Auxiliary controller automatic replacement method, automatic replacement system and vehicle

Abstract

The present application provides an automatic replacement method for auxiliary controllers, an automatic replacement system and a vehicle, which solves the technical problem in the prior art that the auxiliary controller in the control system may be damaged, and the damaged auxiliary controller cannot be used normally, making the entire engineering vehicle unable to be used normally. The automatic replacement method for auxiliary controllers provided by the present application can quickly find a replaceable auxiliary controller among all controllers in the control system when the auxiliary controller in the control system is damaged, and install the replaceable auxiliary controller in the position of the damaged auxiliary controller. The entire auxiliary controller replacement process is completed quickly, reducing the probability of affecting the function of the entire equipment due to damage to the auxiliary controller and improving the work efficiency of the engineering vehicle.

Description

Technical Field

[0001] The present application relates to the field of electrical control, and in particular to an automatic replacement method for an auxiliary controller, an automatic replacement system and a vehicle. Background Art

[0002] The new four modernizations and intelligent manufacturing of engineering vehicles have become an inevitable trend in the development of engineering vehicles in the future. Therefore, the functions of engineering vehicles are also increasing, and control systems and other equipment with corresponding functions (such as CMS system, fatigue driving system, ADAS system, etc.) are required. In the control system of engineering vehicles, almost all electrical equipment needs to be connected to the vehicle controller local area network (Controller Area Network, referred to as CAN), resulting in a high load rate of the vehicle CAN network and an extremely complex vehicle electronic control topology. Therefore, according to the different functions of the engineering vehicle, multiple auxiliary controllers are designed in the same CAN network or different CAN networks in the vehicle network topology. For example, in the auxiliary control application scenario of all-terrain super-large tonnage vehicles, the auxiliary controllers can include boom head controller, super lifting controller, tower arm controller, basic arm controller, arm-in controller, etc. However, in actual applications, the use environment of engineering vehicles is relatively harsh, and the auxiliary control may be struck by lightning, flooded, etc. during use. Therefore, the auxiliary controller may be damaged, and the damaged auxiliary controller cannot be used normally, making the entire engineering vehicle unable to be used normally. Summary of the invention

[0003] In view of this, the present application provides an automatic replacement method for an auxiliary controller, an automatic replacement system and a vehicle, which solves the technical problem in the prior art that the auxiliary controller in the control system may be damaged, and the damaged auxiliary controller cannot be used normally, making the entire engineering vehicle unable to be used normally.

[0004] According to one aspect of the present application, the present application provides a method for automatically replacing an auxiliary controller, which is applicable to a control system, wherein the control system includes a main controller and multiple auxiliary controllers, and the multiple auxiliary controllers are respectively communicatively connected to the main controller, wherein the method for automatically replacing an auxiliary controller includes: obtaining a communication node number and a hardware address code of the auxiliary controller sent by the main controller to the multiple auxiliary controllers, wherein the multiple auxiliary controllers include an auxiliary controller to be replaced and other auxiliary controllers; determining a replacement auxiliary controller from other auxiliary controllers according to the communication node number and hardware address code of the auxiliary controller to be replaced and the communication node numbers and hardware address codes of the other auxiliary controllers; and according to the hardware address code of the replacement auxiliary controller, calling a program function module corresponding to the auxiliary controller to be replaced to connect to the replacement auxiliary controller.

[0005] In one possible implementation, a replacement auxiliary controller is determined from other auxiliary controllers based on the communication node number and hardware address code of the auxiliary controller to be replaced and the communication node number and hardware address code of the other auxiliary controllers, including: determining a controller in the same group as the auxiliary controller to be replaced among the other auxiliary controllers based on the communication node number of the auxiliary controller to be replaced and the communication node number of the other auxiliary controllers, wherein the controller in the same group is an auxiliary controller among the other auxiliary controllers that is communicatively connected to the main controller through the same controller local area network as the auxiliary controller to be replaced; and determining an auxiliary controller in the same group of controllers as the replacement auxiliary controller.

[0006] In one possible implementation, a controller in the same group corresponding to the auxiliary controller to be replaced among the other auxiliary controllers is determined based on the communication node number of the auxiliary controller to be replaced and the communication node numbers of the other auxiliary controllers, including: traversing the communication node number of each auxiliary controller among the other auxiliary controllers; when the communication node number of the auxiliary controller and the communication node number of the auxiliary controller to be replaced both include the main control node number, determining that the auxiliary controller is a controller in the same group corresponding to the auxiliary controller to be replaced.

[0007] In one possible implementation, determining an auxiliary controller in the same group of controllers as the replacement auxiliary controller includes: when the number of controllers in the same group is greater than 1, determining an auxiliary controller in the same group of controllers that matches the function of the auxiliary controller to be replaced as the replacement auxiliary controller.

[0008] In a possible implementation, determining an auxiliary controller in the same group of controllers as the replacement auxiliary controller includes: when the number of controllers in the same group is equal to 1, determining the auxiliary controller in the same group of controllers as the replacement auxiliary controller.

[0009] In one possible implementation, a replacement auxiliary controller is determined from other auxiliary controllers based on the communication node number and hardware address code of the auxiliary controller to be replaced and the communication node number and hardware address code of the other auxiliary controllers, and also includes: when the communication node number of the auxiliary controller is different from the communication node number of the auxiliary controller to be replaced and includes the main control node number, determining that the auxiliary controller is a non-same-group controller corresponding to the auxiliary controller to be replaced; when each auxiliary controller is a non-same-group controller corresponding to the auxiliary controller to be replaced, determining among the non-same-group controllers an auxiliary controller that matches the function of the auxiliary controller to be replaced as the replacement auxiliary controller.

[0010] In one possible implementation, before obtaining the communication node number sent by the main controller to the multiple auxiliary controllers and the hardware address code of the auxiliary controller, the multiple auxiliary controllers include the auxiliary controller to be replaced and other auxiliary controllers, the auxiliary controller automatic replacement method also includes: configuring a coding table for connecting the multiple auxiliary controllers to the main controller, the coding table including the serial number of the auxiliary controller and the hardware address code of the auxiliary controller.

[0011] As a second aspect of the present application, the present application also provides an auxiliary controller multiplexing system, including: a main controller; multiple auxiliary controllers, which are communicatively connected to the main controller; and an automatic replacement controller, which is communicatively connected to both the main controller and the auxiliary controllers; the automatic replacement controller is used to execute the auxiliary controller automatic replacement method described above.

[0012] In a possible implementation, the multiple auxiliary controllers are of the same model.

[0013] As a third aspect of the present application, the present application also provides an engineering vehicle, including: the auxiliary controller multiplexing system described above.

[0014] The automatic replacement method for auxiliary controllers, the automatic replacement system for auxiliary controllers and the vehicle provided by the present application, when an auxiliary controller in the whole vehicle control system is damaged and needs to be replaced, the installation location of the replacement auxiliary controller is determined according to the communication node number sent by the main controller in the control system to each auxiliary controller and the hardware address code of each auxiliary controller, the staff can quickly find the replacement auxiliary controller according to the installation location, and then install the replacement auxiliary controller in the installation location of the auxiliary controller to be replaced, when the replacement auxiliary controller is installed, the system calls the program function module corresponding to the auxiliary controller to be replaced according to the hardware address code of the replacement auxiliary controller to connect to the replacement auxiliary controller, so that the replacement auxiliary controller and the auxiliary controller to be replaced are automatically replaced, and the replacement auxiliary controller is used normally. When the auxiliary controller in the control system is damaged, the replaceable auxiliary controller can be quickly found in all the auxiliary controllers in the control system, and the replaceable auxiliary controller can be installed at the position of the damaged auxiliary controller, the entire auxiliary controller replacement process is completed quickly, reducing the probability of affecting the function of the whole equipment due to the damage of the auxiliary controller, and improving the work efficiency of the engineering vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1 The figure shows a working principle diagram of a control system provided by an embodiment of the present application;

[0017] Figure 2 Shown is a working principle diagram of a control system provided by another embodiment of the present application;

[0018] Figure 3 Shown is a working principle diagram of a control system provided by another embodiment of the present application;

[0019] Figure 4 Shown is a working principle diagram of a control system provided by another embodiment of the present application;

[0020] Figure 5 Shown is a flow chart of an auxiliary controller automatic replacement method provided by an embodiment of the present application;

[0021] Figure 6 Shown is a flow chart of an auxiliary controller automatic replacement method provided by another embodiment of the present application;

[0022] Figure 7 Shown is a flow chart of an auxiliary controller automatic replacement method provided by another embodiment of the present application;

[0023] Figure 8 Shown is a flow chart of an auxiliary controller automatic replacement method provided by another embodiment of the present application;

[0024] Fig. 9 Shown is a flow chart of an auxiliary controller automatic replacement method provided by another embodiment of the present application;

[0025] Fig.10 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0026] In the description of the application, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise clearly and specifically limited. In the embodiment of the present application, all directional indications (such as up, down, left, right, front, back, top, bottom ...) are only used to explain the relative position relationship, motion conditions, etc. between the components under a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indication also changes accordingly. In addition, the terms "including" and "having" and any of their deformations are intended to cover non-exclusive inclusions. For example, the process, method, system, product or equipment comprising a series of steps or units are not limited to the steps or units listed, but optionally also include the steps or units not listed, or optionally also include other steps or units inherent to these processes, methods, products or equipment.

[0027] In addition, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0028] Application Overview

[0029] For the control system of engineering vehicles, in order to increase the reliability of the control system and reduce the failure points of the control system, multiple auxiliary controllers are designed in the same CAN network or different CAN networks in the vehicle network topology. For example, in the auxiliary control application scenario of all-terrain ultra-large tonnage vehicles, the auxiliary controllers may include boom head controller, super lifting controller, tower arm controller, basic arm controller, in-arm controller, etc. The auxiliary controller can communicate with the main controller through the communication module, which can reduce the number of expansion modules of the main controller, reduce failure points, and improve reliability.

[0030] However, in the process of designing the auxiliary controller, the technicians found that in actual application scenarios, due to the harsh operating environment of large crane vehicles, the auxiliary controller may be damaged by lightning strikes, water ingress, etc. during use. However, replacing a damaged auxiliary controller often takes time to prepare, so the auxiliary controller cannot quickly return to normal use, thereby reducing work efficiency.

[0031] Based on the above problems, the present application provides a method for automatically replacing an auxiliary controller. When an auxiliary controller in the vehicle control system is damaged and needs to be replaced, the installation location of the replacement auxiliary controller is determined according to the communication node number sent by the main controller in the control system to each auxiliary controller and the hardware address code of each auxiliary controller. The staff can quickly find the replacement auxiliary controller according to the installation location, and then install the replacement auxiliary controller in the installation location of the auxiliary controller to be replaced. When the replacement auxiliary controller is installed, the system calls the program function module corresponding to the auxiliary controller to be replaced according to the hardware address code of the replacement auxiliary controller to connect to the replacement auxiliary controller, so that the replacement auxiliary controller and the auxiliary controller to be replaced are automatically replaced, and the replacement auxiliary controller is used normally. When the auxiliary controller in the control system is damaged, the auxiliary controller that can be automatically replaced can be quickly found among all the controllers in the control system, and the auxiliary controller that can be automatically replaced can be installed at the position of the damaged auxiliary controller. The entire auxiliary controller replacement process is completed quickly, which reduces the probability of affecting the function of the whole equipment due to damage to the auxiliary controller and improves the work efficiency of the engineering vehicle.

[0032] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] Exemplary Control System

[0034] Figure 1-Figure 4 The working principle diagram of a control system provided by the present application is shown in FIG. Figure 1-Figure 4 As shown, the control system includes a main controller and multiple auxiliary controllers, wherein the multiple auxiliary controllers are all communicatively connected to the main controller, and the multiple auxiliary controllers are communicatively connected to the main controller via at least one CAN bus.

[0035] Specifically, CAN is the abbreviation of Controller Area Network (hereinafter referred to as CAN), which is an ISO internationally standardized serial communication protocol. CAN belongs to the category of fieldbus, which is a serial communication network that effectively supports distributed control or real-time control. In the control system of engineering vehicles, various electronic control systems have been developed. Since the data types used for communication between these systems and the requirements for reliability are different, they are often composed of multiple CAN buses, and high-speed communication of large amounts of data can be carried out through multiple LANs.

[0036] Specifically, the number of main controllers included in the control system and the number of auxiliary controllers connected to each main controller may include the following situations:

[0037] (1) The control system includes a main controller 1 and M auxiliary controllers, and the M controllers are connected to the main controller via M CAN lines. Figure 1 As shown, the control system includes a main controller 1 and 6 auxiliary controllers, and the 6 auxiliary controllers are communicatively connected to the main controller 1 via 6 CAN buses.

[0038] (2) The control system includes P main controllers 1 and F auxiliary controllers, where P is an integer greater than 1 and F is an integer greater than 2. Each main controller 1 is in communication with at least one auxiliary controller. Figure 2 As shown, the control system includes two main controllers 1 and six auxiliary controllers. One of the two main controllers 1 is connected to the three auxiliary controllers via two CAN buses, and the other main controller 1 is connected to the three auxiliary controllers via three CAN buses.

[0039] (3) The control system includes a main controller 1 and M auxiliary controllers, and the M controllers are connected to the main controller via S CAN lines, where S is less than M. For example, Figure 3 As shown, the control system includes a main controller 1 and 6 auxiliary controllers, and the 6 auxiliary controllers are communicatively connected to the main controller 1 via 4 CAN buses.

[0040] (4) The control system includes a main controller 1 and M auxiliary controllers, wherein the H auxiliary controllers are connected to the main controller 1 through N CAN buses, H is less than M, and N is less than H. And at least one of the M auxiliary controllers is connected to one or more of the (MH) auxiliary controllers. For example, Figure 4 As shown, the control system includes a main controller 1 and 6 auxiliary controllers, and the 5 auxiliary controllers are communicatively connected to the main controller 1 through 4 CAN buses, that is, the first auxiliary controller 11, the third auxiliary controller 13, the fourth auxiliary controller 14, the fifth auxiliary controller 15 and the sixth auxiliary controller 16 are communicatively connected to the main controller 1 through CAN4 bus, CAN1 bus, CAN1 bus, CAN2 bus and CAN3 bus respectively, and the second auxiliary controller 12 is communicatively connected to the first auxiliary controller 11.

[0041] It should be noted that the number of main controllers included in the above control system, the number of auxiliary controllers corresponding to each main controller for communication connection, and the number of CAN buses for communication connection between the auxiliary controllers and the main controllers are not limited to the above four distribution situations.

[0042] Exemplary Automatic Replacement Method

[0043] Figure 5 FIG. 1 is a flow chart of an auxiliary controller automatic replacement method provided by the present application. The present application provides an auxiliary controller automatic replacement method, which is applicable to the control system described above, wherein: Figure 5 As shown, the auxiliary controller automatic replacement method includes the following steps:

[0044] Step S10: respectively obtaining communication node numbers and hardware address codes of the auxiliary controllers respectively sent by the main controller to the plurality of auxiliary controllers, wherein the plurality of auxiliary controllers include the auxiliary controller to be replaced and other auxiliary controllers;

[0045] Specifically, the other auxiliary controllers are: idle auxiliary controllers in the vehicle control system in the current application scenario, that is, in the current application scenario, the other auxiliary controllers are restricted auxiliary controllers.

[0046] That is, when one of the auxiliary controllers in the main controller needs to be replaced, the auxiliary controller that needs to be replaced is the auxiliary controller to be replaced. At this time, the main controller sends a communication node number corresponding to each auxiliary controller in the other auxiliary controllers.

[0047] Optionally, multiple auxiliary controllers are of the same model.

[0048] Optionally, when the control system includes a master controller, such as Figure 1 As shown, the main controller is directly controlled to send the communication node number to its multiple auxiliary controllers (the multiple auxiliary controllers include the auxiliary controller to be replaced and other auxiliary controllers).

[0049] Optionally, when the control system includes multiple main controllers, such as Figure 2 As shown, it is first necessary to determine the hardware address code of the auxiliary controller to be replaced (for example, a damaged or faulty auxiliary controller), and then determine the main controller of the auxiliary controller to be replaced based on the hardware address code, and then control the main controller to send communication node numbers to multiple auxiliary controllers (multiple auxiliary controllers include the auxiliary controller to be replaced and other auxiliary controllers).

[0050] Step S20: determining a replacement auxiliary controller from other auxiliary controllers according to the communication node number and hardware address code of the auxiliary controller to be replaced and the communication node numbers and hardware address codes of other auxiliary controllers;

[0051] When an auxiliary controller needs to be replaced, the replacement auxiliary controller can be determined based on the communication node number sent by the main controller to the auxiliary controller to be replaced, the hardware address code of the auxiliary controller to be replaced, the communication node numbers and hardware address codes of other auxiliary controllers, and then the installation location of the replacement auxiliary controller can be determined. The replacement auxiliary controller is one of the other auxiliary controllers.

[0052] Specifically, the hardware address code of the auxiliary controller to be replaced and the hardware address codes of other auxiliary controllers can be obtained by querying the hardware address code table between the main controller and the auxiliary controllers.

[0053] After determining the installation location of the replacement auxiliary controller, the staff can accurately and quickly remove the replacement auxiliary controller from the original installation location and install it at the installation location of the auxiliary controller to be replaced, thereby realizing the rapid replacement of the damaged auxiliary controller.

[0054] Specifically, the installation location of the auxiliary controller to be replaced can be determined according to the hardware address code of the auxiliary controller to be replaced.

[0055] Specifically, the hardware address coding of the auxiliary controller is determined by the binary coding of three lines, for example: A-1 line, A-2 line, and A-3 line. The hardware address coding of the first auxiliary controller can be 001, 0 corresponds to A-1 line, 0 corresponds to A-2 line, and 1 corresponds to A-3 line.

[0056] For example, when the control system is Figure 4 As shown, the control system includes a main controller and six auxiliary controllers. At this time, the hardware address coding table between the auxiliary controller and the main controller can be as shown in Table 1 below:

[0057] Table 1: Figure 4 The coding table of the control system shown

[0058] Controller / Pin Configuration A-1 A-2 A-3 Address Code Communication node number Third auxiliary controller 0 1 1 3 0x419 Fourth auxiliary controller 1 1 0 6 0x419 Fifth auxiliary controller 0 1 0 2 0x145 First auxiliary controller 0 0 1 1 0x187 Second auxiliary controller 1 0 0 4 0x181 Six auxiliary controllers 6 1 0 1 5 0x188

[0059] Step S30: According to the hardware address code of the replacement auxiliary controller, call the program function module corresponding to the auxiliary controller to be replaced to connect to the replacement auxiliary controller.

[0060] After the staff successfully installs the replacement auxiliary controller at the installation location of the auxiliary controller to be replaced, the program function module corresponding to the auxiliary controller to be replaced is called according to the hardware address code of the replacement auxiliary controller to connect to the replacement auxiliary controller, so as to reopen the replacement auxiliary controller to implement the data received and the control functions executed by the auxiliary controller to be replaced.

[0061] The present application provides an automatic replacement method for an auxiliary controller. When an auxiliary controller in the whole vehicle control system is damaged and needs to be replaced, the installation location of the replacement auxiliary controller is determined according to the communication node number sent by the main controller in the control system to each auxiliary controller and the hardware address code of each auxiliary controller. The staff can quickly find the replacement auxiliary controller according to the installation location, and then install the replacement auxiliary controller in the installation location of the auxiliary controller to be replaced. When the replacement auxiliary controller is installed, the system calls the program function module corresponding to the auxiliary controller to be replaced according to the hardware address code of the replacement auxiliary controller to connect to the replacement auxiliary controller, so that the replacement auxiliary controller and the auxiliary controller to be replaced are replaced, and the replacement auxiliary controller can be used normally. When the auxiliary controller in the control system is damaged, the replaceable auxiliary controller can be quickly found in all the controllers in the control system, and the replaceable auxiliary controller can be installed at the position of the damaged auxiliary controller. The entire auxiliary controller replacement process is completed quickly, which reduces the probability of affecting the function of the whole equipment due to the damage of the auxiliary controller and improves the work efficiency of the engineering vehicle.

[0062] In one possible implementation, Figure 6 FIG. 1 is a flow chart of an auxiliary controller automatic replacement method provided by another embodiment of the present application. Figure 6 As shown, step S20 (determining a replacement auxiliary controller from other auxiliary controllers according to the communication node number and hardware address code of the auxiliary controller to be replaced and the communication node number and hardware address code of other auxiliary controllers) may specifically include the following steps:

[0063] Step S201: determining a controller in the same group as the auxiliary controller to be replaced among other auxiliary controllers according to the communication node number of the auxiliary controller to be replaced and the communication node numbers of other auxiliary controllers, wherein the controller in the same group is an auxiliary controller among other auxiliary controllers that is connected to the main controller through the same controller local area network as the auxiliary controller to be replaced;

[0064] That is, according to the communication node number of each auxiliary controller, it is confirmed whether there is an auxiliary controller in the same group as the auxiliary controller to be replaced among other auxiliary controllers, and when there is an auxiliary controller in the same group as the auxiliary controller to be replaced among other auxiliary controllers, the number of controllers in the same group as the auxiliary controller to be replaced.

[0065] Step S202: Determine an auxiliary controller in the same group of controllers as a replacement auxiliary controller.

[0066] Step S203: determining the installation location of the replacement auxiliary controller according to the hardware address code in the replacement auxiliary controller;

[0067] After a replacement auxiliary controller for the auxiliary controller to be replaced is determined, the installation location of the controller in the same group is directly determined according to the hardware address code of the replacement auxiliary controller.

[0068] For example, when the control system includes a main controller and 6 other auxiliary controllers, such as Figure 3 As shown, when the third auxiliary controller is damaged or fails, the communication node number sent by the main controller to the other 6 auxiliary controllers is used to search for the same group controller of the third auxiliary controller among the remaining 5 auxiliary controllers, and it is determined that the fourth auxiliary controller is in the same group as the third auxiliary controller, that is, the installation location of the fourth auxiliary controller is determined according to the hardware address code of the fourth auxiliary controller.

[0069] Optionally, when the number of controllers in the same group as the auxiliary controller to be replaced is 1, that is, there is only one auxiliary controller in the same group as the auxiliary controller to be replaced, the auxiliary controller is directly determined to be the replacement auxiliary controller.

[0070] Optionally, when the number of controllers in the same group as the auxiliary controller to be replaced is greater than 1, that is, when there are multiple auxiliary controllers in the same group as the auxiliary controller to be replaced, an auxiliary controller in the same group that matches the function of the auxiliary controller to be replaced is determined as the replacement auxiliary controller.

[0071] The automatic auxiliary controller replacement method provided in the present application, when determining a replacement auxiliary controller for an auxiliary controller to be replaced, first determines the replacement auxiliary controller among controllers belonging to the same group as the auxiliary controller to be replaced (i.e., communicating with the main controller through the same CAN bus).

[0072] In one possible implementation, Figure 7 FIG. 1 is a flow chart of an auxiliary controller automatic replacement method provided by another embodiment of the present application. Figure 7 As shown, step S201 (determining the controller of the same group corresponding to the auxiliary controller to be replaced among other auxiliary controllers according to the communication node number of the auxiliary controller to be replaced and the communication node numbers of other auxiliary controllers) specifically includes the following steps:

[0073] Step S2011: traverse the communication node number of each auxiliary controller in other auxiliary controllers;

[0074] Step S2012: determining whether the communication node number of the auxiliary controller and the communication node number of the auxiliary controller to be replaced both include the master control node number;

[0075] When the judgment result of step S2012 is yes, that is, the communication node number of the auxiliary controller and the communication node number of the auxiliary controller to be replaced both include the master node number, it is determined that the auxiliary controller is a controller of the same group as the auxiliary controller to be replaced, and step S2013 is executed.

[0076] For example, the control system includes a main controller and 6 other auxiliary controllers, such as Figure 3 As shown, the coding table of the control system is shown in Table 1 above. From the communication node number in Table 1, it can be determined that the communication node numbers of the third auxiliary controller and the fourth auxiliary controller both include the main control node number 0x419, which means that the third auxiliary controller and the fourth auxiliary controller are connected to the main controller through the same CAN bus. Figure 3 As shown, the third auxiliary controller and the fourth auxiliary controller are communicatively connected to the main controller via the CAN1 bus.

[0077] Step S2013: Determine that the auxiliary controller is a controller of the same group as the auxiliary controller to be replaced.

[0078] After traversing other auxiliary controllers, the number of controllers in the same group corresponding to the auxiliary controller to be replaced and the numbers of the auxiliary controllers can be determined.

[0079] When the judgment result of step S2012 is no, that is, at least one of the communication node numbers of the auxiliary controller and the communication node number of the auxiliary controller to be replaced does not include the main control node number, then it is determined that the auxiliary controller is not a controller in the same group as the auxiliary controller to be replaced, and step S2014 is executed.

[0080] For example: the control system includes a main controller and 6 other auxiliary controllers, such as Figure 3 As shown, the coding table of the control system is shown in Table 1 above. From the communication node numbers in Table 1, it can be determined that the communication node numbers of the first auxiliary controller and the fourth auxiliary controller do not all include the main control node number 0x419, which means that the first auxiliary controller and the fourth auxiliary controller are not connected to the main controller through the same CAN bus. Figure 3 As shown, the first auxiliary controller is connected to the main controller through the CAN4 bus, and the fourth auxiliary controller is connected to the main controller through the CAN1 bus.

[0081] Step S2014: Determine that the auxiliary controller is a controller of a different group than the auxiliary controller to be replaced.

[0082] In one possible implementation, Figure 8 FIG. 1 is a flow chart of an auxiliary controller automatic replacement method provided by another embodiment of the present application. Figure 8 As shown, step S20 (determining a replacement auxiliary controller from other auxiliary controllers according to the communication node number and hardware address code of the auxiliary controller to be replaced and the communication node number and hardware address code of other auxiliary controllers) also includes the following steps:

[0083] Step S205: when each auxiliary controller is a controller of a different group than the auxiliary controller to be replaced, determining that the auxiliary controller is a controller of a different group than the auxiliary controller to be replaced;

[0084] Step S206: Determine, among controllers not in the same group, an auxiliary controller that matches the function of the auxiliary controller to be replaced as a replacement auxiliary controller.

[0085] An auxiliary controller that matches the function of the auxiliary controller to be replaced among controllers in different groups is determined as a replacement auxiliary controller.

[0086] In one possible implementation, Fig. 9 FIG. 1 is a flow chart of an auxiliary controller automatic replacement method provided by another embodiment of the present application. Fig. 9 As shown, before step S10 (respectively obtaining the communication node numbers sent by the main controller to the plurality of auxiliary controllers and the hardware address codes of the auxiliary controllers, the plurality of auxiliary controllers including the auxiliary controller to be replaced and other auxiliary controllers), the auxiliary controller automatic replacement method further includes the following steps:

[0087] Step S100: configuring a coding table of multiple auxiliary controllers connected to the main controller, the coding table including the serial numbers of the auxiliary controllers and the hardware address codes of the auxiliary controllers.

[0088] Exemplary Multiplexing System

[0089] The present application also provides an auxiliary controller multiplexing system, the auxiliary controller multiplexing system includes a control system and an automatic replacement controller, wherein the control system includes a main controller and a plurality of auxiliary controllers, and the auxiliary controller is communicatively connected with the main controller and the plurality of auxiliary controllers;

[0090] Among them, the automatic replacement controller is communicatively connected with the main controller and multiple auxiliary controllers; the automatic replacement controller is used to execute the above-mentioned auxiliary controller automatic replacement method.

[0091] Specifically, the control system can be Figure 1-Figure 4 The control system shown.

[0092] The auxiliary controller reuse system provided by the present application, when an auxiliary controller in the whole vehicle control system is damaged and needs to be replaced, the installation location of the replacement auxiliary controller is determined according to the communication node number sent by the main controller in the control system to each auxiliary controller and the hardware address code of each auxiliary controller, the staff can quickly find the replacement auxiliary controller according to the installation location, and then install the new replacement auxiliary controller in the installation location of the auxiliary controller to be replaced. When the replacement auxiliary controller is installed, the system calls the program function module corresponding to the auxiliary controller to be replaced according to the hardware address code of the replacement auxiliary controller to connect to the replacement auxiliary controller, so that the replacement auxiliary controller and the auxiliary controller to be replaced are replaced, and the replacement auxiliary controller is used normally. When the auxiliary controller in the control system is damaged, the replaceable auxiliary controller can be quickly found in all the controllers in the control system, and the replaceable auxiliary controller can be installed at the position of the damaged auxiliary controller. The entire auxiliary controller replacement process is completed quickly, which reduces the probability of affecting the function of the whole equipment due to the damage of the auxiliary controller and improves the work efficiency of the engineering vehicle.

[0093] Optionally, multiple auxiliary controllers are of the same model.

[0094] Exemplary Construction Vehicles

[0095] The present application also provides an engineering vehicle, including: the auxiliary controller multiplexing system described above.

[0096] Exemplary Electronic Devices

[0097] Below, reference Fig.10 To describe an electronic device according to an embodiment of the present application. Fig.10 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application.

[0098] like Fig.10 As shown, the electronic device 600 includes one or more processors 601 and a memory 602 .

[0099] The processor 601 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or information execution capabilities, and may control other components in the electronic device 600 to perform desired functions.

[0100] The memory 601 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program information may be stored on the computer-readable storage medium, and the processor 601 may run the program information to implement the auxiliary controller automatic replacement method or other desired functions of the various embodiments of the present application described above.

[0101] In one example, the electronic device 600 may further include: an input device 603 and an output device 604 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0102] The input device 603 may include, for example, a keyboard, a mouse, etc.

[0103] The output device 604 can output various information to the outside. The output device 604 can include, for example, a display, a communication network and a remote output device connected thereto.

[0104] Of course, to simplify, Fig.10 Only some of the components related to the present application in the electronic device 600 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 600 may also include any other appropriate components.

[0105] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program information, which, when executed by a processor, enables the processor to execute the steps of the auxiliary controller automatic replacement method according to various embodiments of the present application described in this specification.

[0106] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0107] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program information is stored. When the computer program information is executed by a processor, the processor executes the steps of the auxiliary controller automatic replacement method according to various embodiments of the present application described in this specification.

[0108] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0109] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0110] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0111] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0112] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features of the present invention.

[0113] The above description is only a preferred embodiment of the invention of the present application and is not intended to limit the invention of the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the invention of the present application shall be included in the protection scope of the invention of the present application.

Claims

1. A method for automatically replacing an auxiliary controller, It is characterized in that Applicable to a control system, the control system includes a main controller and a plurality of auxiliary controllers, the plurality of auxiliary controllers are respectively connected to the main controller for communication, wherein the auxiliary controller automatic replacement method includes: Acquire the communication node number sent by the main controller to the plurality of auxiliary controllers and the hardware address code of the auxiliary controllers, wherein the plurality of auxiliary controllers include the auxiliary controller to be replaced and other auxiliary controllers; Determine a replacement auxiliary controller from other auxiliary controllers according to the communication node number and hardware address code of the auxiliary controller to be replaced and the communication node number and hardware address code of the other auxiliary controllers; and According to the hardware address code of the replacement auxiliary controller, calling the program function module corresponding to the auxiliary controller to be replaced to connect to the replacement auxiliary controller; The step of determining a replacement auxiliary controller from other auxiliary controllers according to the communication node number and the hardware address code of the auxiliary controller to be replaced and the communication node numbers and the hardware address codes of the other auxiliary controllers comprises: Determine, according to the communication node number of the auxiliary controller to be replaced and the communication node numbers of the other auxiliary controllers, a controller in the same group as the auxiliary controller to be replaced among the other auxiliary controllers, wherein the controller in the same group is an auxiliary controller among the other auxiliary controllers that is communicatively connected with the main controller through the same controller area network as the auxiliary controller to be replaced; and Determining an auxiliary controller in the same group of controllers as the replacement auxiliary controller; The determining, according to the communication node number of the auxiliary controller to be replaced and the communication node numbers of the other auxiliary controllers, a controller in the same group as the auxiliary controller to be replaced among the other auxiliary controllers, comprises: Traverse the communication node number of each auxiliary controller in other auxiliary controllers; When the communication node number of the auxiliary controller and the communication node number of the auxiliary controller to be replaced both include the master node number, it is determined that the auxiliary controller is a controller of the same group as the auxiliary controller to be replaced.

2. The method for automatically replacing an auxiliary controller according to claim 1, It is characterized in that Determining an auxiliary controller in the same group of controllers as the replacement auxiliary controller includes: When the number of controllers in the same group is greater than 1, an auxiliary controller in the same group that matches the function of the auxiliary controller to be replaced is determined as the replacement auxiliary controller.

3. The method for automatically replacing an auxiliary controller according to claim 1, It is characterized in that Determining an auxiliary controller in the same group of controllers as the replacement auxiliary controller includes: When the number of controllers in the same group is equal to 1, the auxiliary controller in the same group of controllers is determined to be the replacement auxiliary controller.

4. The method for automatically replacing an auxiliary controller according to claim 1, It is characterized in that Determining a replacement auxiliary controller from other auxiliary controllers according to the communication node number and the hardware address code of the auxiliary controller to be replaced and the communication node number and the hardware address code of the other auxiliary controllers, further comprising: When the communication node number of the auxiliary controller is different from the communication node number of the auxiliary controller to be replaced and includes the main control node number, determining that the auxiliary controller is a controller of a different group than the auxiliary controller to be replaced; When each auxiliary controller is a controller of a different group corresponding to the auxiliary controller to be replaced, an auxiliary controller matching the function of the auxiliary controller to be replaced is determined among the controllers of the different group as the replacement auxiliary controller.

5. The auxiliary controller automatic replacement method according to claim 1, It is characterized in that Before obtaining the communication node numbers sent by the main controller to the plurality of auxiliary controllers and the hardware address codes of the auxiliary controllers, wherein the plurality of auxiliary controllers include the auxiliary controller to be replaced and other auxiliary controllers, the auxiliary controller automatic replacement method further includes: A coding table is configured to connect multiple auxiliary controllers to the main controller, wherein the coding table includes the serial numbers of the auxiliary controllers and the hardware address codes of the auxiliary controllers.

6. An auxiliary controller automatic replacement system, It is characterized in that include: Main controller; a plurality of auxiliary controllers, the auxiliary controllers being communicatively connected to the main controller; and An automatic replacement controller, wherein the automatic replacement controller is communicatively connected to the main controller and the auxiliary controller; the automatic replacement controller is used to execute the auxiliary controller automatic replacement method according to any one of claims 1 to 5.

7. The auxiliary controller automatic replacement system according to claim 6, It is characterized in that The models of the plurality of auxiliary controllers are the same.

8. Engineering vehicles, It is characterized in that include: An auxiliary controller automatic replacement system as described in any one of claims 6-7.

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