Ethernet maintenance method for working face hydraulic support controller based on CANET

Abstract

The invention provides a CANET-based Ethernet maintenance method for a working face hydraulic support controller, which is applied to a control terminal, the control terminal is connected with CANET equipment through a network cable, and the CANET equipment is connected with the working face hydraulic support controller through a CAN bus, and comprises the following steps: configuring basic information of the CANET equipment; creating a client to monitor a local working port, and establishing connection with the CANET IP address; dividing the configuration file into a plurality of data blocks; for each data block, packaging the data block into a plurality of CAN frames, packaging the plurality of CAN frames into a TCP message frame, sending the TCP message frame to CANET equipment, and sending the TCP message frame to a working face hydraulic support controller by the CANET equipment; after one data block is sent, the integrity check value of the data block is calculated, the data check value returned by the working face hydraulic support controller is received and compared, if the integrity check value and the data check value are consistent, it is judged that the data blocks are sent successfully, and if not, it is judged that the data blocks are sent unsuccessfully; and when all the data blocks of the configuration file are successfully sent, determining that the configuration file is successfully sent.

Description

Technical Field

[0001] The invention relates to the field of working face hydraulic support maintenance, and in particular to an Ethernet maintenance method for a working face hydraulic support controller based on CANET. Background Art

[0002] In the process of coal mining, it is crucial to improve the transmission method of underground hydraulic support controllers because the underground environment is complex and there are many unsafe factors. The traditional maintenance method relies on technicians to go down to the mine in person to transmit and maintain the configuration files and programs of the hydraulic support controllers. However, the underground conditions are limited, wiring is difficult, and it is difficult to maintain the hydraulic support controllers on the working face, which increases the work intensity and affects production safety.

[0003] At present, the transmission and maintenance method of hydraulic support controllers in comprehensive mining working faces is mainly based on CAN communication. The bridge between the host and the hydraulic support controller is established through the CAN device card USBCAN-2E-U. The host sends the file stream to the CAN bus through USBCAN-2E-U, and then the CAN bus distributes the data stream to the controller. In fact, most comprehensive mining working faces are no longer equipped with CAN communication lines, which means that on-site personnel must carry the control terminal to the working face for maintenance, which increases the workload.

[0004] In order to solve the above problems, people have been seeking an ideal technical solution. Summary of the invention

[0005] The purpose of the present invention is to provide an Ethernet maintenance method for a hydraulic support controller on a working surface based on CANET in view of the deficiencies in the prior art.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is: In a first aspect, a CANET-based Ethernet maintenance method for a hydraulic support controller of a working face is provided, which is applied to a control terminal, wherein the control terminal is connected to a CANET device via a network cable, and the CANET device is connected to the hydraulic support controller of the working face via a CAN bus, comprising the following steps: Step 1, configure the basic information of the CANET device; the basic information at least includes the CANET IP address, the local IP address, the local working port, the target port, the working mode and the CAN baud rate, wherein the CANET IP address and the local IP address are located in the same network segment; Step 2, create a client to listen to the local working port and establish a connection with the CANET IP address; Step 3, dividing the configuration file into multiple data blocks; Step 4: For each data block, encapsulate it into multiple CAN frames, and encapsulate the multiple CAN frames into TCP message frames and send them to the CANET device, which then sends them to the working face hydraulic support controller via the CAN bus.

[0007] Furthermore, after step 4, the method further includes: Step 5, after a data block is sent, the integrity check value of the data block is calculated and saved, and at the same time, a data integrity check instruction is sent to the hydraulic support controller of the working face through the CANET device; The client monitors the local working port to receive the working condition information returned by the hydraulic support controller of the working face, obtains a data check value by parsing the working condition information, and compares it with the stored integrity check value, wherein the data check value is obtained after the hydraulic support controller of the working face performs integrity check on the data block; If the two are consistent, it is determined that the data block is sent successfully, otherwise it is determined that the data block is sent unsuccessfully; Step 6: When all data blocks of the configuration file are sent successfully, it is determined that the configuration file is sent successfully.

[0008] Furthermore, the configuration file is divided into multiple data blocks, including: Convert the configuration file into a binary buffer stream; Divide the binary buffer stream into multiple data blocks of 1024 bytes.

[0009] Further, for each data block, it is encapsulated into multiple CAN frames, and the multiple CAN frames are encapsulated into TCP frames according to a preset encapsulation strategy, including: Divide each data block into multiple unit data frames in units of 7 bytes; According to the CAN communication protocol, CAN frame information and CAN frame ID are created before each unit data frame, so as to encapsulate each unit data frame into a CAN frame according to the control; Create TCP frame information and TCP frame ID according to the Ethernet communication protocol, and form a TCP message frame with multiple CAN frames.

[0010] The second aspect can provide a control terminal for maintaining a hydraulic support controller on a working surface based on CANET, comprising: A configuration module, used to configure basic information of the CANET device; the basic information at least includes the CANET IP address, the local IP address, the local working port, the target port, the working mode and the CAN baud rate, wherein the CANET IP address and the local IP address are located in the same network segment; The client creation module is used to create a client to listen to the local working port and establish a connection with the CANET IP address to realize data sending and receiving; A file division module, used to divide the configuration file into multiple data blocks; An encapsulation module, for encapsulating each data block into multiple CAN frames, and encapsulating multiple CAN frames into TCP message frames; The sending module is used to send the TCP message frame to the CANET device, which is then sent to the working face hydraulic support controller via the CAN bus.

[0011] Furthermore, the control terminal also includes an integrity verification module, which is used to calculate and save the integrity verification value of a data block after a data block is sent, and at the same time send a data integrity verification instruction to the working face hydraulic support controller through the CANET device, and receive the working condition information returned by the working face hydraulic support controller, obtain the data verification value by parsing the working condition information and compare it with the stored integrity verification value, wherein the data verification value is obtained by the working face hydraulic support controller after performing an integrity check on the data block; if the two are consistent, it is determined that the data block is sent successfully, otherwise it is determined that the data block is sent unsuccessfully; when all data blocks of the configuration file are sent successfully, it is determined that the configuration file is sent successfully.

[0012] The third aspect provides an Ethernet maintenance system for a hydraulic support controller of a working face based on CANET, comprising a control terminal, a CANET device and a hydraulic support controller of a working face; wherein the control terminal is connected to the CANET device via a network cable, and the CANET device is connected to the hydraulic support controller of the working face via a CAN bus; The control terminal executes the Ethernet maintenance method for the working face hydraulic support controller based on CANET described in the first aspect; Or the control terminal is the control terminal described in the second aspect.

[0013] The present invention has outstanding substantive features and significant progress compared to the prior art. Specifically, the Ethernet maintenance method for the hydraulic support controller of the working face based on CANET can realize the maintenance of the hydraulic support controller of the fully mechanized mining working face on the well or in the centralized control warehouse, reduce the number of personnel going down the well, and improve work efficiency and safety. The Ethernet maintenance method has a higher bandwidth and transmits data in TCP frames, while CAN communication transmits data in CAN frames and can transmit larger amounts of data; CAN frames have been divided before TCP message transmission, so there is no need for CANET equipment to perform data packetization and grouping, which can improve transmission efficiency; By performing CRC check on each data block and comparing the CRC check value calculated in the program with the CRC check value returned by the controller, the accuracy of the result is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a principle block diagram of embodiment 1 of the present invention.

[0015] Figure 2 It is a flowchart of the Ethernet maintenance method described in Example 1 of the present invention.

[0016] Figure 3 It is a flow chart of the Ethernet maintenance method described in Example 2 of the present invention.

[0017] Figure 4 It is a principle block diagram of the control terminal described in Example 4 of the present invention. DETAILED DESCRIPTION

[0018] The traditional maintenance method is underground, and the on-site personnel must carry the control terminal to the working surface for maintenance. The total transmission time of CAN communication is long. In addition, the CAN bus will be affected by external electromagnetic interference, such as power supply interference. In addition, the controller connection line will short-circuit due to wear and tear, damaging the bus system, resulting in bus data transmission errors.

[0019] To solve the above problems, the present invention transmits the configuration files and programs by sending the file stream to the Ethernet card CANET device, which then sends the file stream to the working face hydraulic support controller. At the same time, the Ethernet card CANET device sends the working condition information and data ACK check value returned by the working face hydraulic support controller to the control terminal for integrity verification to confirm whether the configuration file is correctly transmitted. This maintenance method allows technicians to complete the maintenance of the working face controller without having to go to the working face in person, which can greatly reduce the frequency of technicians going down the well and improve work efficiency and safety.

[0020] The technical solution of the present invention is further described in detail below through specific implementation methods.

[0021] Example 1 This embodiment provides a CANET-based Ethernet maintenance method for a hydraulic support controller on a working surface, which is applied to a control terminal such as Figure 1 As shown, the control terminal is connected to the CANET device via a network cable, and the CANET device is connected to the working face hydraulic support controller via a CAN bus.

[0022] Preferably, the control terminal is a PC device or a mobile terminal.

[0023] like Figure 2As shown, the Ethernet maintenance method comprises the following steps: Step 1: Configure the basic information of CANET equipment; In one embodiment, ZNetCom software is used to set the basic information of CANET devices. ZNetCom is an Ethernet-serial port conversion device configuration tool that can accurately scan and identify devices within a network segment and provide network administrators with a detailed and accurate device list, including key information such as device model, IP address, MAC address, etc.

[0024] In specific implementation, the basic information at least includes CANET IP address, target IP address, local working port, target port, working mode and CAN baud rate, wherein the target IP address is the local IP address of the control terminal, and the CANET IP address and the target IP address are located in the same network segment.

[0025] For example, the CANET device includes two ports, can0 and can1. The parameters of any port are set, including the working mode, CAN baud rate, local working port, target port and target IP address, where the target IP address is the local IP address; for example, the IP of CANET is 192.168.0.178, the target IP address, that is, the local IP address is 192.168.0.159, the port used is can0, the working mode is server, the CAN baud rate is 500kbps, and the local working port and target port are 4001.

[0026] It should be noted that the CAN baud rate is set according to the environment where the control terminal is located. Specifically, when the control terminal is in the aboveground environment, the CAN baud rate is set to 50kbs. At the same time, a mining intrinsically safe data interface is connected between the CANET device and the working face controller. The data interface converts the 50k transmission rate to a 500k transmission rate because the connection line between the controllers requires a 500kbps baud rate. When the control terminal is in the underground environment, the CAN baud rate is set to 500kbps.

[0027] Step 2: Create a client to listen to the local working port and establish a connection with the CANET IP address.

[0028] The client is a TCP client, and the TCP frame between the TCP client and the CANET device adopts the TCP message format.

[0029] Step 3, divide the configuration file into N data blocks; Specifically, convert the configuration file into a binary buffer stream; Divide the binary buffer stream into multiple data blocks of 1024 bytes.

[0030] Step 4: For each data block, encapsulate it into multiple CAN frames, and encapsulate the multiple CAN frames into TCP message frames and send them to the CANET device, which then sends them to the working face hydraulic support controller via the CAN bus.

[0031] In one embodiment, a TCP message frame is composed of 1-50 CAN frames. Each CAN frame includes 13 bytes, including 1 byte of frame information, 4 bytes of frame ID, and 8 bytes of frame data.

[0032] Then, for each data block, encapsulate it into multiple CAN frames, and encapsulate multiple CAN frames into TCP message frames, specifically including: dividing each data block into multiple unit data frames in units of 7 bytes; According to the CAN communication protocol, CAN frame information and CAN frame ID are created before each unit data frame, so as to encapsulate each unit data frame into a CAN frame according to the control; Create TCP frame information and TCP frame ID according to the Ethernet communication protocol, and form a TCP message frame with multiple CAN frames.

[0033] It should be noted that, compared with the traditional CANET device transmission, in which data is packetized on the CANET device, the present embodiment has already divided the CAN frame before TCP message transmission, and there is no need for the CANET device to perform data packetization and assembly, which can improve transmission efficiency.

[0034] It can be understood that during the transmission process, the block time interval between data blocks and the frame time interval of each TCP message are set according to the business demand scenario to avoid packet sticking; after sending a data block, wait for the block time interval before sending the next data block; similarly, after sending a data frame, wait for the frame time interval before sending the next data frame.

[0035] Example 2 The difference between this embodiment and embodiment 1 is that Figure 3 As shown, it also includes: Step 5, after a data block is sent, the integrity check value of the data block is calculated and saved, and at the same time, a data integrity check instruction is sent to the hydraulic support controller of the working face through the CANET device; The client monitors the local working port to receive the working condition information returned by the hydraulic support controller of the working face, obtains a data check value by parsing the working condition information, and compares it with the stored integrity check value, wherein the data check value is obtained after the hydraulic support controller of the working face performs integrity check on the data block; If the two are consistent, it is determined that the data block is sent successfully, otherwise it is determined that the data block is sent unsuccessfully.

[0036] It can be understood that when it is determined that the data block is sent successfully, i+1 is set and step 3 is continued to send the next data block; when it is determined that the data block is sent unsuccessfully, the current data block is sent repeatedly.

[0037] Specifically, the working condition information also includes the frame number of the working face hydraulic support controller. When it is determined that the data block sending fails, data retransmission is performed, and the number of data retransmissions is increased by 1; when the number of data retransmissions is equal to the set maximum number of retransmissions (for example, the maximum number of retransmissions is 3), the frame number of the working face hydraulic support controller and the currently transmitted configuration file are recorded so that the configuration file can be retransmitted again according to the frame number of the working face hydraulic support controller and the corresponding configuration file.

[0038] The retransmission mechanism is set up so that when the controller is maintained underground and TCP communication causes packet loss due to signal interference, it is only necessary to retransmit the erroneous configuration file for the erroneous controller frame number based on the recorded controller frame number and the currently transmitted configuration file, without the need to retransmit the entire working face.

[0039] It should be noted that the data integrity check instruction can check the entire data frame, or only the ACK of the data frame; in some embodiments, each data block can also be checked as a whole. In specific implementation, the integrity check can be a CRC check or an MD5 check.

[0040] Step 6: When all data blocks of the configuration file are sent successfully, it is determined that the configuration file is sent successfully.

[0041] Example 3 This embodiment provides a control terminal for maintaining the hydraulic support controller of the working face based on CANET, such as Figure 4 As shown, including: A configuration module, used to configure basic information of the CANET device; the basic information at least includes the CANET IP address, the local IP address, the local working port, the target port, the working mode and the CAN baud rate, wherein the CANET IP address and the local IP address are located in the same network segment; The client creation module is used to create a client to listen to the local working port and establish a connection with the CANET IP address to realize data sending and receiving; A file division module, used to divide the configuration file into multiple data blocks; An encapsulation module, for encapsulating each data block into multiple CAN frames, and encapsulating multiple CAN frames into TCP message frames; The sending module is used to send the TCP message frame to the CANET device, which is then sent to the hydraulic support controller of the working face via the CAN bus. In one embodiment, the control terminal also includes an integrity verification module, which is used to calculate and save the integrity verification value of a data block after a data block is sent, and at the same time send a data integrity verification instruction to the working face hydraulic support controller through the CANET device, and receive the working condition information returned by the working face hydraulic support controller, obtain the data verification value by parsing the working condition information and compare it with the stored integrity verification value, wherein the data verification value is obtained by the working face hydraulic support controller after performing an integrity check on the data block; if the two are consistent, it is determined that the data block is sent successfully, otherwise it is determined that the data block is sent unsuccessfully; when all data blocks of the configuration file are sent successfully, it is determined that the configuration file is sent successfully.

[0042] Example 4 This embodiment provides an Ethernet maintenance system for a hydraulic support controller of a working face based on CANET, comprising a control terminal, a CANET device and a hydraulic support controller of a working face; wherein the control terminal is connected to the CANET device via a network cable, and the CANET device is connected to the hydraulic support controller of the working face via a CAN bus; The control terminal executes the Ethernet maintenance method for the working face hydraulic support controller based on CANET described in the first aspect; Or the control terminal is the control terminal described in the second aspect.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. A CANET-based Ethernet maintenance method for a hydraulic support controller on a working surface, applied to a control terminal, wherein the control terminal is connected to a CANET device via a network cable, and the CANET device is connected to a hydraulic support controller on a working surface via a CAN bus, characterized in that: The following steps are involved: Step 1, configure the basic information of the CANET device; the basic information at least includes the CANET IP address, the local IP address, the local working port, the target port, the working mode and the CAN baud rate, wherein the CANET IP address and the local IP address are located in the same network segment; Step 2, create a client to listen to the local working port and establish a connection with the CANET IP address; Step 3, dividing the configuration file into multiple data blocks; Step 4: For each data block, encapsulate it into multiple CAN frames, and encapsulate the multiple CAN frames into TCP message frames and send them to the CANET device, which then sends them to the working face hydraulic support controller via the CAN bus.

2. According to claim 1, a CANET-based Ethernet maintenance method for a hydraulic support controller on a working surface is characterized in that: Divide the configuration file into multiple data blocks, including: Convert the configuration file into a binary buffer stream; Divide the binary buffer stream into multiple data blocks of 1024 bytes.

3. A CANET-based Ethernet maintenance method for a hydraulic support controller on a working surface according to claim 1 or 2, characterized in that: For each data block, it is encapsulated into multiple CAN frames, and multiple CAN frames are encapsulated into TCP frames according to a preset encapsulation strategy, including: Divide each data block into multiple unit data frames in units of 7 bytes; According to the CAN communication protocol, CAN frame information and CAN frame ID are created before each unit data frame, so as to encapsulate each unit data frame into a CAN frame according to the control; Create TCP frame information and TCP frame ID according to the Ethernet communication protocol, and form a TCP message frame with multiple CAN frames.

4. The Ethernet maintenance method for the hydraulic support controller of the working face based on CANET according to claim 3 is characterized in that: Also includes: Step 5, after a data block is sent, the integrity check value of the data block is calculated and saved, and at the same time, a data integrity check instruction is sent to the hydraulic support controller of the working face through the CANET device; The client monitors the local working port to receive the working condition information returned by the hydraulic support controller of the working face, obtains a data check value by parsing the working condition information, and compares it with the stored integrity check value, wherein the data check value is obtained after the hydraulic support controller of the working face performs integrity check on the data block; If the two are consistent, it is determined that the data block is sent successfully, otherwise it is determined that the data block is sent unsuccessfully; Step 6: When all data blocks of the configuration file are sent successfully, it is determined that the configuration file is sent successfully.

5. The Ethernet maintenance method for the hydraulic support controller of the working face based on CANET according to claim 4 is characterized in that: When it is determined that the data block sending fails, the data is retransmitted and the number of data retransmissions is increased by 1; when the number of data retransmissions is equal to the set maximum number of retransmissions, the frame number of the working face hydraulic support controller and the currently transmitted configuration file are recorded so that the configuration file can be retransmitted again according to the frame number of the working face hydraulic support controller and the corresponding configuration file.

6. A control terminal for maintaining a hydraulic support controller on a working surface based on CANET, characterized in that: include: A configuration module, used to configure basic information of the CANET device; the basic information at least includes the CANET IP address, the local IP address, the local working port, the target port, the working mode and the CAN baud rate, wherein the CANET IP address and the local IP address are located in the same network segment; The client creation module is used to create a client to listen to the local working port and establish a connection with the CANET IP address to realize data sending and receiving; A file division module, used to divide the configuration file into multiple data blocks; An encapsulation module, for encapsulating each data block into multiple CAN frames, and encapsulating multiple CAN frames into TCP message frames; The sending module is used to send the TCP message frame to the CANET device, which is then sent to the working face hydraulic support controller via the CAN bus.

7. A control terminal for maintaining a hydraulic support controller on a working surface based on CANET according to claim 6, characterized in that: Also includes an integrity check module; The integrity check module is used to calculate and save the integrity check value of a data block after a data block is sent, and at the same time send a data integrity check instruction to the working face hydraulic support controller through the CANET device, and receive the working condition information returned by the working face hydraulic support controller, obtain the data check value by parsing the working condition information and compare it with the stored integrity check value, wherein the data check value is obtained by the working face hydraulic support controller after performing an integrity check on the data block; if the two are consistent, it is determined that the data block is sent successfully, otherwise it is determined that the data block is sent unsuccessfully; when all data blocks of the configuration file are sent successfully, it is determined that the configuration file is sent successfully.

8. An Ethernet maintenance system for hydraulic support controllers on working surfaces based on CANET, characterized in that: It includes a control terminal, a CANET device and a working face hydraulic support controller; wherein the control terminal is connected to the CANET device via a network cable, and the CANET device is connected to the working face hydraulic support controller via a CAN bus; The control terminal executes the Ethernet maintenance method for the working face hydraulic support controller based on CANET as described in any one of claims 1 to 5; Alternatively, the control terminal is the control terminal described in claim 6 or 7.

Images