Control method for CAN bus hand controller of intelligent electric lifting table and hand controller

Abstract

The invention discloses an intelligent electric lifting table CAN bus hand controller control method and a hand controller, a user operates a key of the hand controller to issue parameters to a motor module through a CAN bus, and the motor module works according to a set value set by the user; the running speed, the maximum running height, the anti-pinch sensitivity and other parameters of the table legs are configured, and the parameters are stored in a memory and can be memorized and retrieved again when the table legs are powered on again next time; the hand controller can receive program data issued by the motor module through the CAN bus during automatic upgrading, an original program is automatically covered after the data sent by the motor module is received, and meanwhile, the hand controller can automatically enter a program upgrading mode by supporting one or more keys of the hand controller on the CAN node. The program upgrading can be completed in one or two minutes, so that the program upgrading cost is greatly reduced; the hand controller has a fault diagnosis function, a zero power consumption function, a function of sensing whether a surrounding human body stands or keeps sitting, and a Bluetooth communication function.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent lifting tables, and in particular to a control method of a CAN bus hand controller of an intelligent electric lifting table and a hand controller. Background Art

[0002] Most of the existing hand controllers of electric lift tables adopt a single-point communication method, that is, a communication method with one host and multiple slaves. The link utilization rate of the single-point communication method is not high, and there are also problems such as slow communication speed, short communication distance, and narrow communication bandwidth; and the total cost of system development and subsequent maintenance is high, which is not conducive to subsequent function expansion and program upgrades. There are also problems such as a single power supply method and insufficient methods for setting the operating parameters of the lift table.

[0003] In addition, most upgradeable hand controllers, when there are no operation buttons, will first run the bootloader program when powered on for the first time, and then automatically return to the normal APP program if there is no upgrade command after a period of time. The upgrade time of the traditional single-point communication method is very long. Most of the anti-pinch sensors of existing electric lift tables are in the motor module, and the motor module is mostly installed in the center of the back of the lift table, which has a weak ability to sense the shaking of the entire table and has a low anti-pinch sensitivity. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a control method and a hand controller for a CAN bus hand controller of an intelligent electric lifting table.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a CAN bus hand controller control method for an intelligent electric lifting table, wherein a user operates the buttons of the hand controller to send parameters to a motor module through the CAN bus, and the motor module works according to the setting values ​​set by the user; when the hand controller is automatically upgraded, it can receive program data sent by the motor module through the CAN bus, and automatically overwrite the original program when the data sent by the motor module is received.

[0006] Furthermore, a wireless communication module is used to send instructions, and data / commands are sent to the motor module through the CAN bus.

[0007] Furthermore, the specific steps for setting the setting value set by the user are:

[0008] Step 1: The hand controller is in standby mode;

[0009] Step 2: Press and hold the S button on the panel to see if you are in the setting mode. If yes, "set" will flash on the screen and the hand controller is in the configuration parameter mode.

[0010] Step 3: Press other keys to set the table leg running speed, maximum running height and anti-pinch sensitivity parameters. In the configuration mode, the parameters are continuously sent to the motor module. When the parameter setting time ends or the user automatically exits the parameter setting interface, the hand controller automatically enters the normal working mode from the parameter configuration mode.

[0011] Furthermore, the specific steps for the automatic upgrade of the hand controller are as follows:

[0012] Step A: When powered on for the first time, the hand controller waits for a certain period of time to see if there is a device sending a request to upgrade the program. If there is no upgrade command after a period of time, it will automatically return to the normal APP program.

[0013] Step B: When receiving the upgrade command of the upgrade device, respond immediately and wait for the handshake instruction; if the handshake link fails, return to the stage of waiting for a new start program upgrade command; after waiting for a period of time, if there is no upgrade command, automatically exit the upgrade program and return to the normal APP part program;

[0014] Step C: If the handshake is successful, the upgrade device starts to send program data. After the hand controller receives all program data sent by the upgrade device, it waits to enter the data verification phase. After the data sent by all upgrade devices is verified, the new program data is overwritten to the original storage location of the APP program, and the APP program starts running automatically after exiting the upgrade mode.

[0015] Furthermore, the specific steps of wireless communication module data exchange are:

[0016] Step Ⅰ: By pressing the button on the remote control, the command is sent to the hand controller through the wireless signal, and the hand controller is paired with the wireless communication module;

[0017] Step II: After pairing is completed, a short-distance temporary network is established and the remote control command is received.

[0018] Step III: After receiving the command sent by the remote control, the corresponding data / command is transmitted to the motor module of the table leg through the CAN bus. This process is repeated to achieve remote control of the lifting table.

[0019] Furthermore, the buttons of the hand controller include a power switch. When the user lightly touches the power switch, the coil inside the relay is energized and attracted to realize power supply to the entire lifting table system; after releasing the power switch, the MCU control chip controls the coil of the relay to continue to be attracted to realize continuous power supply; when the MCU control chip disconnects the coil inside the relay, the power supply to the entire lifting table system is cut off.

[0020] The power supply of the entire lifting table system controlled by the CAN bus is achieved by triggering the opening and closing of the relay with a button. When the relay is turned on, the entire system has power. When the relay is disconnected, the entire system is disconnected from the power supply. When there is no power supply, the entire system achieves zero power consumption.

[0021] Furthermore, when the hand controller sends parameters, the motor module responds to the new data receiving action and stores the data in the memory. When the lifting table is raised or lowered, the motor module will rise or fall according to the setting value parameters set by the user.

[0022] Furthermore, when a CAN bus fault occurs or data transmission is abnormal, the CAN network will be closed and communication will no longer be possible. There will be a corresponding network fault code. At this time, the CAN hand controller will recognize the fault code and display it on the display module as an error code; some other CAN bus faults correspond to different error codes, which are displayed on the display module.

[0023] A CAN bus hand controller for an intelligent electric lifting table according to any of the control methods described above, comprising a hand controller, a CAN bus and a motor module of a plurality of table legs, wherein the hand controller has a plurality of buttons, and the hand controller is installed at the edge of the electric lifting table, wherein an MCU control chip, a plurality of sensors, a diagnostic module, a wireless communication module and an infrared transceiver are arranged in the hand controller, and a display module is also arranged on the hand controller to display information output by the diagnostic module, wherein the sensor, the wireless communication module, the infrared transceiver and the diagnostic module are all connected to the MCU control chip signal;

[0024] It also includes a power supply, a connecting line is provided between the power switch and the power supply, and a relay is provided on the connecting line; the user can realize power supply and power off of the entire lifting table system by operating the power switch and the relay.

[0025] Furthermore, the sensor includes an acceleration sensor and a vibration sensor. The vibration sensor is a gyroscope sensor. When the gyroscope sensor detects that the number of vibrations is greater than or equal to a default value or a set value, the hand controller transmits anti-pinch information to the motor module through the CAN bus, and the motor module controls the power structure of the electric table to move in the opposite direction of the raising or lowering of the electric table to perform a rebound action.

[0026] Furthermore, the power source is a battery pack, a power supply, or a power cord through a power interface.

[0027] Furthermore, a power interface, a power supply chip and a power management module are provided on the circuit board of the hand controller.

[0028] Furthermore, the wireless communication module transmits signals with the wireless remote controller.

[0029] Furthermore, the wireless communication module transmits the operating parameters of the lifting table to the wireless remote control to achieve two-way data transmission.

[0030] The hand controller and the Bluetooth remote control are connected via radio waves. Both have a built-in Bluetooth communication module. When two Bluetooth devices want to exchange data, they first perform Bluetooth pairing. After pairing is complete, a short-range temporary network is established. The master device periodically sends commands to read the status of the slave device. After receiving the command from the master device, the slave device responds with radio waves containing the table push system information. At the same time, the two can automatically enter low-power mode when no information is transmitted. The next time they wake up, there is no need to re-pair Bluetooth and Bluetooth communication can be carried out directly, achieving the advantages of quick response when in use and low power consumption when not in use.

[0031] Furthermore, the infrared transceiver includes an infrared receiver and an infrared transmitter; when the infrared transmitter emits light outward and encounters an obstacle and the infrared light emitted back is just received by the infrared receiver, it is considered that there is a user nearby. That is, when the user is standing, no infrared light is reflected back, and when the user is sitting, the infrared receiver can receive the infrared light, thereby judging whether the user is standing.

[0032] With this setting, the length of time the user stands or sits every day can be sensed, and by recording the length of time, the user can be prompted to take a break after standing or sitting for a long time.

[0033] The CAN protocol abolishes the traditional station address encoding method and replaces it with encoding the communication data block. The advantage of this method is that the number of nodes in the network can be used theoretically without limitation, and the identification code of the data block can be composed of 11 or 29 bits of binary numbers, so 211 or 229 different data blocks can be defined, that is, a lifting table system can have a maximum of 211 or 229 CAN nodes, and the hand controller in the system can be the host to query other node devices on the CAN bus. It can also enable different nodes to receive the same data at the same time, solving the pain point of low communication efficiency caused by the traditional one host and multiple slaves; the CAN bus adopts a distributed control method with excellent performance, extremely high reliability and unique design, which is very suitable for the interconnection of various node devices of the lifting table, greatly improving the detection and control capabilities of the hand controller as an operating device; the CAN bus uses a serial data transmission method and can run at a rate of 1Mb / s on a 40m twisted pair cable, and the bus protocol on this bus supports multiple master controllers. The communication is not restricted by the master-control relationship and is only affected by the time domain. At a certain moment, any node device on the bus can act as a host to measure and control other sub-node devices; the CAN bus system has a simple structure and a very high cost-effectiveness, because it has a complete communication protocol that can be implemented by the CAN control chip and its interface chip, thereby greatly reducing the development difficulty of the CAN system and shortening the development cycle.

[0034] The beneficial effects of the present invention are as follows: the hand controller system of the present invention has low cost, high bus utilization rate, multi-master network, high transmission rate, long transmission distance, and a bus system with high fault tolerance rate; at the same time, it provides a lot of space for reducing the later maintenance cost, supports the user to operate the hand controller to set a series of parameters such as the sending speed, the maximum operating height, the anti-pinch sensitivity, etc., and these parameters will be immediately reflected in the motor module unit, and these parameters will also be memorized. The MCU control chip of the hand controller gives the information to the CAN interface chip, and the CAN interface chip converts the signal into a differential signal and transmits it to the motor module through the CAN_L and CAN_H twisted pair cables. The motor module controls the motor according to the parameters newly set by the user;

[0035] During the program upgrade process, the upgrade device sends data to the hand controller offline through the CAN line, and when the data is abnormal, the hand controller can immediately exit the upgrade process and return to normal program operation; since the anti-pinch sensor and gyroscope sensor are placed in the hand controller, and the hand controller is installed on the edge of the electric table, it can better sense the vibration of the table body, and then control the motor accordingly according to the magnitude of the vibration; and the gyroscope sensor communicates with the MCU control chip through the IIC interface; the vibration state of the electric table is detected in real time through the gyroscope sensor. When it is detected that the movement posture of the electric table is abnormal, the table legs will be automatically controlled to produce anti-pinch action. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0037] Figure 1 It is a system principle block diagram of the present invention.

[0038] Figure 2 It is a system control block diagram of the present invention.

[0039] Figure 3 It is a structural schematic diagram of the hand controller in the present invention.

[0040] Figure 4 It is a flowchart of the parameter sending of the present invention.

[0041] Figure 5 It is a flowchart of program upgrade of the present invention.

[0042] Figure 6 It is a flowchart of the Bluetooth communication of the present invention.

[0043] Figure 7 It is a simplified diagram of the zero power consumption circuit of the present invention.

[0044] Figure 8 It is a control flow chart of the zero power consumption circuit of the present invention.

[0045] In the picture: 1. Hand controller, 2. Motor module. DETAILED DESCRIPTION

[0046] The present invention will now be further described in conjunction with the accompanying drawings and preferred embodiments. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0047] Figures 1 to 3 As shown, a smart electric lifting table CAN bus hand controller includes a hand controller 1, a CAN bus and a motor module 2 for multiple table legs. The hand controller 1 has a plurality of buttons. Based on the CAN bus, the user sends parameters to the motor module 2 by operating the buttons of the hand controller 1, and the motor module 2 works according to the setting values ​​set by the user; when the hand controller 1 is automatically upgraded, it can receive the program data sent by the motor module 2 through the CAN bus, and automatically overwrite the original program when the data sent by the motor module 2 is received.

[0048] The hand controller 1 is installed at the edge of the electric lifting table. The hand controller 1 is equipped with an MCU control chip, several sensors, an infrared transceiver and a diagnostic module. The hand controller 1 is also provided with a display module for displaying the information output by the diagnostic module. The sensors, infrared transceivers and diagnostic modules are all connected to the MCU control chip signal.

[0049] The sensor includes an acceleration sensor and a vibration sensor. The vibration sensor is a gyroscope sensor. The sensor transmits the detected data to the MCU control chip of the hand controller 1. The MCU control chip compares the received data with the default setting value or the custom setting value stored in the memory. After obtaining the result, it is sent to the motor module 2 through the CAN bus. The motor module 2 controls the MCU control chip to control the power structure on the lifting table to perform an anti-pinch action; the anti-pinch action is specifically that the motor module 2 controls the power mechanism on the lifting table to make a rebound action in the opposite direction when the lifting table is raised or lowered. The rebound action, as the power mechanism of the lifting table, drives the lifting table to move a distance in the opposite direction when the lifting table is raised or lowered, specifically 1 to 6 cm.

[0050] The gyroscope sensor detects the number of vibrations with a slope greater than 80. When the number of vibrations is greater than or equal to the default value or the set value, the hand controller 1 transmits the anti-pinch information to the motor module 2 through the CAN bus, and the motor module 2 controls the power structure of the electric table to move in the opposite direction of the raising or lowering of the electric table to perform a rebound action.

[0051] The hand controller 1 integrates an infrared receiver and an infrared transmitter. When the infrared transmitter emits light outwards and encounters an obstacle and the infrared light emitted back is received by the infrared receiver, it is considered that there is a user nearby. Since the distance between the lifting table and the ground is different when the user is standing and sitting, the emission distance can be effectively controlled by setting the infrared transmission power. That is, when the user is standing, the infrared light cannot be reflected back, and when the user is sitting, the infrared receiver can receive the infrared light first, so as to judge whether the user is standing.

[0052] At the same time, the transmission distance can be controlled by setting different transmission powers of the infrared transmitter, that is, infrared light of different powers can be emitted to detect obstacles at different distances around. Since the number and distance of infrared light at different distances received by the infrared receiver are different when the user is standing and sitting, it is possible to determine whether the user is standing by judging the strength of the infrared signal received by the infrared receiver. When the infrared receiver detects that the infrared signal is higher than a set threshold, it is determined that the user is sitting; when the infrared receiver detects that the infrared signal is lower than a set threshold, it is determined that the user is standing.

[0053] like Figure 4 As shown in the figure, the hand controller 1 is in standby mode (the screen is awake but no operation is performed). When the user starts to set the operating parameters, first press and hold the S key on the panel (such as Figure 3 If the user enters the setting mode, the screen will flash "set" and the hand controller 1 is in the parameter configuration mode. Press other keys to set the table leg running speed, maximum running height, anti-pinch sensitivity and other parameters. In the configuration mode, the hand controller 1 continuously sends parameters to the motor module 2. When the parameter setting time ends or the user automatically exits the parameter setting interface, the hand controller 1 automatically enters the normal working mode from the parameter configuration mode.

[0054] like Figure 5 As shown, when the power is turned on for the first time, wait for a certain period of time to see if there is a device sending a request to upgrade the program command, and then operate one or more buttons of the hand controller 1 (combined with Figure 3) Let the hand controller 1 jump to the bootloader program, wait for a period of time without an upgrade command, and automatically return to the normal APP part of the program; when receiving the upgrade command of the upgrade device, respond immediately and wait for the handshake instruction; if the handshake link fails, it will return to the stage of waiting for a new start program upgrade command; after waiting for a period of time, if there is still no new upgrade command, it will automatically exit the upgrade program and return to the normal APP part of the program; once the upgrade device and hand controller 1 shake hands successfully, the upgrade device starts to send program data. When the hand controller 1 receives all the program data sent by the upgrade device, it waits to enter the data verification (CRC verification) link; when all the data sent by the upgrade device are verified, the new program data is overwritten to the original storage location of the APP program, and the APP program is automatically started after exiting the upgrade mode.

[0055] like Figure 6 As shown, the hand controller 1 is connected to the Bluetooth remote control via radio waves. Both of them have a built-in Bluetooth communication module. When the two Bluetooth devices want to exchange data, they first perform Bluetooth pairing. After pairing, a short-distance temporary network is established to wait for instructions from the Bluetooth remote control. After receiving the instructions sent by the Bluetooth remote control, they are sent to the motor module 2 of the table leg through the CAN bus, and this is repeated. The Bluetooth communication of the hand controller 1 uses 2.4GHZ, master-slave connection relationship, and two-way communication, which is consistent with the principle of mobile phone Bluetooth communication.

[0056] like Figure 7 and Figure 8 As shown, the SWP1 button on the side of the hand controller 1 (combined with Figure 3 ) is pressed, two resistors divide the voltage, Q2 (PMOS tube) is turned on, and after it is turned on, the internal electric coils of the relay pins 1 and 2 are energized to generate a magnetic field, and the magnetic field connects pins 3 and 4 to turn on. At this time, 30V_OUT is connected to 30VIN, and the whole system has power. After power is supplied, the MCU control chip of hand controller 1 quickly gives 30V_CTL a 3.3V voltage (high level), so that the voltage control circuit composed of Q1 (NPN tube) and Q2 is turned on. At this time, pins 3 and 4 of the relay are continuously connected, so that the system always has power. When the MCU control chip of hand controller 1 does not give 30V_CTL a 3.3V voltage (low level), the voltage control circuit composed of Q1 and Q2 is blocked, and the whole system has no 30V voltage, thereby realizing the zero power consumption function.

[0057] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it. They cannot be used to limit the protection scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a CAN bus hand controller of an intelligent electric lifting table, characterized in that: The user operates the buttons of the hand controller to send parameters to the motor module through the CAN bus, and the motor module works according to the setting values ​​set by the user; when the hand controller is automatically upgraded, it can receive the program data sent by the motor module through the CAN bus, and automatically overwrite the original program when the data sent by the motor module is received.

2. The control method of the CAN bus hand controller of the intelligent electric lifting table according to claim 1 is characterized in that: A wireless communication module is also used to send instructions, and data / commands are sent to the motor module through the CAN bus.

3. The control method of the CAN bus hand controller of the intelligent electric lifting table according to claim 1 is characterized in that: The specific steps of setting the user-defined setting value are as follows: Step 1: The hand controller is in standby mode; Step 2: Press and hold the S button on the panel to see if you are in the setting mode. If yes, "set" will flash on the screen and the hand controller is in the parameter configuration mode. Step 3: Press other keys to set the table leg running speed, maximum running height and anti-pinch sensitivity parameters. In the configuration mode, the parameters are continuously sent to the motor module. When the parameter setting time ends or the user automatically exits the parameter setting interface, the hand controller automatically enters the normal working mode from the parameter configuration mode.

4. The control method of the CAN bus hand controller of the intelligent electric lifting table according to claim 1 or 2, characterized in that: The specific steps of the automatic upgrade of the hand controller are as follows: Step A: When powered on for the first time, the hand controller waits for a certain period of time to see if there is a device sending a request to upgrade the program. If there is no upgrade command after a period of time, it will automatically return to the normal APP program. Step B: After receiving the upgrade command from the upgrade device, respond immediately and wait for the handshake instruction; If the handshake fails, the system will return to the stage of waiting for a new start program upgrade command. After waiting for a period of time, if there is no upgrade command, the upgrade program will automatically exit and return to the normal APP program. Step C: If the handshake is successful, the upgrade device starts to send program data. After the hand controller receives all program data sent by the upgrade device, it waits to enter the data verification phase. After the data sent by all upgrade devices is verified, the new program data is overwritten to the original storage location of the APP program, and the APP program starts running automatically after exiting the upgrade mode.

5. The control method of the CAN bus hand controller of the intelligent electric lifting table according to claim 2 is characterized in that: The specific steps of the wireless communication module interacting with data are: Step Ⅰ: By pressing the button on the remote control, the command is sent to the hand controller through the wireless signal, and the hand controller is paired with the wireless communication module; Step II: After pairing is completed, a short-distance temporary network is established and the remote control command is received. Step III: After receiving the command sent by the remote control, the corresponding data / command is transmitted to the motor module of the table leg through the CAN bus. This process is repeated to achieve remote control of the lifting table.

6. The control method of the CAN bus hand controller of the intelligent electric lifting table according to claim 1 is characterized in that: The buttons of the hand controller include a power switch. When the user lightly touches the power switch, the coil inside the relay is energized and attracted to realize power supply to the entire lifting table system; after releasing the power switch, the MCU control chip controls the coil of the relay to continue to be attracted to realize continuous power supply; when the MCU control chip disconnects the coil inside the relay, the power supply of the entire lifting table system is cut off.

7. The control method of the CAN bus hand controller of the intelligent electric lifting table according to claim 1 or 2, characterized in that: When the hand controller sends parameters, the motor module responds to the new data receiving action and stores the data in the memory. When the lifting table is raised or lowered, the motor module will rise or fall according to the setting value parameters set by the user.

8. The control method of the CAN bus hand controller of the intelligent electric lifting table according to claim 1 or 2, characterized in that: When a CAN bus fault occurs or data transmission is abnormal, the CAN network will be closed and communication will no longer be possible. There will be a corresponding network fault code. At this time, the CAN hand controller will recognize the fault code and display it on the display module as an error code; some other CAN bus faults correspond to different error codes, which are displayed on the display module.

9. A CAN bus hand controller for an intelligent electric lifting table using the control method according to any one of claims 1 to 8, characterized in that: The electric motor module comprises a hand controller, a CAN bus and a plurality of table legs, wherein the hand controller has a plurality of buttons and is installed at the edge of the electric lifting table. The hand controller is provided with an MCU control chip, a plurality of sensors, a diagnostic module, a wireless communication module and an infrared transceiver. The hand controller is also provided with a display module for displaying information output by the diagnostic module. The sensors, the wireless communication module, the infrared transceiver and the diagnostic module are all connected to the MCU control chip signal; It also includes a power supply, a connecting line is provided between the power switch and the power supply, and a relay is provided on the connecting line; the user can realize power supply and power off of the entire lifting table system by operating the power switch and the relay.

10. The CAN bus hand controller for the intelligent electric lifting table according to claim 9 is characterized in that: The sensor includes an acceleration sensor and a vibration sensor. The vibration sensor is a gyroscope sensor. When the gyroscope sensor detects that the number of vibrations is greater than or equal to a default value or a set value, the hand controller transmits anti-pinch information to the motor module through the CAN bus, and the motor module controls the power structure of the electric table to move in the opposite direction of the raising or lowering of the electric table to perform a rebound action.

11. The CAN bus hand controller for the intelligent electric lifting table according to claim 9, characterized in that: The power source is a battery pack, a power source, or a power cord through a power interface.

12. The intelligent electric lifting table CAN bus hand controller according to claim 9, characterized in that: The circuit board of the hand controller is provided with a power interface, a power supply chip and a power management module.

13. The CAN bus hand controller for the intelligent electric lifting table according to claim 9, characterized in that: The wireless communication module transmits signals with the wireless remote controller.

14. The intelligent electric lifting table CAN bus hand controller according to claim 13, characterized in that: The wireless communication module transmits the operating parameters of the lifting table to the wireless remote controller to achieve two-way data transmission.

15. The CAN bus hand controller for the intelligent electric lifting table according to claim 9, characterized in that: The infrared transceiver includes an infrared receiver and an infrared transmitter; when the infrared transmitter emits light outward and encounters an obstacle and the infrared light emitted back is just received by the infrared receiver, it is considered that there is a user nearby, that is, when the user is standing, no infrared light is reflected back, and when the user is sitting, the infrared receiver can receive the infrared light, thereby judging whether the user is standing.

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