Equipment gear data detection system based on CAN protocol conversion

Abstract

The invention relates to the technical field of two types of engineering equipment, and particularly discloses an equipment gear data detection system based on CAN protocol conversion, which is used for solving the problems of inaccurate detection, untimely response and low task execution efficiency caused by signal jitter, load change and insufficient mode switching adaptability in the existing equipment gear signal detection. Comprising a gear indicating dial, a gear lever, a proximity switch and a gear signal transmission module, the gear signal transmission module comprises a signal acquisition module, a signal jitter removal module, a data processing unit and a CAN protocol conversion module, and the input end and the output end of the signal acquisition module are connected with the proximity switch and the signal jitter removal module respectively; the signal jitter removing module is connected with the data processing unit; through dynamic jitter removal, task evaluation and mode switching optimization, high precision and quick response of equipment gear signal detection and flexibility of mode switching are realized, and reliability and efficiency of task execution are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of two types of engineering equipment, and more specifically, to an equipment gear position data detection system based on CAN protocol conversion. Background Art

[0002] In two types of engineering equipment vehicles with bridge-building and mine-sweeping functions, the detection and transmission of gear signals are key technologies for realizing dynamic switching of equipment functions. This type of equipment needs to detect the signal status of physical switches and sensors through multiple GPIO pins to determine the current gear status, and then transmit the gear information to other control units through the CAN bus. However, the signal detection process is susceptible to interference, especially for these two types of engineering equipment with bridge-building and mine-sweeping functions. The jitter of physical switches and external electromagnetic interference are inevitable during operation. Although signal jitter can be alleviated to a certain extent through delay and repeated detection, the anti-interference ability is still obvious. Insufficient, secondly, the existing detection method adopts fixed threshold or simple logic judgment, and it is difficult to dynamically adjust the judgment logic according to complex working conditions, especially in the two working modes of mine sweeping and bridging, different modes have different sensitivity and priority requirements for gear signals, and the traditional method of detecting pin signals one by one appears to be lagging when real-time performance is required, especially when the number of signal sampling points or pins increases, the delay problem is more obvious, and furthermore, the transmission of gear signals lacks linkage with other systems. The existing technology can only complete signal acquisition and transmission, and fails to achieve deep integration of equipment operation modes and dynamic adjustments, making it difficult to meet the multi-mode operation requirements in actual use. Summary of the invention

[0003] In order to overcome the above-mentioned defects of the prior art, the present invention provides an equipment gear position data detection system based on CAN protocol conversion, which realizes high precision, fast response and mode switching flexibility of equipment gear position signal detection through dynamic de-jittering, task evaluation and mode switching optimization, thereby significantly improving the reliability and efficiency of task execution.

[0004] For equipment with two working modes, bridging and minesweeping, the switching between working modes requires higher flexibility and adaptability in the determination of gear signals. In the bridging mode, the vehicle needs to bear a higher load, requiring higher gear signal determination accuracy and stronger stability; in the minesweeping mode, the vehicle needs higher maneuverability and sensitivity, and the determination of gear signals should have the characteristics of faster response. The gear signal detection method in the prior art mostly adopts a fixed threshold or simple logic judgment, but this method cannot dynamically adjust the judgment logic according to the change of the working mode, which makes it difficult to meet the differentiated requirements for signal sensitivity and response speed in different modes. In view of the variability and particularity of the task, in the minesweeping task, it is necessary to keep the equipment stable in the dangerous area and have the ability to quickly switch the bridging function so that the channel can be quickly built after the clearance is completed. In the bridging task, it may be necessary to clear the mines in the bridge area to ensure the safety of the equipment and the operating area. This requirement is common in task advancement, disaster relief or multi-equipment collaborative tasks, reflecting the high requirements for safety and task efficiency. Through the function limitation mechanism, the appropriate activation or restriction of the function of another mode in one mode is realized, and the adaptability of the equipment and the reliability of task completion are improved. In addition, the common method of detecting pin signals one by one in the prior art has certain real-time bottlenecks, especially when the number of pins increases or the signal sampling frequency requirements increase, the traditional method is difficult to provide sufficient response speed. The hysteresis in the signal detection process may cause gear switching delays, thereby affecting the operating efficiency of the equipment in complex environments. As the system's demand for the number of pins and detection frequency continues to grow, the computing and processing capabilities of the existing methods may not be sufficient to meet the needs of high dynamics and high concurrency.

[0005] In order to solve the technical problems of the above two types of engineering equipment and achieve the above objectives, the present invention provides the following technical solutions:

[0006] A gear data detection system based on CAN protocol conversion includes a gear indicator plate, a gear lever, a proximity switch and a gear signal transmission module. The gear indicator plate is provided with six identification holes corresponding to the gear status. A proximity switch is provided below each identification hole on the gear indicator plate. The gear lever passes through the gear indicator plate and cooperates with the gear indicator plate. The position of the identification hole corresponding to the gear indicator plate is changed according to the displacement of the gear lever. The gear status of the gear lever is read through the proximity switch to generate a level signal of the current gear. The gear signal transmission module includes a signal acquisition module, a signal de-jitter module, a data processing unit and a CAN protocol conversion module. The input and output ends of the signal acquisition module are respectively connected to the proximity switch and the signal de-jitter module. The signal de-jitter module is connected to the data processing unit and the CAN protocol conversion module. The data processing unit is connected to the CAN protocol conversion unit and the vibration detection module. The gear signal transmission module is connected to the dynamic mode switching module, the dynamic mode switching module is connected to the engine electronic control unit, the engine electronic control unit is connected to the working mode switching switch, and the engine electronic control unit is connected to the signal acquisition module of the gear signal transmission module. In the signal de-jitter module, based on the proximity switch level signal noise collected by the signal acquisition module, the equipment load transmitted by the engine electronic control unit, and the sampling timestamp, the proximity switch level signal de-jitter decision threshold is dynamically adjusted. The optimal dynamic decision threshold is the weighted sum of the mean of the gear signal sampling value in the observation window, the load signal standard deviation, and the load change ratio. The formula for the optimal dynamic decision threshold is:

[0007]

[0008] Where: T opt is the optimal dynamic decision threshold for de-jittering of the gear level signal in the current observation window, N is the number of sampling points in the observation window, i is the sampling point index, V i is the proximity switch level signal value at the i-th sampling point, σ L is the standard deviation of the load of the two types of engineering equipment in the current time window, L max , L min are the maximum load and minimum load in the current observation window respectively; α, β, and γ are all weight coefficients, which are adjusted based on the current working status of the two types of engineering equipment.

[0009] In order to solve the signal jitter problem caused by vibration during the acquisition process of the proximity switch level signal, by comparing the gear level sampling signal value with the optimal dynamic decision threshold, when the signal fluctuation is less than the optimal dynamic decision threshold, the signal is judged to be stable and directly accepted. When the signal fluctuation exceeds the optimal dynamic decision threshold, the signal is smoothed by a dynamically adjusted weighted average algorithm. The shorter the distance from the current sampling point, the higher the weight, ensuring that the smoothed signal is real-time and reducing the interference of historical signals on the current signal. Instantaneous interference is filtered out in a dynamic environment, the real signal changes are retained, and the accuracy of gear signal recognition is enhanced, providing a reliable signal basis for subsequent data processing and mode switching, especially suitable for complex working conditions such as mine sweeping and bridge building.

[0010] As a further solution of the present invention, the signal de-jitter module compares the level signal value of each new sampling point with the currently calculated optimal dynamic decision threshold within the observation time window. If the fluctuation of the level signal value is less than the currently calculated optimal dynamic decision threshold, it is judged that the signal is stable. The current gear signal is received. If the fluctuation of the level signal value is greater than the currently calculated optimal dynamic decision threshold, it is judged that the signal is unstable and the level signal is de-jittered. The signal de-jitter module smoothes the signal through a dynamically adjusted weighted average algorithm. The signal de-jitter formula is:

[0011]

[0012] Where: V deb is the signal value after de-jittering, M is the number of sampling points processed by de-jittering in the current time window, j is the index of the de-jittering sampling point, V j is the jth level signal value of the de-jittering sampling point, ω j is the weight of the j-th level signal sampling point, which is set according to the time distance from the current sampling point.

[0013] As a further solution of the present invention, in the signal de-jitter module, self-diagnosis is performed in the task interval to identify potential faults of the proximity switch, V deb If the fluctuation pattern and trend exceed the preset normal mode fuzzy rules (based on actual operation data), it will be regarded as a signal abnormality or equipment failure (proximity switch failure), indicating maintenance needs.

[0014] In view of the actual needs of the mutual adjustment of the bridge-building and mine-sweeping working modes in complex mission environments, the multi-factor interaction of signal stability, load influence and environmental vibration correction is comprehensively considered. The signal stability is measured by the difference between the jitter signal and the optimal dynamic decision threshold, reflecting the deviation between the de-jitter signal value and the dynamic threshold. Combined with the stable signal maintenance time, the stability and continuity of the gear signal are dynamically evaluated to ensure that the equipment can still make accurate judgments in an environment with frequent signal fluctuations. Secondly, the load data comes from the engine electronic control unit, reflecting the workload carried by the current gear, which is particularly important in the switching between minesweeping and bridge-building. The load in the minesweeping task is lower than the standard load value and changes frequently, while the load in the bridge-building task is higher than the standard load and has strong continuity. The introduction of load indicators helps to dynamically adjust the working mode of the equipment. Finally, the environmental correction parameters combine the vibration amplitude, frequency and energy to correct the impact of external disturbances on the signal in a complex environment, the difference between frequent small vibrations in the minesweeping task and low-frequency and high-amplitude vibrations in the bridge-building task, and improve the accuracy of task evaluation through correction. By reasonably setting the weight coefficients, a balance is achieved among signal fluctuations, load changes and vibration correction, providing a reliable basis for efficient switching between bridge-building and mine-sweeping tasks.

[0015] As a further solution of the present invention, the data processing unit obtains the de-jitter signal data transmitted by the signal de-jitter module, the load data of the engine electronic control unit, the environmental correction parameter data and the timestamp of each sampling point, and obtains the score contribution of each gear according to the task evaluation score formula, summarizes the score contributions of the six gears, and obtains the total task evaluation score within the observation time window. The task evaluation score formula is:

[0016] T es,k =μ1·(V deb,k -T opt )·Δt k +μ2·L k +μ3·D k

[0017] Where: k is the predefined index of the gear, T es,k is the task evaluation score of the kth gear in the observation time window, V deb,k is the kth gear de-jitter signal value transmitted by the signal jitter module, Δt k is the kth gear stable signal maintenance time, L k is the load data corresponding to the kth gear, which comes from the engine electronic control unit, D k is the environmental correction parameter of the kth gear, which is used to correct the influence of external vibration on the gear level signal. μ1, μ2, and μ3 are weight coefficients used to adjust the influence of signal stability, load influence, and environmental correction on the total score, which are set manually.

[0018] As a further solution of the present invention, in the data processing unit, the environmental correction parameter of the kth gear in the task evaluation score formula is related to the external vibration and the optimal dynamic decision threshold, D k is the weighted sum of the ratio of vibration amplitude, vibration frequency, vibration energy and the optimal dynamic decision threshold, D k The formula for obtaining is:

[0019]

[0020] Where: A k is the vibration amplitude corresponding to the kth gear, obtained by the vibration detection module of the equipment, f k is the main frequency extracted after fast Fourier transform of the equipment vibration signal, E k is the vibration energy, obtained by integrating the sampling data of vibration amplitude and frequency. Where T is the length of the observation window, t is the time integral variable, and A k,t is the maximum displacement of the kth gear subjected to vibration at time t, f k,t is the vibration frequency of the kth gear at time t, are the normalized weights of vibration amplitude, vibration frequency and vibration energy, respectively.

[0021] As a further solution of the present invention, in the data processing unit, the total task evaluation score formula within the observation time window is:

[0022]

[0023] Where: T es is the total task assessment score within the observation time window.

[0024] The total task evaluation score in the observation time window calculated by the data processing unit is combined with the de-jitter signal transmitted by the signal de-jitter module, the load data provided by the engine electronic control unit, the environmental correction parameters generated by the vibration detection module, and the demand logic for the bridging and minesweeping mode switching in the dynamic mode switching module. es Determine whether the current task mode needs to be adjusted. es When the value exceeds or falls below the preset threshold, a mode switching suggestion is sent through the CAN protocol conversion module, and the gear signal, load status and vibration correction result are transmitted to the dynamic mode switching module to ensure the reliability and efficiency of task execution.

[0025] As a further solution of the present invention, the CAN protocol conversion module receives the total task evaluation score, gear status, load information and de-jitter gear level signal, encodes the received data into the data frame format of the CAN protocol, and sends the encoded data to the dynamic mode switching module through the CAN bus, and transmits it periodically at set time periods. When the total task evaluation score exceeds a preset threshold, the dynamic mode switching module triggers a mode switching suggestion, and sends the switching suggestion data frame content to the engine electronic control unit to generate an operating mode switching instruction. The operating mode switching switch receives the instruction and prompts the operator to manually confirm, and automatically executes the mode switching instruction after the operator confirms.

[0026] As a further solution of the present invention, the data frame of the CAN protocol conversion module includes an identifier, a data field, a control field and a check field.

[0027] In the present invention, the CAN protocol conversion module encodes the received key data such as the total task evaluation score, gear status, load information and debounce gear level signal into a data frame in the CAN protocol format. The following is the specific content and description of the data frame:

[0028] (1) Total task evaluation score data frame:

[0029] Identifier (ID): 0x01;

[0030] Data field: Total task evaluation score T es , data format 2 bytes, range [0,65535], used to represent the numerical value of the task evaluation score;

[0031] Control field: Data length code (DLC), the value is 2, indicating that the data field length is 2 bytes;

[0032] Check field: CRC (cyclic redundancy check), used to verify data integrity;

[0033] (2) Gear status data frame:

[0034] Identifier (ID): 0x02;

[0035] Data field: the current state of each gear, the data format is 1 byte, indicating the current gear state (the value range is 0-5, corresponding to reverse gear and 1-5 gears respectively);

[0036] Control field: DLC, value is 1;

[0037] Check field: CRC;

[0038] (3) Load information data frame:

[0039] Identifier (ID): 0x03;

[0040] Data field: load information corresponding to the current six gears, data format 2 bytes / gear, a total of 12 bytes, each gear load data is stored in 2 bytes, indicating the load size of the current gear;

[0041] Control field: DLC, value is 12;

[0042] Check field: CRC;

[0043] (4) De-shaking gear level signal data frame:

[0044] Identifier (ID): 0x04;

[0045] Data field: the de-jittering level signal value of each gear, the data format is 1 byte / gear, a total of 6 bytes, indicating the gear signal value after de-jittering (the value range is 0 or 1);

[0046] Control field: DLC, value is 6;

[0047] Check field: CRC;

[0048] (5) Mode switching suggestion data frame:

[0049] Identifier (ID): 0x05;

[0050] Data field: Mode switching suggestion, data format 1 byte, 0x01 indicates that it is recommended to switch to bridge mode, 0x02 indicates that it is recommended to switch to minesweeper mode, and 0x00 indicates to keep the current mode;

[0051] Control field: DLC, value is 1;

[0052] Check field: CRC.

[0053] In order to solve the defects existing in the prior art, the present invention proposes the technical effect of the system: the present invention significantly improves the stability and real-time performance of the gear signal through the dynamically adjusted optimal decision threshold formula and the de-jitter signal smoothing processing formula, and meets the requirements of minesweeping tasks for rapid response and bridge-building tasks for high stability; the total task evaluation score formula comprehensively considers signal fluctuations, load changes and environmental vibration corrections, and can dynamically evaluate the current task status to ensure efficient and safe mode switching in complex task environments; the data frame encoding mechanism designed by the CAN protocol conversion module ensures the rapid transmission and reliable judgment of the total task evaluation score, gear status, load information and de-jitter signal in the dynamic mode switching module, avoiding task failures caused by information delays or errors; the signal de-jitter module self-diagnoses potential faults of the proximity switch during task intervals, further improving the reliability and maintenance efficiency of the system, thereby providing higher adaptability and execution efficiency for the complex task requirements of bridging and minesweeping modes, reflecting the deep optimization and technical breakthrough of equipment signal processing and mode switching in dynamic environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a three-dimensional diagram of the gear indicator plate of the present invention;

[0055] Figure 2 The installation position of the proximity switch of the present invention is shown in FIG. Figure 1 ;

[0056] Figure 3 The installation position of the proximity switch of the present invention is shown in FIG. Figure 2 ,and Figure 2 Different display angles;

[0057] Figure 4 This is a schematic diagram of a gear position signal transmission module of the present invention;

[0058] Figure 5 This is a screenshot of the main interface of the main control box of the two types of engineering equipment of the present invention;

[0059] Figure 6 It is the code diagram of CAN sending and receiving functions of the present invention;

[0060] Figure 7 This is a schematic diagram of a power supply circuit of a gear position signal transmission module of the present invention;

[0061] Figure 8 The photoelectric coupler circuit diagram of the gear position signal transmission module of the present invention;

[0062] In the figure: 1, gear indicator plate; 2, gear lever; 3, proximity switch; 4, identification hole. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] like Figures 1 to 4 As shown, the present invention proposes an equipment gear data detection system based on CAN protocol conversion, including a gear indicator plate 1, a gear lever 2, a proximity switch 3 and a gear signal transmission module. The gear indicator plate 1 is provided with six identification holes 4 corresponding to the gear status. A proximity switch 3 is provided below each identification hole 4 on the gear indicator plate 1. The gear lever 2 penetrates the gear indicator plate 1 and cooperates with the gear indicator plate 1. According to the displacement of the gear lever 2, the position of the identification hole 4 corresponding to the gear indicator plate 1 is changed. The gear status of the gear lever 2 is read through the proximity switch 3, and a level signal of the current gear is generated. The generated level signal is transmitted to the engine electronic control unit through the gear signal transmission module and displayed on the display interface of the main control box of the two types of engineering equipment, as shown in FIG. Figure 5 As shown. Figure 7 The original module circuit design of the gear position detection circuit is shown in the figure. The gear position detection circuit uses an NPN transistor to connect with the proximity switch 3 to determine the voltage signal of the gear position. It is connected to the engine electronic control unit through a Hall sensor. After entering the engine electronic control unit, the measurement data is read and the start control is performed according to this signal. The photoelectric coupler is a component that provides isolated feedback in the regulation loop. The circuit is shown in the figure. Figure 8 As shown. The gear signal transmission module includes a signal acquisition module, a signal de-jitter module, a data processing unit and a CAN protocol conversion module. The input and output ends of the signal acquisition module are respectively connected to the proximity switch and the signal de-jitter module. The signal de-jitter module is connected to the data processing unit. The data processing unit is connected to the CAN protocol conversion unit and the vibration detection module. The gear signal transmission module is connected to a dynamic mode switching module. The dynamic mode switching module is connected to an engine electronic control unit. The engine electronic control unit is connected to a working mode switching switch. The engine electronic control unit is connected to the signal acquisition module of the gear signal transmission module. In the signal de-jitter module, based on the proximity switch level signal noise collected by the signal acquisition module, the equipment load transmitted by the engine electronic control unit and the sampling timestamp, the proximity switch level signal de-jitter decision threshold is dynamically adjusted. The optimal dynamic decision threshold is the weighted sum of the mean of the gear signal sampling value in the observation window, the load signal standard deviation, and the load change ratio. The formula for the optimal dynamic decision threshold is:

[0065]

[0066] Where: T optis the optimal dynamic decision threshold for de-jittering of the gear level signal in the current observation window, N is the number of sampling points in the observation window, i is the sampling point index, V i is the proximity switch level signal value at the i-th sampling point, σ L is the standard deviation of the load of the two types of engineering equipment in the current time window, L max , L min are the maximum load and minimum load in the current observation window respectively; α, β, and γ are all weight coefficients, which are adjusted based on the current working status of the two types of engineering equipment.

[0067] In order to solve the signal jitter problem caused by vibration during the acquisition process of the proximity switch level signal, by comparing the gear level sampling signal value with the optimal dynamic decision threshold, when the signal fluctuation is less than the optimal dynamic decision threshold, the signal is judged to be stable and directly accepted. When the signal fluctuation exceeds the optimal dynamic decision threshold, the signal is smoothed by a dynamically adjusted weighted average algorithm. The shorter the distance from the current sampling point, the higher the weight, ensuring that the smoothed signal is real-time and reducing the interference of historical signals on the current signal. Instantaneous interference is filtered out in a dynamic environment, the real signal changes are retained, and the accuracy of gear signal recognition is enhanced, providing a reliable signal basis for subsequent data processing and mode switching, especially suitable for complex working conditions such as mine sweeping and bridge building.

[0068] It should be noted that the signal de-jitter module compares the level signal value of each new sampling point with the currently calculated optimal dynamic decision threshold within the observation time window. If the level signal value fluctuation is less than the currently calculated optimal dynamic decision threshold, it is judged that the signal is stable. The current gear signal is received. If the level signal value fluctuation is greater than the currently calculated optimal dynamic decision threshold, it is judged that the signal is unstable and the level signal is de-jittered. The signal de-jitter module smoothes the signal through a dynamically adjusted weighted average algorithm. The signal de-jitter formula is:

[0069]

[0070] Where: V deb is the signal value after de-jittering, M is the number of sampling points processed by de-jittering in the current time window, j is the index of the de-jittering sampling point, V j is the jth level signal value of the de-jittering sampling point, ω j is the weight of the j-th level signal sampling point, which is set according to the time distance from the current sampling point.

[0071] It should be noted that in the signal debounce module, self-diagnosis is performed between tasks to identify potential faults of the proximity switch. deb If the fluctuation pattern and trend exceed the preset normal mode fuzzy rules (based on actual operation data), it will be regarded as a signal abnormality or equipment failure (proximity switch failure), indicating maintenance needs.

[0072] In view of the actual needs of the mutual adjustment of the bridge-building and mine-sweeping working modes in complex mission environments, the multi-factor interaction of signal stability, load influence and environmental vibration correction is comprehensively considered. The signal stability is measured by the difference between the jitter signal and the optimal dynamic decision threshold, reflecting the deviation between the de-jitter signal value and the dynamic threshold. Combined with the stable signal maintenance time, the stability and continuity of the gear signal are dynamically evaluated to ensure that the equipment can still make accurate judgments in an environment with frequent signal fluctuations. Secondly, the load data comes from the engine electronic control unit, reflecting the workload carried by the current gear, which is particularly important in the switching between minesweeping and bridge-building. The load in the minesweeping task is lower than the standard load value and changes frequently, while the load in the bridge-building task is higher than the standard load and has strong continuity. The introduction of load indicators helps to dynamically adjust the working mode of the equipment. Finally, the environmental correction parameters combine the vibration amplitude, frequency and energy to correct the impact of external disturbances on the signal in a complex environment, the difference between frequent small vibrations in the minesweeping task and low-frequency and high-amplitude vibrations in the bridge-building task, and improve the accuracy of task evaluation through correction. By reasonably setting the weight coefficients, a balance is achieved among signal fluctuations, load changes and vibration correction, providing a reliable basis for efficient switching between bridge-building and mine-sweeping tasks.

[0073] It should be noted that the data processing unit obtains the de-jitter signal data transmitted by the signal de-jitter module, the load data of the engine electronic control unit, the environmental correction parameter data and the timestamp of each sampling point, and obtains the score contribution of each gear according to the task evaluation score formula, summarizes the score contributions of the six gears, and obtains the total task evaluation score within the observation time window. The task evaluation score formula is:

[0074] T es,k =μ1·(V deb,k -T opt )·Δt k +μ2·L k +μ3·D k

[0075] Where: k is the predefined index of the gear, T es,k is the task evaluation score of the kth gear in the observation time window, V deb,k is the kth gear de-jitter signal value transmitted by the signal jitter module, Δt k is the kth gear stable signal maintenance time, L k is the load data corresponding to the kth gear, which comes from the engine electronic control unit, D k is the environmental correction parameter of the kth gear, which is used to correct the influence of external vibration on the gear level signal. μ1, μ2, and μ3 are weight coefficients used to adjust the influence of signal stability, load influence, and environmental correction on the total score, which are set manually.

[0076] It should be noted that in the data processing unit, the environmental correction parameter of the kth gear in the task evaluation score formula is related to the external vibration and the optimal dynamic decision threshold. k is the weighted sum of the ratio of vibration amplitude, vibration frequency, vibration energy and the optimal dynamic decision threshold, D k The formula for obtaining is:

[0077]

[0078] Where: A k is the vibration amplitude corresponding to the kth gear, obtained by the vibration detection module of the equipment, f k is the main frequency extracted after fast Fourier transform of the equipment vibration signal, E k is the vibration energy, obtained by integrating the sampling data of vibration amplitude and frequency. Where T is the length of the observation window, t is the time integral variable, and A k,t is the maximum displacement of the kth gear subjected to vibration at time t, f k,t is the vibration frequency of the kth gear at time t, are the normalized weights of vibration amplitude, vibration frequency and vibration energy respectively. The total task evaluation score formula within the observation time window is:

[0079]

[0080] Where: T es is the total task assessment score within the observation time window.

[0081] The total task evaluation score in the observation time window calculated by the data processing unit is combined with the de-jitter signal transmitted by the signal de-jitter module, the load data provided by the engine electronic control unit, the environmental correction parameters generated by the vibration detection module, and the demand logic for the bridging and minesweeping mode switching in the dynamic mode switching module. es Determine whether the current task mode needs to be adjusted. es When the value exceeds or falls below the preset threshold, a mode switching suggestion is sent through the CAN protocol conversion module, and the gear signal, load status and vibration correction result are transmitted to the dynamic mode switching module to ensure the reliability and efficiency of task execution.

[0082] It should be noted that the CAN protocol conversion module receives the total task evaluation score, gear status, load information and de-jitter gear level signal, encodes the received data into the data frame format of the CAN protocol, and sends the encoded data to the dynamic mode switching module through the CAN bus, and transmits it periodically at set time periods. When the total task evaluation score exceeds the preset threshold, the dynamic mode switching module triggers a mode switching suggestion, and sends the switching suggestion data frame content to the engine electronic control unit to generate an operating mode switching instruction. The operating mode switching switch receives the instruction and prompts the operator to manually confirm. After the operator confirms, the mode switching instruction is automatically executed.

[0083] like Figure 6 As shown, the data frame of the CAN protocol conversion module includes an identifier, a data field, a control field and a check field, and its CAN receiving and sending function is divided into a sending part and a receiving part, which are used to send messages and receive messages respectively.

[0084] In the present invention, the CAN protocol conversion module encodes the received key data such as the total task evaluation score, gear status, load information and debounce gear level signal into a data frame in the CAN protocol format. The following is the specific content and description of the data frame:

[0085] (1) Total task evaluation score data frame:

[0086] Identifier (ID): 0x01;

[0087] Data field: Total task evaluation score T es , data format 2 bytes, range [0,65535], used to represent the numerical value of the task evaluation score;

[0088] Control field: Data length code (DLC), the value is 2, indicating that the data field length is 2 bytes;

[0089] Check field: CRC (cyclic redundancy check), used to verify data integrity;

[0090] (2) Gear status data frame:

[0091] Identifier (ID): 0x02;

[0092] Data field: the current state of each gear, the data format is 1 byte, indicating the current gear state (the value range is 0-5, corresponding to reverse gear and 1-5 gears respectively);

[0093] Control field: DLC, value is 1;

[0094] Check field: CRC;

[0095] (3) Load information data frame:

[0096] Identifier (ID): 0x03;

[0097] Data field: load information corresponding to the current six gears, data format 2 bytes / gear, a total of 12 bytes, each gear load data is stored in 2 bytes, indicating the load size of the current gear;

[0098] Control field: DLC, value is 12;

[0099] Check field: CRC;

[0100] (4) De-shaking gear level signal data frame:

[0101] Identifier (ID): 0x04;

[0102] Data field: the de-jittering level signal value of each gear, the data format is 1 byte / gear, a total of 6 bytes, indicating the gear signal value after de-jittering (the value range is 0 or 1);

[0103] Control field: DLC, value is 6;

[0104] Check field: CRC;

[0105] (5) Mode switching suggestion data frame:

[0106] Identifier (ID): 0x05;

[0107] Data field: Mode switching suggestion, data format 1 byte, 0x01 indicates that it is recommended to switch to bridge mode, 0x02 indicates that it is recommended to switch to minesweeper mode, and 0x00 indicates to keep the current mode;

[0108] Control field: DLC, value is 1;

[0109] Check field: CRC.

[0110] Example

[0111] In order to clearly demonstrate the actual process operation of the technical solution proposed in the present invention to solve the technical problem, an example is given in combination with set data for explanation, and the set data is only used to more clearly demonstrate the implementation process and method of the technical solution.

[0112] The implementation process of the technical solution proposed in the present invention is as follows:

[0113] Step 1: Signal acquisition and debounce: Proximity switch 3 acquires the level signal V of the current position of lever 2 i , the vibration collection module collects the vibration amplitude A of the equipment k , vibration frequency f k and vibration energy E k The signal acquisition module transmits these data to the signal de-jitter module through the formula Calculate the optimal dynamic decision threshold of the current observation window and compare the collected signal V i and T opt , when the level signal fluctuates beyond T opt , through the dynamic weighted average formula Smoothing the level signal;

[0114] Step 2, data processing and task evaluation: The data processing unit receives the de-jittered signal V deb,k , load data L k , vibration correction data D k , according to the task evaluation score formula T es,k =μ1·(V deb,k -T opt )·Δt k +μ2·L k +μ3·D k Calculate the task evaluation score for each gear, and then use the total task evaluation score formula Summarize the total task evaluation score T within the observation time window es ;

[0115] Step 3: Mode switching judgment and suggestion: The dynamic mode switching module receives T es , if T es If the preset threshold is exceeded, it is determined that the task working mode needs to be switched, and the CAN protocol conversion module encodes the mode switching suggestion data frame, and the data field is 0x01 (bridge mode) or 0x02 (mine sweeping mode);

[0116] Step 4, mode switching execution: The engine electronic control unit receives the mode switching suggestion and generates a working mode switching instruction. After the operator confirms through the main control box interface, it switches to the corresponding working mode.

[0117] Actual data instance process:

[0118] (1) Initial data acquisition: The sampling signal is V i =[1,0,1,1,0,1], vibration data includes A k =0.5m / s 2 , vibration frequency f k =10Hz and vibration energy E k =2J, load data L k =500N;

[0119] (2) Debounce and dynamic decision making:

[0120] Calculating the optimal dynamic decision threshold In σ L =15,L max=600,L min =400, T opt =4.8667;

[0121] For signal V i To smooth, Where t j and t cur They refer to the current time stamp number and the sampling point time stamp number respectively;

[0122] (3) Task evaluation score:

[0123] Calculating single-gear task evaluation scores Here let Δt k =2s,T es,k =147.67, the total task evaluation score is summarized To simplify the calculation, let T es,k In all six gears, it is equal to 147.67;

[0124] (4) Mode switching determination:

[0125] Judgement: T es <3000, no mode switching required; T es ≥3000, it is recommended to switch modes.

[0126] The present invention significantly improves the stability and real-time performance of the gear signal through the dynamically adjusted optimal decision threshold formula and the de-jitter signal smoothing processing formula, and meets the requirements of minesweeping tasks for rapid response and bridge-building tasks for high stability; the total task evaluation score formula comprehensively considers signal fluctuations, load changes and environmental vibration corrections, and can dynamically evaluate the current task status to ensure efficient and safe mode switching in complex task environments; the data frame encoding mechanism designed by the CAN protocol conversion module ensures the rapid transmission and reliable judgment of the total task evaluation score, gear status, load information and de-jitter signal in the dynamic mode switching module, avoiding task failures caused by information delays or errors; the signal de-jitter module self-diagnoses potential faults of the proximity switch during task intervals, further improving the reliability and maintenance efficiency of the system, thereby providing higher adaptability and execution efficiency for the complex task requirements of bridging and minesweeping modes, and reflecting the deep optimization and technological breakthroughs of equipment signal processing and mode switching in dynamic environments.

[0127] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0128] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A gear position data detection system based on CAN protocol conversion, comprising a gear position indicator plate (1), a gear lever (2), a proximity switch (3) and a gear position signal transmission module, characterized in that: The gear signal transmission module includes a signal acquisition module, a signal de-jitter module, a data processing unit and a CAN protocol conversion module. The input and output ends of the signal acquisition module are respectively connected to the proximity switch and the signal de-jitter module. The signal de-jitter module is connected to the data processing unit. The data processing unit is connected to the CAN protocol conversion unit and the vibration detection module. The gear signal transmission module is connected to a dynamic mode switching module. The dynamic mode switching module is connected to an engine electronic control unit. The engine electronic control unit is connected to a working mode switching switch. The engine electronic control unit is connected to the signal acquisition module of the gear signal transmission module. In the signal de-jitter module, based on the proximity switch level signal noise collected by the signal acquisition module, the equipment load transmitted by the engine electronic control unit and the sampling timestamp, the proximity switch level signal de-jitter decision threshold is dynamically adjusted. The optimal dynamic decision threshold is the weighted sum of the mean of the gear signal sampling value in the observation window, the load signal standard deviation, and the load change ratio. The formula for the optimal dynamic decision threshold is: Where: T opt is the optimal dynamic decision threshold for de-jittering of the gear level signal in the current observation window, N is the number of sampling points in the observation window, i is the sampling point index, V i is the proximity switch level signal value at the i-th sampling point, σ L is the standard deviation of the load of the two types of engineering equipment in the current time window, L max , L min are the maximum load and minimum load in the current observation window respectively; α, β, and γ are all weight coefficients, which are adjusted based on the current working status of the two types of engineering equipment.

2. The equipment gear position data detection system based on CAN protocol conversion according to claim 1 is characterized in that: The gear position indicator disk (1) is provided with six identification holes (4) corresponding to the gear position status. A proximity switch (3) is provided below each identification hole (4) on the gear position indicator disk (1). The gear lever (2) passes through the gear position indicator disk (1) and cooperates with the gear position indicator disk (1). According to the displacement of the gear lever (2), the position of the identification hole (4) corresponding to the gear position indicator disk (1) is changed. The gear position status of the gear lever (2) is read through the proximity switch (3) to generate a level signal of the current gear position.

3. The equipment gear position data detection system based on CAN protocol conversion according to claim 1 is characterized in that: The signal de-jitter module compares the level signal value of each new sampling point with the currently calculated optimal dynamic decision threshold within the observation time window. If the level signal value fluctuation is less than the currently calculated optimal dynamic decision threshold, it is judged that the signal is stable and receives the current gear signal. If the level signal value fluctuation is greater than the currently calculated optimal dynamic decision threshold, it is judged that the signal is unstable and the level signal is de-jittered. The signal de-jitter module smoothes the signal through a dynamically adjusted weighted average algorithm. The signal de-jitter formula is: Where: V deb is the signal value after de-jittering, M is the number of sampling points processed by de-jittering in the current time window, j is the index of the de-jittering sampling point, V j is the jth level signal value of the de-jittering sampling point, ω j is the weight of the j-th level signal sampling point, which is set according to the time distance from the current sampling point.

4. The equipment gear position data detection system based on CAN protocol conversion according to claim 3 is characterized in that: The data processing unit obtains the de-jitter signal data transmitted by the signal de-jitter module, the load data of the engine electronic control unit, the environmental correction parameter data and the timestamp of each sampling point, and obtains the score contribution of each gear according to the task evaluation score formula, summarizes the score contributions of the six gears, and obtains the total task evaluation score within the observation time window. The task evaluation score formula is: T es,k =μ1·(V deb,k -T opt )·Δt k +μ2·L k +μ3·D k Where: k is the predefined index of the gear, T es,k is the task evaluation score of the kth gear in the observation time window, V deb,k is the kth gear de-jitter signal value transmitted by the signal jitter module, Δt k is the kth gear stable signal maintenance time, L k is the load data corresponding to the kth gear, which comes from the engine electronic control unit, D k is the environmental correction parameter of the kth gear, which is used to correct the influence of external vibration on the gear level signal. μ1, μ2, and μ3 are weight coefficients used to adjust the influence of signal stability, load influence, and environmental correction on the total score, which are set manually.

5. The equipment gear position data detection system based on CAN protocol conversion according to claim 4 is characterized in that: In the data processing unit, the environmental correction parameter of the kth gear in the task evaluation score formula is related to the external vibration and the optimal dynamic decision threshold, D k is the weighted sum of the ratio of vibration amplitude, vibration frequency, vibration energy and the optimal dynamic decision threshold, D k The formula for obtaining is: Where: A k is the vibration amplitude corresponding to the kth gear, obtained by the vibration detection module of the equipment, f k is the main frequency extracted after fast Fourier transform of the equipment vibration signal, E k is the vibration energy, obtained by integrating the sampling data of vibration amplitude and frequency. Where T is the length of the observation window, t is the time integral variable, and A k,t is the maximum displacement of the kth gear subjected to vibration at time t, f k,t is the vibration frequency of the kth gear at time t, are the normalized weights of vibration amplitude, vibration frequency and vibration energy, respectively.

6. The equipment gear position data detection system based on CAN protocol conversion according to claim 5, characterized in that: In the data processing unit, the total task evaluation score formula within the observation time window is: Where: T es is the total task assessment score within the observation time window.

7. The equipment gear position data detection system based on CAN protocol conversion according to claim 6, characterized in that: The CAN protocol conversion module receives the total task evaluation score, gear status, load information and de-jitter gear level signal, encodes the received data into the data frame format of the CAN protocol, and sends the encoded data to the dynamic mode switching module through the CAN bus. It transmits periodically at set time periods. When the total task evaluation score exceeds the preset threshold, the dynamic mode switching module triggers a mode switching suggestion and sends the switching suggestion data frame content to the engine electronic control unit to generate a working mode switching instruction. The working mode switching switch receives the instruction and prompts the operator to manually confirm. After the operator confirms, the mode switching instruction is automatically executed.

8. The equipment gear position data detection system based on CAN protocol conversion according to claim 7, characterized in that: The data frame of the CAN protocol conversion module includes an identifier, a data field, a control field and a check field.

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