunnel is returned to the initial assignment after the loop is completed. As for the initial solution of the Newton iteration method, it is passed into the loop in the form of a shift register. The shift register has a similar function to the static local variable in C language. The value changed in each loop is passed into the next loop, until the last changed value is output after the loop is completed.

[0091] After obtaining the elements of each matrix in the formula node, the subsequent mathematical calculation is completed by using the matrix (Matrx) module in the LabVIEW mathematical formula. The matrix and Jacobian matrix of the nonlinear equation set are generated by inputting the results of the formula node into the matrix sub-vi. Then, the matrix inversion, matrix cross multiplication, and matrix norm sub-vi are used to complete the matrix operation of the Newton iteration method. Finally, when the obtained result reaches the expected accuracy, the loop is exited, and the result of the straight-line slope is saved in the local variable k for subsequent calling.

[0092] After solving the simplified formula slope k, according to the preset vehicle speed, the target speed of the double-sided motor is calculated, and the motor control data frame of the running controller is sent through the CAN bus to drive the transmission belt engineering machinery into the straight running condition. The same code is used for the transmission and manual mode of the CAN running controller control data frame, that is, when the state machine state changes, the main control thread switches from the manual mode state to the full automatic mode state, and the basic data synchronization thread (including CAN bus sending and receiving) is the same in both states.

[0093] During the straight running process, the data frame of the yaw rate is received from the CAN bus at a high frequency, and the current actual yaw rate is obtained by analyzing it. After obtaining the feedback signal, appropriate control strategy needs to be taken to convert the feedback signal into a control signal. Considering the actual working scene of the transmission belt engineering machinery, a fuzzy PID single-sided speed control strategy is adopted.

[0094] The synchronous control of the double-sided transmission belt can ensure that the transmission belt engineering machinery has anti-interference ability during straight running, and can maintain a certain straightness when the external environment changes. However, during the running process, lateral deviation and yaw angle deviation will be accumulated. In order to ensure that the transmission belt engineering machinery does not contact the construction pavement during full automatic running, it is necessary to eliminate the accumulated deviation, and therefore a straight running correction strategy based on image recognition is designed.

[0095] The software design of image acquisition and processing is completed by combining NI Vision and NI-IMAQdx, and the straight running correction control based on image recognition is realized in the main control vi according to the control strategy. Before the straight running correction control starts, the field operator needs to set the threshold and tolerance value according to the actual transmission belt mechanical body parameters and the control accuracy of the actuator. These two types of data are obtained through a separate CAN data frame receiving task.

[0096] The threshold used here relates to whether the transmission belt machinery will scratch the construction pavement during full automatic running. The threshold needs to be calculated in combination with the installation position of the camera. If the threshold of the lateral deviation is not set before running, the full automatic running module cannot be performed. The tolerance value is field debugged according to the overall control accuracy of the running control system. If the transmission belt loss of the controlled object transmission belt engineering machinery is small and the control accuracy of the actuator driving motor is high, theoretically, zero tolerance value can be achieved.

[0097] Further, the CAN bus protocol module is built, the test platform is built, the periodic reporting and interaction functions of the data synchronization system are verified through the CAN analysis software, the transmission belt engineering machinery test prototype is tested in the simulated environment, and the method further comprises:

[0098] Data synchronization end period report function verification, data synchronization end interaction function verification, running controller module function verification;

[0099] The running controller module function verification includes self-check alarm module, manual operation module, full-automatic operation module, and safety brake module function verification.

[0100] The data synchronization system of the drive belt engineering machinery is realized based on the CAN bus, and the synchronization protocols of the various data synchronization ends are integrated in the CAN bus protocol module. The CAN bus protocol module parses the data of the data synchronization end, and sends it to the CAN control bus according to the CAN bus self-defined protocol of the drive air controller. Therefore, in order to verify the function of the entire data synchronization system, the USB-to-CAN debugger is used to connect the CAN control bus of the running controller to the PC end, and the CAN analysis software is used in the PC end to parse the data on the CAN control bus, and the function of the data synchronization system is verified according to the period, accuracy of the CAN data, and the question and answer interaction between the remote control operation end and the running controller.

[0101] The period CAN data sent from the CAN bus protocol module are the obstacle avoidance radar CAN data frame and the yaw rate CAN data frame, and their CAN data frame IDs are 0x0203 and 0x0304 respectively. The data of these two frames are the main feedback control signals of the running controller.

[0102] When the drive belt engineering machinery is in the manual mode state, the remote control operation end and the running controller establish a remote connection through Zigbee, and the Zigbee synchronization module is connected through USART and the CAN bus protocol module. The interaction test scene this time is manual mode parameter configuration, and the basic process is that the remote control operation end sends 2 CAN parameter data frames at a time, and continuously uploads to the bus at a period of 500 ms before the state bit in the running controller state data frame changes.

[0103] The safety alarm module function is to scan the data synchronization end throughout the life cycle of the drive belt engineering machinery operation mode. If the data synchronization end state bit is faulty or offline for a long time, it is determined that the data synchronization end has failed, and the alarm mechanism CAN control data frame is sent out at the same time, and the drive motor is braked to avoid dangerous accidents. The module function verification is in the manual mode, and the yaw rate sensor in the data synchronization system of the drive belt engineering machinery is disconnected.

[0104] CAN data frame (CAN ID is 0x0203) of the yaw rate sensor, in the case of no online within 300ms, i.e. three cycle periods, the running controller considers that the data synchronization end has been disconnected, sends the alarm mechanism CAN control data frame ID 0x0670, sets the response and stop of the buzzer to 3s, and sends the driving motor CAN control data frame, the left and right motor IDs are 0x0010 and 0x0020 respectively, the driving motor state is switched from free to brake, to prevent accidents. After receiving the driving motor control information, the CAN state data frame of the driving motor immediately changes to the brake mode, and the next running controller CAN state data frame also changes to the fault mode, and the fault code is 0x80, indicating that the yaw rate sensor of 3 priority appears a fault.

[0105] When the yaw rate sensor reconnects to the CAN bus protocol module and successfully sends the yaw rate CAN data frame to the CAN bus, the running controller judges that the yaw rate sensor has been reconnected, sends the alarm mechanism CAN control data frame to cancel the alarm function of the buzzer, and sends the driving motor CAN control data frame to switch the driving motor state from brake to free, facilitating subsequent operation mode control. The state bit in the running controller CAN state data frame also reverts to manual mode normal. Through the frame analysis when the yaw rate sensor is disconnected and reconnected, the self-checking alarm function of the system is verified.

[0106] The core of the full-automatic running mode is to control the synchronization rate of the double-side transmission belt, and to use image recognition to correct the accumulated lateral deviation and yaw angle. The overall test scheme is to draw a 3m long white guide line on the ground, and the transmission belt engineering machinery starts from the initial position, runs along the guide line in a straight line, calculates the lateral deviation from the guide line after reaching the specified position, and reads the yaw angle and yaw rate data in the CAN bus protocol module from the PC end for analysis.

[0107] It should be noted that each unit / module mentioned in each device embodiment of the present application is a logical unit / module. In the physical aspect, one logical unit / module can be one physical unit / module, a part of one physical unit / module, or a combination of multiple physical units / modules. The physical implementation of the logical unit / module itself is not the most important, and the combination of the functions implemented by the logical unit / module is the key to solving the technical problems proposed in the present application. In addition, in order to highlight the innovative part of the present application, the above-mentioned each device embodiment of the present application does not introduce the units / modules that are not closely related to solving the technical problems proposed in the present application, which does not mean that the above-mentioned device embodiments do not have other units / modules.

[0108] It is to be understood that the phrases such as first and second, and the like, used in the example and description of the application, are used only to distinguish one element from another, and do not necessarily have to imply a serial or numerical order of such elements. Also, the terms; comprising; including; or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by; comprises; includes; or any other variation thereof, does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0109] While the application has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character, it being understood that only the preferred embodiments have been shown and described and that all changes and modifications that come within the spirit of the application are desired to be protected.

Claims

1. A method for data synchronization based on a transmission system, characterized in that, include: Perform motion analysis on the operating state of the belt-driven engineering machinery to obtain the relationship between the kinematic parameters of the belt-driven engineering machinery and the speed of the right motor during operation; This paper presents a data synchronization system architecture based on CAN bus, designs the hardware interfaces and synchronization methods of each module, and builds sensor and human-machine interaction layer modules; it also designs a transmission belt engineering machinery operation controller to realize the transmission belt synchronization function of the fully automatic operation module. A CAN bus protocol module was built, an experimental platform was constructed, and the periodic reporting and interaction functions of the data synchronization system were verified using CAN analysis software. The prototype of the transmission belt engineering machinery was tested in a simulated environment. The method of performing motion analysis on the transmission belt engineering machinery to obtain the relationship between the kinematic parameters of the transmission belt engineering machinery and the speed of the right motor during operation also includes: Kinematic and dynamic analysis of belt-driven engineering machinery is performed; a modeling analysis of the belt-driven engineering machinery is conducted using an independent drive structure with dual-sided switched reluctance motors, and the relationship between the speed of the dual-sided motors and the yaw rate of the engineering machinery is obtained; during straight-line operation, the relationship between the kinematic parameters of the belt-driven engineering machinery and the speeds of the left and right motors is obtained, including the calculation of straight-line speed considering slippage, rotation, and efficiency. During the steering operation, under the actual slip and rotation conditions, kinematic and dynamic models are established to obtain the formulas for the actual speed of the high and low speed transmission belts, steering resistance, and steering resistance torque. The relationship between the instantaneous rotation center distance and the drive motor speed is established by using dynamic equations. Simulink simulation is established by using Newton's iteration method to analyze the relationship between the yaw rate and the motor speed difference under slip and rotation conditions. The data synchronization system architecture based on the CAN bus, including the design of hardware interfaces and synchronization methods for each module, and the construction of sensor and human-machine interaction layer modules, also includes: Design the data synchronization system architecture. Based on the architecture design of the operation control system, the data synchronization layer connects the human-machine interaction layer, the perception layer, and the operation controller. Build a data synchronization system module, including an obstacle avoidance radar module, an encoder module, a camera module, and a yaw rate module; construct a CAN bus protocol module hardware, including input interface circuits, output interface circuits, and chip peripheral circuits. Develop the CAN bus protocol module software, including input interface software and output interface software.

2. A method for synchronizing data based on a transmission system as claimed in claim 1, characterized in that, The above-mentioned design of the transmission belt engineering machinery operation controller, which realizes the transmission belt synchronization function of the fully automatic operation module, also includes: Based on the actual needs of the transmission belt engineering machinery, the selection of the operation controller was completed; the software of the drive controller was designed, and the overall framework of the software part was designed using the state machine concept. The four modules of the operation controller were developed on the LabVIEW platform using NIVision, NI-IMAQdx, and NI-XNET dedicated function libraries. In the design of the manual operation module, the stationary turning obtained from the analysis is used as the transfer condition; the target vehicle speed is analyzed to obtain the corresponding target speed of the dual-sided drive motor; and the simplified formula of the actual yaw rate and the difference in speed between the dual-sided motors under the slip and turn conditions is obtained by Newton's iteration method. Calculate the target speed and send a CAN motor speed control frame; Real-time acquisition of actual yaw rate value, according to the simplified formula inverse double motor speed synchronization error, through the fuzzy PID controller calculates the target speed.

3. The method of claim 1, wherein the data synchronization is based on a transmission system. The CAN bus protocol module is built, a test platform is built, the periodic reporting and interaction functions of the data synchronization system are verified through CAN analysis software, the transmission belt engineering machinery test prototype is tested in a simulated environment, and the test further includes: Periodic reporting function verification of the data synchronization end, interaction function verification of the data synchronization end, and function verification of the operation controller module. The function verification of the operation controller module includes function verification of a self-check alarm module, a manual operation module, a full-automatic operation module and a safety brake module.

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