A method and system for detecting a driving wheel device

Abstract

A method for detecting a drive wheel device includes the following steps: Connect the master station to the slave station, and drive the master station to send a heartbeat message to the target slave station; Configure the data types obtained by each slave station according to the heartbeat data; Obtain the connection number of the slave stations according to the heartbeat data, and determine whether the connection number of the slave stations is greater than the number threshold. If it is greater than the number threshold, obtain the network parameters, determine the current network status according to the network parameters. If the current network status is good, extract the data of the slave stations in real time and send it to the master station through the transmission method of TPDO message or TCP; If the network status is not good, select the transmission methods of different data types according to the network parameters, and send the data of the slave stations to the master station. When it is detected that the network status is not good, the transmission methods of different data types will be adjusted according to the network parameters to ensure that the data will not be lost and is transmitted to the master station stably and completely.

Description

Technical Field

[0001] The present invention relates to the technical field of drive wheel detection, in particular to a method and system for detecting drive wheel equipment. Background Art

[0002] Before the drive wheel is produced, it is necessary to test the durability of the drive wheel. When the mileage of the drive wheel reaches a certain value, the product is considered a qualified product.

[0003] Currently, during the test, the test equipment of the driver is usually connected through the network. The drive wheel can be used as a slave station, and the collector of the manager is used as the master station. When the drive wheel is driven, the slave station will respond, and the operation data or operation video will be sent to the master station for collection.

[0004] However, in order to improve the test efficiency, usually the master station will connect multiple slave stations to realize the test of multiple drive wheels. However, at this time, since the number of drive wheels increases, the bandwidth required for data upload will also increase. When there is network fluctuation, the data of some drive wheels may be lost and thus cannot be uploaded to the master station. Since the drive wheel has already operated and cannot be tested for durability again, only another drive wheel can be replaced for testing, which is very wasteful of resources. Summary of the Invention

[0005] Aiming at the above defects, the purpose of the present invention is to provide a method and system for detecting drive wheel equipment to ensure that the slave station can stably transmit complete data to the master station.

[0006] To achieve this purpose, the present invention adopts the following technical solutions: A method for detecting drive wheel equipment includes the following steps:

[0007] Step S1: Connect the master station and the slave station, and drive the master station to send a heartbeat message to the target slave station;

[0008] Step S2: Configure the data types obtained by each slave station according to the heartbeat data;

[0009] Step S3: Obtain the connection number of the slave station according to the heartbeat data, and judge whether the connection number of the slave station is greater than the number threshold. If it is greater than the number threshold, obtain the network parameters and determine the current network state according to the network parameters,

[0010] wherein the network state includes good and non-good. If the current network state is good, the data of the slave station is extracted in real time and sent to the master station through the transmission mode of TPDO message or TCP;

[0011] If the network state is non-good, select the transmission modes of different data types according to the network parameters, and send the data of the slave station to the master station.

[0012] Preferably, the data types include video data and byte data.

[0013] Preferably, the specific steps for determining the current network status according to the network parameters in step S3 are as follows:

[0014] Obtain the RR packet sent by the receiving end based on the RTCP protocol, and parse the RR packet to obtain network parameters, where the network parameters include: link loopback time;

[0015] Perform smoothing processing on the link loopback time to obtain a first parameter;

[0016] Set a lower limit value, and obtain the packet loss retransmission time through the lower limit value and the first parameter. If the packet loss retransmission time is greater than the time threshold, it is in a non-good state. If the packet loss retransmission time is less than the time threshold, it is in a good state.

[0017] Preferably, the specific formula for obtaining the packet loss retransmission time through the lower limit value and the first parameter is as follows:

[0018] ;

[0019] Where is the packet loss retransmission time, is the first parameter at the current moment, G is the lower limit value of the total link loopback time, is the link loopback time at the k-th second, and K is a multiplication factor.

[0020] Preferably, the formula for obtaining the first parameter is specifically as follows:

[0021] ;

[0022] Where is the smoothing coefficient, is the link loopback time at the previous moment, is the link loopback time at the current moment.

[0023] Preferably, when the network status is in a non-good state, byte data is transmitted using the breakpoint resume method.

[0024] Preferably, when the network status is in a non-good state, adjust the bit rate of video data transmission. The specific bit rate adjustment method is as follows:

[0025] Continue to parse the RR packet to obtain the packet loss rate;

[0026] Perform smoothing processing on the packet loss rate to obtain a second parameter;

[0027] Adjust the bit rate according to the second parameter, the preset upper and lower limits of the packet loss rate, and the upper and lower limits of the packet loss retransmission time;

[0028] The adjustment formula for the current code rate is as follows:

[0029] Wherein, and are respectively the maximum upper limit value of the preset packet loss rate and the minimum lower limit value of the packet loss rate, is the second parameter, is the upper limit value of the packet loss retransmission time, is the lower limit value of the packet loss retransmission time, a is the multiplicative decrease factor, b is the subtraction factor, c is the divisor factor, is the code rate at the previous moment, and are respectively the preset maximum code rate and minimum code rate;

[0030] The formula for obtaining the second parameter is as follows:

[0031] ;

[0032] Wherein is the filtering coefficient, is the second parameter at the previous moment, is the packet loss rate parsed from the RR packet.

[0033] A drive wheel device detection system using the described drive wheel device detection method, including a connection module, a configuration module, and a selection module;

[0034] The connection module is used to connect the master station and the slave station, and drive the master station to send a heartbeat message to the target slave station;

[0035] The configuration module is used to configure the types of data obtained by each slave station according to the heartbeat data;

[0036] The selection module obtains the connection quantity of the slave station according to the heartbeat data, judges whether the connection quantity of the slave station is greater than the threshold value. If it is greater than the threshold value, it obtains the network parameters and determines the current network state according to the network parameters,

[0037] Wherein the network state includes good and non - good. If the current network state is good, the data of the slave station is extracted in real - time and sent to the master station through the transmission mode of the TPDO message;

[0038] If the network state is non - good, different data type transmission modes are selected according to the network parameters, and the data of the slave station is sent to the master station.

[0039] Preferably, the selection module includes a first parameter acquisition sub - module and a judgment sub - module;

[0040] The first parameter acquisition sub-module is used to obtain the RR packet sent by the receiving end based on the RTCP protocol, and parse the RR packet to obtain network parameters, where the network parameters include: link loopback time;

[0041] Perform smoothing processing on the link loopback time to obtain the first parameter;

[0042] The judgment sub-module is used to set a lower limit value, obtain the packet loss retransmission time through the lower limit value and the first parameter. If the packet loss retransmission time is greater than the time threshold, it is in a non-good state. If the packet loss retransmission time is less than the time threshold, it is in a good state.

[0043] One of the technical solutions in the above technical solutions has the following advantages or beneficial effects: Therefore, at least two information transmission protocols are set in the present invention for data transmission of different data types. When testing, the number of slave station connections will be recorded. When the number is greater than the number threshold, there may be a network congestion situation, resulting in the inability to transfer the data of the slave station to the master station. Therefore, when the number of connections of the slave station is greater than the number threshold, it is necessary to detect the network state. When the network state is good, the traditional TPDO message transmission method is used to transmit byte data, or the TCP transmission method is used to transmit video data. When it is detected that the network state is not good, the transmission methods of different data types will be adjusted according to the network parameters to ensure that the data will not be lost and is stably and completely transmitted to the master station. Description of the Drawings

[0044] Figure 1 is a flowchart of an embodiment of the method of the present invention.

[0045] Figure 2 is a schematic structural diagram of an embodiment of the system of the present invention. Detailed Embodiments

[0046] The following details the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0047] In the description of the embodiments of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0048] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "a plurality of" means two or more. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0049] As Figures 1-2 shown, a method for detecting a drive wheel device includes the following steps:

[0050] Step S1: Connect the master station and the slave station, and drive the master station to send a heartbeat message to the target slave station;

[0051] Step S2: Configure the types of data obtained by each slave station according to the heartbeat data;

[0052] Step S3: Obtain the number of connections of the slave stations according to the heartbeat data, determine whether the number of connections of the slave stations is greater than the quantity threshold. If it is greater than the quantity threshold, obtain the network parameters and determine the current network status according to the network parameters.

[0053] Wherein the network status includes good and non-good. If the current network status is good, the data of the slave stations is extracted in real time and sent to the master station through the transmission mode of TPDO message or TCP;

[0054] If the network status is non-good, select different data type transmission modes according to the network parameters and send the data of the slave stations to the master station.

[0055] When testing the drive wheel, the master station will first send a heartbeat message to the slave station (drive wheel) to be tested. When the slave station responds, it indicates that the slave station is connected to the master station, and the data during the operation of the slave station can be transmitted to the master station. When the number of slave stations increases, the bandwidth required for data upload will also increase. When affected by network fluctuations, the data of some drive wheels may be lost and thus cannot be uploaded to the master station. Since the drive wheel has already operated and the durability test cannot be carried out again, only another drive wheel can be replaced for testing, which is very wasteful of resources.

[0056] Therefore, in the present invention, at least two information transmission protocols are set for data transmission of different data types. When conducting tests, the number of slave station connections will be recorded. When the number is greater than the number threshold, there may be a network congestion situation, resulting in the inability to transfer the data of the slave station to the master station. Therefore, when the number of connections of the slave station is greater than the number threshold, it is necessary to detect the network status. When the network status is good, the traditional TPDO message transmission method is used to transmit byte data (such as temperature, rotational speed, voltage, temperature, position, status information), or the TCP transmission method is used to transmit video data (video for monitoring the driving wheel). When it is detected that the network status is not good, the transmission methods of different data types will be adjusted according to the network parameters to ensure that the data will not be lost and is stably transmitted to the master station.

[0057] Of course, when the number of connections of the slave station is less than the number threshold, the transmission method when the network status is good will still be adopted to achieve data transfer.

[0058] Preferably, the data types include video data and byte data.

[0059] Preferably, the specific steps of determining the current network status according to the network parameters in step S3 are as follows:

[0060] Obtain the RR packet sent by the receiving end based on the RTCP protocol and parse the RR packet to obtain network parameters, where the network parameters include: link loopback time;

[0061] Perform smoothing processing on the link loopback time to obtain the first parameter;

[0062] Set a lower limit value, and obtain the packet loss retransmission time through the lower limit value and the first parameter. If the packet loss retransmission time is greater than the time threshold, it is in a non-good state. If the packet loss retransmission time is less than the time threshold, it is in a good state.

[0063] When considering the transmission of video data and byte data, since the transmission of video data occupies more bandwidth and has a greater impact on the network status, in the present invention, the feedback of video transmission on the network is mainly considered. And delay is an important indicator reflecting the network condition. Especially in the video surveillance application environment, due to the high requirement for real-time performance, delay is an essential consideration factor. Therefore, in the present invention, the smoothed link loopback time is used as the criterion for judging whether the network status is good.

[0064] Preferably, the specific formula for obtaining the packet loss retransmission time through the lower limit value and the first parameter is as follows:

[0065] ;

[0066] Where is the retransmission time for lost packets, is the first parameter at the current moment, G is the lower limit value of the total link loopback time, is the link loopback time at the k-th second, and K is the multiplication factor.

[0067] Preferably, the acquisition formula of the first parameter is specifically as follows:

[0068] ;

[0069] where is the smoothing coefficient, is the link loopback time at the previous moment, is the link loopback time at the current moment.

[0070] Preferably, when the network state is in a non-good state, byte data is transmitted using the breakpoint resumption method.

[0071] In the case of unstable network or long transmission time, if an interruption occurs, breakpoint resumption can save a large amount of time and network resources because only the remaining part needs to be transmitted instead of the entire file. Moreover, the breakpoint resumption function allows transmission to continue from the position where the previous interruption occurred, ensuring the integrity of the byte data and eliminating the need to replace the drive wheel for testing.

[0072] Preferably, when the network state is in a non-good state, the bit rate of video data transmission is adjusted. The specific bit rate adjustment method is as follows:

[0073] Continue to parse the RR packet to obtain the packet loss rate;

[0074] Smooth the packet loss rate to obtain the second parameter;

[0075] Adjust the bit rate according to the second parameter, the preset upper and lower limits of the packet loss rate, and the upper and lower limits of the retransmission time for lost packets;

[0076] The adjustment formula for the current bit rate is as follows:

[0077] where, and are the preset maximum upper limit value and minimum lower limit value of the packet loss rate respectively, is the second parameter, is the upper limit value of the retransmission time for lost packets, is the lower limit value of the retransmission time for lost packets, a is the multiplicative decrease factor, b is the subtraction factor, c is the divisor factor, is the bit rate at the previous moment, and are the preset maximum bit rate and minimum bit rate respectively;

[0078] The acquisition formula for the second parameter is as follows:

[0079] ;

[0080] where is the filtering coefficient, is the second parameter at the previous moment, is the packet loss rate parsed from within the RR packet.

[0081] When in a non-optimal network state, the TCP transmission method is still used for transmission, but the transmission bitrate will be adjusted accordingly. The bitrate is an important parameter for describing the data transmission speed. The higher the bitrate, the more data is transmitted per second. When the network state is non-optimal, the video data needs to adjust the bitrate according to different packet loss rates to ensure the stability of transmission.

[0082] When in this condition, the network is in a light load state, and the video output bitrate can be appropriately increased. A slow and smooth adjustment is achieved through the increase factor a, and it is also limited by the maximum output bitrate.

[0083] When in this condition, the network is in a stable state, and only the video output bitrate of the previous moment needs to be maintained unchanged. Avoiding additional adjustments from affecting the normal transmission of current video or audio data.

[0084] When in this condition, the network is in an overloaded situation. In this state, the system moderately reduces the video output bitrate, which is achieved through the subtraction factor b, but it is necessary to ensure that the minimum reduction is not lower than the minimum network bandwidth required for system video transmission.

[0085] When in this condition, the network is in an overloaded state. At this time, it is necessary to quickly reduce the video output bitrate. The present invention achieves a large reduction through the divisor factor c. Similarly, it is required that the minimum reduction is not lower than the minimum network bandwidth required for system transmission to ensure effective bitrate reduction.

[0086] A drive wheel device detection system using the described drive wheel device detection method includes a connection module, a configuration module, and a selection module;

[0087] The connection module is used to connect the master station and the slave station, and drive the master station to send a heartbeat message to the target slave station;

[0088] The configuration module is used to configure the types of data obtained by each slave station according to the heartbeat data;

[0089] The selection module obtains the connection number of the slave station according to the heartbeat data, determines whether the connection number of the slave station is greater than the threshold value. If it is greater than the threshold value, it obtains network parameters and determines the current network status according to the network parameters.

[0090] Wherein the network status includes good and non-good. If the current network status is good, the data of the slave station is extracted in real time and sent to the master station through the transmission mode of the TPDO message.

[0091] If the network status is non-good, different data type transmission modes are selected according to the network parameters, and the data of the slave station is sent to the master station.

[0092] Preferably, the selection module includes a first parameter acquisition sub-module and a judgment sub-module.

[0093] The first parameter acquisition sub-module is used to obtain the RR packet sent by the receiving end based on the RTCP protocol and parse the RR packet to obtain network parameters, where the network parameters include: link loopback time.

[0094] The link loopback time is smoothed to obtain a first parameter.

[0095] The judgment sub-module is used to set a lower limit value, obtain the packet loss retransmission time through the lower limit value and the first parameter. If the packet loss retransmission time is greater than the time threshold, it is in a non-good state. If the packet loss retransmission time is less than the time threshold, it is in a good state.

[0096] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0097] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A driving wheel device detection method, characterized in that: The steps include: Step S1: Connect the master station and the slave station, and drive the master station to send a heartbeat message to the target slave station; Step S2: According to the heartbeat data, configure the data type obtained by each slave station; Step S3: Obtain the number of connections of the slave station according to the heartbeat data, and determine whether the number of connections of the slave station is greater than the number threshold. If it is greater than the number threshold, obtain the network parameters, and determine the current network status according to the network parameters. The network status includes good and bad. If the current network status is good, the data of the slave station is extracted in real time and sent to the master station through the transmission mode of TPDO message or TCP; If the network status is not good, the transmission mode of different data types is selected according to the network parameters, and the data of the slave station is sent to the master station; The data types include video data and byte data; The specific steps of determining the current network status according to the network parameters in step S3 are as follows: Based on the RTCP protocol, the RR packet sent by the receiving end is obtained, and the RR packet is parsed to obtain network parameters, wherein the network parameters include: link loop time; Smoothing the link loop time to obtain a first parameter; Set a lower limit value, and obtain the packet loss retransmission time through the lower limit value and the first parameter. If the packet loss retransmission time is greater than the time threshold, it is a non-good state; if the packet loss retransmission time is less than the time threshold, it is a good state; The specific formula for obtaining the packet loss retransmission time by using the lower limit value and the first parameter is as follows: ； in is the packet loss retransmission time, is the first parameter at the current moment, G is the lower limit of the total link loop time, is the link loop time of the kth second, K is the multiplication factor; The formula for obtaining the first parameter is as follows: ； in is the smoothing coefficient, is the link loop time at the previous moment, is the link loop time at the current moment; When the network status is not good, the byte data is transmitted using breakpoint-resume mode; When the network status is not good, adjust the bit rate of video data transmission. The specific bit rate adjustment method is as follows: Continue to parse the RR packet to obtain the packet loss rate; The packet loss rate is smoothed to obtain a second parameter; The bit rate is adjusted according to the second parameter, the preset upper and lower limits of the packet loss rate, and the upper and lower limits of the packet loss retransmission time; The current bit rate adjustment formula is as follows: in, and They are the preset maximum upper limit of packet loss rate and the minimum lower limit of packet loss rate, is the second parameter, is the upper limit of the packet loss retransmission time. is the lower limit of the packet loss retransmission time, a is the multiplicative reduction factor, b is the subtraction factor, and c is the division factor. is the bit rate at the previous moment, and They are the preset maximum bit rate and minimum bit rate respectively; The formula for obtaining the second parameter is as follows: ； in is the filter coefficient, is the second parameter of the previous moment, It is the packet loss rate obtained by parsing the RR packet.

2. A driving wheel device detection system, using a driving wheel device detection method according to claim 1, characterized in that: It includes a connection module, a configuration module and a selection module; The connection module is used to connect the master station and the slave station, driving the master station to send a heartbeat message to the target slave station; The configuration module is used to configure the type of data obtained by each slave station according to the heartbeat data; The selection module obtains the number of connections of the slave station according to the heartbeat data, determines whether the number of connections of the slave station is greater than a threshold, and if greater than the threshold, obtains network parameters, and determines the current network state according to the network parameters. The network status includes good and bad. If the current network status is good, the data of the slave station is extracted in real time and sent to the master station through the transmission mode of TPDO message; If the network status is not good, the transmission method of different data types will be selected according to the network parameters, and the data from the slave station will be sent to the master station.

3. A driving wheel equipment detection system according to claim 2, characterized in that: The selection module includes a first parameter acquisition submodule and a judgment submodule; The first parameter acquisition submodule is used to acquire the RR packet sent by the receiving end based on the RTCP protocol, and parse the RR packet to obtain network parameters, wherein the network parameters include: link loop time; Smoothing the link loop time to obtain a first parameter; The judgment submodule is used to set a lower limit value, and obtain the packet loss retransmission time through the lower limit value and the first parameter. If the packet loss retransmission time is greater than the time threshold, it is a non-good state. If the packet loss retransmission time is less than the time threshold, it is a good state.

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