Method for data transmission according to adaptive period, sending end and collecting end

Abstract

The application provides a method for data transmission according to an adaptive period, a sending terminal and a collecting terminal. The method of the sending terminal comprises the following steps: obtaining hardware parameter information of the sending terminal of the data to be transmitted; determining at least one sending state of the sending terminal according to the hardware parameter information; determining an adaptive sending period corresponding to each sending state respectively; obtaining a numerical variation of two sending data of the sending terminal; and sending the data to be transmitted to at least one collecting terminal according to the numerical variation, a preset numerical variation threshold and the adaptive sending period. The application enables the sending terminal to send data according to an adaptive period.

Description

Technical Field

[0001] This invention relates to the field of short-range wireless communication technology, and in particular to a method for transmitting data according to an adaptive period, a transmitting end, and a collecting end. Background Technology

[0002] In coal mining scenarios, the robotic arms of coal mining control equipment are typically equipped with a large number of sensors to collect data from the coal mining equipment. There are also scenarios where multiple coal mining equipment are working simultaneously. In such scenarios, it is necessary to deploy sensors on a large scale and require sensors to work continuously for a long time. Typically, each sensor acts as a data transmitter and sends data to the data acquisition terminal, which is connected to the data transmitter, at a fixed configured period. The data acquisition terminal can receive data from multiple data transmitters simultaneously.

[0003] For certain niche application scenarios, such as underground coal mines where wired power supply is unfavorable and continuous data transmission is required (data transmission from the data transmitter must be continuous for at least 12 months), configuring the transmission cycle too frequently will consume too much battery power, making it impossible to meet the requirement of continuous data transmission for at least 12 months. Replacing the battery with a larger capacity battery will significantly increase the cost and size of the data transmitter equipment (data transmitters are typically deployed in high densities underground, numbering in the dozens or hundreds). Configuring a longer transmission cycle can reduce battery consumption, but it may prevent timely data transmission in case of unexpected events or emergencies, hindering real-time responses and judgments from the backend monitoring side, thus posing a potential safety hazard. Summary of the Invention

[0004] The technical problem this invention aims to solve is to provide a method, a transmitting end, and a receiving end for data transmission according to an adaptive cycle. This allows for adaptive adjustment of the data transmission cycle of the transmitting end, ensuring timely data transmission and reporting in response to emergencies while reducing the transmission cycle and conserving battery power during system steady-state operation.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] In a first aspect, embodiments of the present invention provide a method for transmitting data according to an adaptive cycle, applied to multiple transmitting ends mounted on a robotic arm of a coal mining equipment, wherein the multiple transmitting ends are wirelessly connected to at least one acquiring end mounted on the coal mining equipment, comprising:

[0007] Obtain the hardware parameter information of the sending end of the data to be transmitted;

[0008] Based on the hardware parameter information, at least one transmission state of the transmitting end is determined;

[0009] Determine the adaptive transmission period corresponding to each transmission state;

[0010] Obtain the numerical change of two transmitted data items from the sending end;

[0011] The data to be transmitted is sent to at least one acquisition terminal based on the numerical change, the preset numerical change threshold, and the adaptive transmission period.

[0012] Optionally, determining at least one transmission state of the transmitting end based on the hardware parameter information includes:

[0013] Based on the hardware parameter information, the emergency state, normal state, and sleep state of the transmitting end are determined.

[0014] Optionally, the adaptive transmission period corresponding to each transmission state is determined, including:

[0015] Based on the hardware limit capability parameters of the transmitting end, the first adaptive transmission period for the emergency state of the transmitting end is determined;

[0016] The second adaptive transmission period of the transmitter in normal state is determined based on the battery capacity of the transmitter.

[0017] Based on the battery power saving strategy of the transmitter, the third adaptive transmission cycle of the transmitter's sleep state is determined.

[0018] Optionally, the change in the values ​​of the two transmitted data from the sender is obtained, including:

[0019] The change in value is determined by the difference between the values ​​of two adjacent transmitted data at the sending end.

[0020] Optionally, the data to be transmitted is sent to at least one acquisition terminal according to the numerical change, a preset numerical change threshold, and an adaptive transmission period, including:

[0021] If the change in the value is greater than or equal to a first preset value change threshold and continues for a first preset duration, the data to be transmitted is sent to at least one acquisition terminal according to a first adaptive transmission cycle.

[0022] If the change in the value is less than the second preset value change threshold and continues for the second preset duration, the data to be transmitted is sent to at least one acquisition terminal according to the second adaptive transmission cycle.

[0023] If the change in the value is less than a third preset threshold for the change in the value and continues for a third preset duration, the data to be transmitted is sent to at least one acquisition terminal according to a third adaptive transmission cycle.

[0024] Optionally, the first preset numerical change threshold Second preset threshold for numerical change The third preset threshold for numerical change.

[0025] Optionally, the first preset duration, the second preset duration, and the third preset duration are determined according to the type of the sending end.

[0026] Secondly, embodiments of the present invention also provide a method for transmitting data according to an adaptive cycle, applied to at least one acquisition end installed on a coal mine excavation equipment, wherein the acquisition end is wirelessly connected to multiple transmitting ends installed on the robotic arm of the coal mine excavation equipment, comprising:

[0027] The adaptive transmission period corresponding to at least one transmission state of the transmitting end is obtained; the adaptive transmission period is determined by the transmitting end based on the at least one transmission state and sent to the acquisition end, and the at least one transmission state is determined by the transmitting end based on the hardware parameter information of the transmitting end;

[0028] According to the adaptive transmission period, the data transmitted by the sending end is received.

[0029] Thirdly, embodiments of the present invention also provide a transmitting end, which is disposed on the robotic arm of a coal mining excavator and wirelessly connected to at least one acquisition end disposed on the coal mining excavator. The transmitting end includes:

[0030] The first acquisition module is used to acquire the hardware parameter information of the sending end of the data to be transmitted;

[0031] The first processing module is configured to determine at least one transmission state of the transmitting end based on the hardware parameter information; and determine the adaptive transmission period corresponding to each transmission state; acquire the numerical change of two transmitted data from the transmitting end; and send the data to be transmitted to at least one acquisition end based on the numerical change, a preset numerical change threshold, and the adaptive transmission period.

[0032] Fourthly, embodiments of the present invention also provide a data acquisition terminal, which is disposed on a coal mining excavation device and wirelessly connected to at least one transmitting terminal disposed on the coal mining excavation device. The data acquisition terminal includes:

[0033] The second acquisition module is used to acquire the adaptive transmission period corresponding to at least one transmission state of the sending end; the adaptive transmission period is determined by the sending end based on the at least one transmission state and sent to the acquisition end, and the at least one transmission state is determined by the sending end based on the hardware parameter information of the sending end;

[0034] The second processing module is used to receive the transmission data sent by the sending end according to the adaptive transmission period.

[0035] The above-described solution of the present invention has at least the following beneficial effects:

[0036] The above-described solution of the present invention obtains the hardware parameter information of the transmitting end of the data to be transmitted; determines at least one transmission state of the transmitting end based on the hardware parameter information; and determines the adaptive transmission period and state change value corresponding to each transmission state, so that the transmitting end can transmit data according to the adaptive period, have timely data transmission and reporting response to emergencies, and reduce the transmission period when the system is in steady state, thereby saving its own battery power consumption. Attached Figure Description

[0037] Figure 1 This is a flowchart of an embodiment of a method for transmitting data according to an adaptive period applied at the sending end;

[0038] Figure 2 This is a flowchart of an embodiment of a method for data transmission according to an adaptive cycle applied at the acquisition end;

[0039] Figure 3 This is a schematic diagram of the module structure of the sending end;

[0040] Figure 4 This is a schematic diagram of the module structure of the acquisition end. Detailed Implementation

[0041] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0042] like Figure 1 As shown, an embodiment of the present invention proposes a method for data transmission according to an adaptive cycle, applied to multiple transmitting ends mounted on a robotic arm of a coal mining equipment. The multiple transmitting ends are wirelessly connected to at least one acquiring end mounted on the coal mining equipment, comprising:

[0043] Step 11: Obtain the hardware parameter information of the sending end of the data to be transmitted; here, the hardware parameter information of the sending end includes, but is not limited to, multi-dimensional indicators such as communication capability parameters, processing performance parameters, interface resource parameters, power supply and environmental status parameters.

[0044] Step 12: Determine at least one transmission state of the transmitting end based on the hardware parameter information. The transmission state here reflects the urgency of transmitting the status data of the coal mine excavation equipment collected by the transmitting end. For example, some data that needs to be transmitted urgently needs to be transmitted in a short time, while some business data can be transmitted according to a preset period. When data does not need to be transmitted at certain times, a longer transmission period or a preset period of sleep can be used to save energy.

[0045] Step 13: Determine the adaptive transmission period corresponding to each transmission state;

[0046] Step 14: Obtain the numerical change of the two transmitted data from the sending end;

[0047] Step 15: Based on the numerical change, the preset numerical change threshold, and the adaptive transmission period, send the data to be transmitted to at least one acquisition terminal.

[0048] In this embodiment of the invention, by adaptively adjusting the data transmission cycle, it is possible to achieve timely data transmission and reporting response to emergencies, while reducing the transmission cycle and saving battery power consumption when the system is in steady state.

[0049] In an optional embodiment of the present invention, the communication capability parameters in the hardware parameter information in step 11 above include, but are not limited to:

[0050] (1) Frequency band and bandwidth: The transmitter can support the 2.4GHz ISM band, and the bandwidth can be configured to 1MHz / 2MHz / 4MHz. Generally, high bandwidth (such as 4MHz) is suitable for real-time audio and video transmission, while low bandwidth (1MHz) is suitable for sensor data reporting.

[0051] (2) Transmission rate: The higher the rate, the lower the transmission delay of urgent data (such as control commands).

[0052] (3) Transmission power and sensitivity: Typical values ​​are 6dBm transmit power, sensitivity reaches 97dBm. Low transmit power or high sensitivity attenuation (e.g., below) A reading of 95dBm may trigger a signal quality warning, requiring an urgent adjustment of the transmission strategy.

[0053] (4) Modulation and coding: The transmitting end can use Polar code encoding to improve reliability and support dynamic adjustment of the coding rate (e.g., Up to 0.92). Low coding rate (e.g.) It is suitable for emergency data transmission in high-interference environments.

[0054] As an example, processing performance parameters include, but are not limited to:

[0055] (1) Processor performance: The transmitter can be configured with a 32-bit microprocessor with a main frequency of 240MHz, integrating 606KB SRAM and 4MB Flash. The CPU load exceeds 80. Or memory usage is higher than 90%. This may cause data processing delays, so status information should be sent first.

[0056] (2) Buffer capacity: The transmitter can dynamically adjust the TX / RX buffer size. When the remaining space in the transmit buffer is less than 20... In such cases, emergency data compression or fragmented transmission may be triggered.

[0057] As an example, interface resource parameters include, but are not limited to:

[0058] (1) GPIO (General Application Programming Input / Output Interface) status: The transmitting end can directly control hardware (such as LED switch) through GPIO pins, and the pin level change can be used as an emergency event trigger condition (such as abnormal interrupt).

[0059] (2) ADC (Analog-to-Digital Converter) sampling rate: The transmitter can support 8 channels of 13-bit ADC. High sampling rate (such as 10kHz) is used to monitor sensor data in real time and trigger emergency reporting when data changes suddenly.

[0060] (3) PWM (Pulse Width Modulation) output frequency: If the frequency change at the transmitting end exceeds the threshold... 10 It needs to be fed back to the data collection terminal immediately.

[0061] As an example, power supply and environmental status parameters include:

[0062] (1) Power supply voltage: typical value 2.6V to 4.8V. When the voltage at the transmitting end is lower than 2.8V, a low power warning is triggered, and battery status information is sent first.

[0063] (2) Operating temperature: The operating temperature of the transmitter can be referenced. 40 to 85 Temperature exceeds threshold (e.g.) 80 If the overheating protection is activated, environmental data will be reported immediately.

[0064] (3) Remaining battery capacity: The battery level is monitored by ADC. When the SOC (State of Charge) is below 20%, the remaining capacity is determined. When needed, low-power mode is enabled and critical data is prioritized for transmission.

[0065] In an optional embodiment of the present invention, step 12, determining at least one transmission state of the transmitting end based on the hardware parameter information, includes:

[0066] Step 121: Determine the emergency state, normal state, and sleep state of the transmitting end based on the hardware parameter information.

[0067] In this embodiment, for example, the emergency state of the transmitting end can be determined based on at least one of the communication capability parameters, processing performance parameters, and interface resource parameters in the hardware parameter information; the normal state and sleep state of the transmitting end can be determined based on the power supply and environmental status parameters.

[0068] Determining at least one transmission state of the transmitter based on hardware parameter information is to maximize the assessment of the data transmission states (including transmission power, transmission speed, etc.) that the transmitter can carry from a hardware perspective, ensuring that the transmitter can transmit data normally in each transmission state.

[0069] In an optional embodiment of the present invention, step 13, determining the adaptive transmission period corresponding to each transmission state, includes:

[0070] Step 131: Determine the first adaptive transmission period for the emergency state of the transmitter based on the hardware limit capability parameters of the transmitter.

[0071] Step 132: Determine the second adaptive transmission period of the normal state of the transmitter based on the battery capacity of the transmitter.

[0072] Step 133: Determine the third adaptive transmission cycle of the transmitter's sleep state based on the transmitter's battery power saving strategy.

[0073] In this embodiment, the core objective of setting the first adaptive transmission period for emergency states is to maximize throughput or minimize latency. Therefore, the transmission period must be as short as possible, but it cannot exceed hardware limits or cause channel congestion. For example, the emergency state data transmission period is determined based on the hardware limits in the communication capability parameters and / or processing performance parameters. The normal transmission cycle is determined based on the power supply battery capacity. The transmission cycle for sleep mode is determined based on the battery's power-saving strategy. ;

[0074] Among them, the hardware limit parameters may include: the modulation / demodulation speed of the RF chip (which determines the shortest time for a single transmission (e.g., 0.1ms)), the protocol stack processing latency (including additional time for data encapsulation, CRC check, ACK waiting, etc.), the heat dissipation limit (continuous high load may cause the chip to overheat, so the maximum sustainable transmission rate needs to be limited), the instantaneous power supply capability (high power transmission may cause voltage drops, so the burst transmission frequency needs to be limited), and the channel occupancy rate (reflecting the current channel congestion level).

[0075] As an example, the first adaptive transmission period can be determined by the following formula:

[0076]

[0077]

[0078] in, Indicates the first adaptive transmission period. Under ideal conditions (no channel interference, hardware operating at full capacity), the shortest continuous transmission interval that the above hardware parameters can support at the transmitting end. This represents the historical average of the proportion of time the channel is occupied by other devices. This represents the shortest continuous transmission interval that the hardware limits of the transmitter can support under the worst-case scenario. This represents the maximum value in historical data representing the proportion of time the channel is occupied by other devices.

[0079] The core objective of setting the second adaptive transmission cycle in the normal state of the transmitter is to balance energy consumption and performance, ensuring that the device meets basic communication needs while maximizing battery life. The transmission cycle in this state is dynamically adjusted primarily based on battery capacity and the current remaining power.

[0080] As an example, the second adaptive transmission period can be determined by the following formula:

[0081]

[0082] in, This indicates the second adaptive transmission period. This is the minimum power required for the transmitter to function properly. This represents the value indicating the full battery level of the sending end. The smoothing coefficient represents the weight of the adjustment range (e.g., 0.5~2.0). This indicates the default sending interval used by the sender when it is fully charged and has no additional optimization strategies.

[0083] The core objective of setting the third adaptive transmission cycle for the transmitter's sleep state is to maximize power saving while ensuring that the device can be woken up and respond to critical events when necessary.

[0084] The battery voltage drop slope reflects the battery discharge rate (e.g., a drop of 0.01V per minute); a larger slope indicates faster power consumption. The battery power-saving strategy aims to minimize the battery voltage drop slope while maintaining normal operation of the transmitter, thereby conserving power.

[0085] As an example, the third adaptive transmission period can be determined by the following formula:

[0086]

[0087] in, This indicates the third adaptive transmission period. This represents the shortest timing wake-up interval determined based on the clock accuracy of the transmitter's RTC (Real-Time Clock) and the wake-up latency, along with the preset battery voltage drop slope. It maps voltage changes to time (e.g.: In this embodiment, the corresponding transmission period is determined by the relevant parameters of the sending end, so that the data transmission of the sending end can be matched with the performance, and the transmission efficiency is higher.

[0088] In an optional embodiment of the present invention, in step 14, the numerical change of the two transmitted data at the sending end is obtained;

[0089] Step 141: Obtain the difference between the values ​​of two adjacent transmitted data at the sending end and determine it as the change in value.

[0090] In this embodiment, parsing two adjacent data packets from the sending end to obtain the value of the sent data can specifically include:

[0091] By extracting the preamble (e.g., 0xAA55, used for frame synchronization, occupying 2 bytes), frame length (indicating the length of the entire data packet, occupying 2 bytes), and modulation scheme (e.g., ... The physical layer parses fields such as (e.g., occupying 1 byte).

[0092] Link layer parsing is performed by extracting fields such as source / destination address (similar to MAC address), sequence number (used for out-of-order reassembly), frame type, channel control information (used to coordinate multi-device channel frequency hopping sequences), and timeslot position (indicating the timeslot position of the data packet in the TDMA frame, used for time synchronization and resource allocation).

[0093] Application layer parsing is performed by extracting fields from structured data (such as temperature and angle data, which need to be parsed according to the protocol definition) and transparent transmission (directly transmitting byte streams, such as audio and video data).

[0094] Packet association analysis: Based on the sequence numbers of multiple data packets obtained from parsing, determine two adjacent data packets.

[0095] After parsing the two data packets obtained through the above steps, the order of the two data packets is determined, and structured data is also obtained in the application layer parsing stage. As an example, the difference in temperature values ​​in the structured data can be set to determine the amount of numerical change.

[0096] In an optional embodiment of the present invention, step 15, sending the data to be transmitted to at least one acquisition terminal according to the numerical change amount, a preset numerical change amount threshold, and an adaptive transmission period, includes:

[0097] Step 151: When the change in value is greater than or equal to a first preset value change threshold and continues for a first preset duration, the data to be transmitted is sent to at least one acquisition terminal according to a first adaptive transmission cycle.

[0098] Step 152: When the change in value is less than the second preset value change threshold and continues for the second preset duration, the data to be transmitted is sent to at least one acquisition terminal according to the second adaptive transmission cycle.

[0099] Step 153: If the change in value is less than a third preset threshold for the change in value and continues for a third preset duration, the data to be transmitted is sent to at least one acquisition terminal according to a third adaptive transmission cycle.

[0100] The specific implementation process of this embodiment is as follows:

[0101] The first temperature value of the sensor sent by the data transmitter at two consecutive time points. Second temperature value ,when First preset threshold for numerical change If 1 is selected, an emergency state is entered, and the data sender immediately transmits data and continues to transmit data according to the T1 time period; optionally, 10ms. Further comparison... , , ...if it continues for the first preset duration Temperature difference 1. Then, data will be continuously sent during the T1 time period.

[0102] if Second preset threshold for numerical change 2, and continue for the second preset duration. Then the emergency state will change to a normal state, and the data transmission cycle will be changed. , Generally 1 minute;

[0103] if Third preset data change threshold 3, and continue for the third preset duration. Then, the normal state will switch to the sleep state, and the data transmission cycle will be changed. , It usually takes 10 minutes;

[0104] Here, we take a temperature sensor as an example (degrees Celsius). It is 1 second (1000 ms); For 30 seconds, For 600S, 1 is 3 , 2 1 , 3 0.3 , 300S 600S 3600S;

[0105] For sensor transmitters in underground coal mines, the system provides timely data transmission and reporting in response to emergencies, while reducing transmission cycles during steady-state operation to conserve battery power and maintain a usable lifespan of at least 12 months; the entire process requires no manual intervention; through... , , , 1, 2, 3, , , The flexible configuration of these values ​​allows for adaptation to different working conditions, different sensors, and monitoring scenarios.

[0106] In the above embodiments, the first preset numerical change threshold 1 Second preset threshold for numerical change 2 Third preset threshold for numerical change 3; and 1, 2, 3. This can be determined based on the specific type of the sender and the corresponding transmitted data; specifically, the first preset value change threshold can be referenced as follows:

[0107]

[0108] in, The first preset threshold value change for the sensor. The safety factor of the sensor in an emergency. This refers to the accuracy error of the sensor in an emergency. This represents the maximum fluctuation value (measured or empirical) caused by environmental noise in an emergency situation. This is the minimum identifiable change value of the sensor in an emergency.

[0109] The second preset threshold for numerical change can be referenced as follows:

[0110]

[0111] in, The second preset threshold value for the sensor. This represents the safety factor of the sensor under normal conditions. This represents the accuracy error of the sensor under normal conditions. This represents the maximum fluctuation value (measured or empirical) caused by environmental noise under normal conditions. This is the minimum identifiable change value of the temperature sensor under normal conditions;

[0112] The third preset threshold for numerical change can be referenced as follows:

[0113]

[0114] in, This is the third preset threshold value for the sensor. The safety factor for the sensor in sleep mode. This refers to the accuracy error of the sensor in sleep mode. This represents the maximum fluctuation value (measured or empirical) caused by environmental noise when the sensor is in sleep mode. This is the minimum identifiable change value of the sensor in sleep mode;

[0115] Taking industrial temperature monitoring as an example, the accuracy error of temperature sensors in emergency situations... The maximum temperature fluctuation caused by environmental noise in an emergency. The minimum detectable temperature change of the temperature sensor in an emergency. Safety factor of temperature sensor in emergency situations ,but, That is, when the temperature change exceeds... If the temperature sensor continues for a first preset duration of 1 second, it will adjust to send the data to be transmitted to at least one acquisition terminal according to the first adaptive transmission cycle by triggering data reporting or filing.

[0116] It can be the average duration of the corresponding transmitting sensor in an emergency state within a preset time period. It can be the average duration of the corresponding transmitting sensor being in a normal state. It can also be the average duration of time the transmitting sensor is in a sleep state. 1, 2, 3, , , The values ​​are determined by the corresponding sensor type and the characteristics of the sensor's transmitted values. This allows for adaptive periodic changes in various transmitting ends of coal mine excavation equipment, improving the data transmission efficiency of the transmitting ends.

[0117] The specific implementation process of the above embodiments of the present invention will be described below with reference to specific scenarios:

[0118] In one application scenario, the transmitting end is an angle sensor on the robotic arm of a coal mine excavator. The change in data volume between two adjacent data packets represents the change in angle value. The initial transmitting state of the transmitting end is a normal state. The transmitting end sends the data to be transmitted to at least one acquisition end according to a second adaptive transmitting cycle, and monitors the change in angle value between two consecutive data packets during the data transmission process. If no condition for changing the transmitting state is triggered during the data transmission process, the normal state is maintained and data is transmitted according to the second adaptive transmitting cycle (the initial state is the normal state).

[0119] If, during data transmission, the angle value change of two consecutive data packets is detected to be greater than or equal to the first preset value change threshold and continues for the first preset duration, it indicates that the robotic arm has suddenly and significantly adjusted its position. At this time, the robotic arm may have malfunctioned and its angle change needs to be closely monitored. Therefore, the data transmission state is immediately adjusted to an emergency state, and the data to be transmitted is sent to at least one acquisition terminal according to the first adaptive transmission cycle (i.e., changing from the normal state to the emergency state).

[0120] If, during data transmission, the angle value change of two consecutive data packets is less than the third preset value change threshold and continues for the third preset duration, it indicates that the robotic arm is in a relatively stable state (possibly not in working state). Then, the robotic arm will send the data to be transmitted to at least one acquisition terminal according to the third adaptive transmission cycle (i.e., change from normal state to sleep state).

[0121] Taking the above application scenario as an example, if the sending end changes from a normal state to an emergency state, it means that the initial sending state of the sending end is an emergency state. The sending end sends the data to be transmitted to at least one acquisition end according to the first adaptive sending cycle, and monitors the change in angle values ​​of two consecutive data packets during the data transmission process. If no condition for changing the sending state is triggered during the data transmission process, the emergency state is maintained and data is sent according to the first adaptive sending cycle (the initial state is an emergency state).

[0122] If, during data transmission, the angle value change of two consecutive data packets is detected to be less than the second preset value change threshold and continues for a second preset duration, the data transmission state is immediately adjusted to the normal state, and the data to be transmitted is sent to at least one acquisition terminal according to the second adaptive transmission cycle (i.e., changing from the emergency state to the normal state).

[0123] Continue monitoring the angle value change of two consecutive data packets. If the angle value change of two consecutive data packets is found to be less than the third preset value change threshold and continues for a third preset duration (the start time of the second duration and the start time of the third duration may be the same), immediately adjust the data transmission state to a sleep state and send the data to be transmitted to at least one acquisition terminal according to the third adaptive transmission cycle (i.e., change from normal state to sleep state).

[0124] Because the second preset value change threshold is greater than the third preset value change threshold, and the third preset duration is greater than the second preset duration, mechanical equipment often transitions from a normal state to a sleep state. The initial state is an emergency state; that is, if the value change of two consecutive adjacent data packets is less than both the second and third preset value change thresholds, and this continues for the second preset duration, the system transitions from an emergency state to a normal state. If one hour passes (i.e., the second preset duration plus one hour reaches the third preset duration), the system transitions from a normal state to a sleep state. This process demonstrates that as long as the conditions for triggering this state are met, the current state can be changed.

[0125] Taking the above application scenario as an example, if the sending end changes from a normal state to a sleep state, it means that the initial sending state of the sending end is a sleep state. The sending end sends the data to be transmitted to at least one acquisition end according to the third adaptive sending cycle, and monitors the change in angle values ​​of two consecutive data packets during the data transmission process. If no condition for changing the sending state is triggered during the data transmission process, the emergency state is maintained and data is sent according to the third adaptive sending cycle (the initial state is a sleep state).

[0126] If, during data transmission, the angle value change of two consecutive data packets is less than the second preset value change threshold and continues for a second preset duration, it indicates that the robotic arm is in a relatively stable working state and sends the data to be transmitted to at least one acquisition terminal according to the second adaptive transmission cycle (i.e., changing from a sleep state to a normal state).

[0127] In addition, regardless of whether it is in normal or dormant state, if the change in the value of two adjacent data packets is greater than or equal to the first preset value change threshold, the data to be transmitted is immediately sent to at least one acquisition terminal according to the first adaptive transmission cycle (that is, the state changes from dormant or normal to emergency).

[0128] In a coal mine excavation application scenario, a transmitter is mounted on the robotic arm of the excavating equipment. First, based on the transmitter's hardware parameters, it is determined that the transmitter has emergency, normal, and sleep states. Then, based on the transmitter's hardware limit parameters, battery capacity, and battery power-saving strategy, adaptive transmission cycles for each of the emergency, normal, and sleep states are determined, resulting in a first adaptive transmission cycle, a second adaptive transmission cycle, and a third adaptive transmission cycle. Next, based on the transmitter's historical transmission data, a first preset value change threshold, a second preset value change threshold, and a third preset value change threshold are determined. The latency for transitioning to an emergency state is the first preset duration, the latency for transitioning from an emergency state to a normal state is the second preset duration, and the latency for transitioning from a normal state to a sleep state is the third preset duration. Finally, the normal state is set as the transmitter's initial transmission state.

[0129] After the sending end is set up, it initially sends the data to be transmitted to at least one acquisition end through the first adaptive sending cycle. At the same time, it monitors and parses the two data packets of the sending end to obtain two target data. The change in value is determined based on the difference between the two target data. If the change in data value triggers a certain state change condition, the sending state of the sending end is adjusted; otherwise, the current sending state is maintained.

[0130] It is important to note that an emergency state cannot directly transition to a dormant state; an emergency state requires a transition from a normal state to a dormant state. Regardless of whether it is a normal state or a dormant state, once the change in value between two adjacent data packets is greater than or equal to a first preset threshold for the change in value, the data to be transmitted is sent to at least one acquisition terminal according to a first adaptive transmission cycle.

[0131] The above scheme sets up three different transmission states for the transmitter, enabling it to promptly send and report data in response to emergencies, while reducing the transmission cycle during system steady-state operation to conserve battery power and maintain a usable lifespan of at least 12 months. The transmitter sends the data to be transmitted to at least one acquisition terminal based on the stated numerical change, a preset numerical change threshold, and an adaptive transmission cycle, all without manual intervention. Furthermore, the data volume change value, state change value, and adaptive transmission cycle are flexibly configurable to adapt to different operating conditions, transmitters, and monitoring scenarios.

[0132] like Figure 2 As shown, an embodiment of the present invention proposes a method for data transmission according to an adaptive cycle, applied to at least one acquisition end installed on a coal mine excavation equipment. The acquisition end is wirelessly connected to multiple transmitting ends installed on the robotic arm of the coal mine excavation equipment. The method includes:

[0133] Step 21: Obtain the adaptive transmission period corresponding to at least one transmission state of the transmitting end; the adaptive transmission period is determined by the transmitting end based on the at least one transmission state and sent to the acquisition end, and the at least one transmission state is determined by the transmitting end based on the hardware parameter information of the transmitting end;

[0134] Step 23: Receive the transmission data sent by the sending end according to the adaptive transmission period.

[0135] This embodiment is applied to a data acquisition terminal, used to receive transmission data sent by the aforementioned sending terminal according to the adaptive transmission cycle. Hardware parameter information may include at least one of communication capability parameters, processing performance parameters, and interface resource parameters. Determining at least one transmission state of the sending terminal based on the hardware parameter information is to maximize the assessment of the data transmission states that the sending terminal can bear from a hardware perspective (at least one transmission state includes transmission power, transmission speed, etc.), ensuring that the sending terminal can transmit data normally in each transmission state. The acquisition terminal can analyze the timestamp of the received data to obtain the adaptive transmission cycle of the sending terminal, and then infer the state of the sending terminal (emergency, normal, or sleep state). Furthermore, it responds according to the transmission state of the sending terminal. For example, if the sending terminal is in an emergency state for a long time, it indicates that the robotic arm may have malfunctioned and needs maintenance. This enables real-time monitoring of the safety and malfunctions of the mechanical equipment. When the sending terminal is in an emergency state, the acquisition terminal receives the data to be transmitted sent by the sending terminal to at least one acquisition terminal according to the first adaptive transmission cycle.

[0136] When the sending end is in normal state, the receiving end receives the sending end from sending the data to be transmitted to at least one receiving end according to the second adaptive transmission cycle;

[0137] When the transmitting end is in a sleep state, the receiving end receives the transmitting end sending the data to be transmitted to at least one receiving end according to the third adaptive transmission cycle.

[0138] It should be noted that all the above-described implementation methods of the sending end are applicable to the embodiment of this collecting end and can achieve the same technical effect.

[0139] Figure 3 This is a schematic diagram of the module structure of the transmitting end. The transmitting end is mounted on the robotic arm of a coal mine excavating equipment and is wirelessly connected to at least one acquisition end mounted on the coal mine excavating equipment. The transmitting end 300 includes:

[0140] The first acquisition module 310 is used to acquire the hardware parameter information of the sending end of the data to be transmitted;

[0141] The first processing module 320 is used to determine at least one transmission state of the transmitting end based on the hardware parameter information; and determine the adaptive transmission period corresponding to each transmission state; obtain the numerical change of two transmitted data from the transmitting end; and send the data to be transmitted to at least one acquisition end based on the numerical change, a preset numerical change threshold, and the adaptive transmission period.

[0142] Optionally, the first processing module 320 is further configured to: determine the emergency state, normal state, and sleep state of the transmitting end based on the hardware parameter information.

[0143] Optionally, the first processing module 320 is further configured to: determine a first adaptive transmission period for the emergency state of the transmitter based on the hardware limit capability parameters of the transmitter.

[0144] The second adaptive transmission period of the transmitter in normal state is determined based on the battery capacity of the transmitter.

[0145] Based on the battery power saving strategy of the transmitter, the third adaptive transmission cycle of the transmitter's sleep state is determined.

[0146] Optionally, the first processing module 320 is further configured to: determine the change in value based on the difference between the values ​​of two adjacent transmitted data from the transmitting end.

[0147] Optionally, the first processing module 320 is further configured to: send the data to be transmitted to at least one acquisition terminal according to a first adaptive transmission cycle when the numerical change is greater than or equal to a first preset numerical change threshold and continues for a first preset duration.

[0148] If the change in the value is less than the second preset value change threshold and continues for the second preset duration, the data to be transmitted is sent to at least one acquisition terminal according to the second adaptive transmission cycle.

[0149] If the change in the value is less than a third preset threshold for the change in the value and continues for a third preset duration, the data to be transmitted is sent to at least one acquisition terminal according to a third adaptive transmission cycle.

[0150] Optionally, the first preset numerical change threshold Second preset threshold for numerical change The third preset threshold for numerical change.

[0151] Optionally, the first preset duration, the second preset duration, and the third preset duration are determined according to the type of the sending end.

[0152] It should be noted that this device is the same as the method described above. All implementations in the above method embodiments are applicable to the embodiments of this device and can achieve the same technical effect.

[0153] Figure 4 This is a schematic diagram of the module structure of the acquisition terminal, which is installed on a coal mine excavation equipment. The acquisition terminal 400 includes:

[0154] The second acquisition module 410 is used to acquire the adaptive transmission period corresponding to at least one transmission state of the transmitting end; the adaptive transmission period is determined by the transmitting end based on the at least one transmission state and sent to the acquisition end, and the at least one transmission state is determined by the transmitting end based on the hardware parameter information of the transmitting end;

[0155] The second processing module 420 is used to receive the transmission data sent by the sending end according to the adaptive transmission period.

[0156] It should be noted that this device is the same as the method described above. All implementations in the above method embodiments are applicable to the embodiments of this device and can achieve the same technical effect.

[0157] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0158] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of embodiments.

[0159] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for transmitting data according to an adaptive cycle, characterized in that, The method comprises: Multiple transmitters mounted on a robotic arm of a coal mining excavator, wherein the multiple transmitters are wirelessly connected to at least one data acquisition terminal mounted on the coal mining excavator; and the method includes: Obtain the hardware parameter information of the sending end of the data to be transmitted; Based on the hardware parameter information, at least one transmission state of the transmitting end is determined; Determine the adaptive transmission period corresponding to each transmission state; Obtain the numerical change of two transmitted data items from the sending end; Based on the numerical change, the preset numerical change threshold, and the adaptive transmission period, the data to be transmitted is sent to at least one acquisition terminal. Determining at least one transmission state of the transmitting end based on the hardware parameter information includes: Based on the hardware parameter information, determine the emergency state, normal state, and sleep state of the transmitting end; Among them, determining the adaptive transmission period corresponding to each transmission state includes: Based on the hardware limit parameters of the transmitting end, a first adaptive transmission period for the emergency state of the transmitting end is determined; wherein, the first adaptive transmission period is determined by the following formula: ； ； in, Indicates the first adaptive transmission period. Under ideal conditions, the shortest continuous transmission interval that the above hardware parameters can support at the transmitting end is: This represents the historical average of the proportion of time the channel is occupied by other devices. This represents the shortest continuous transmission interval that the hardware limits of the transmitter can support under the worst-case scenario. The maximum value in historical data representing the proportion of time the channel is occupied by other devices; a second adaptive transmission period for the normal state of the transmitter is determined based on the transmitter's battery capacity; wherein the second adaptive transmission period is determined by the following formula: ； in, This indicates the second adaptive transmission period. This is the minimum power required for the transmitter to function properly. This represents the value indicating the full battery level of the sending end. The smoothing coefficient represents the weight that controls the adjustment magnitude. This indicates the default sending interval used by the sender when the battery is fully charged and there are no additional optimization strategies. Based on the battery power saving strategy of the transmitting end, a third adaptive transmission period for the sleep state of the transmitting end is determined; wherein, the third adaptive transmission period is based on... The preset battery voltage drop slope is determined, where, This indicates the shortest timing wake-up interval determined based on the sender's RTC clock accuracy and wake-up delay.

2. The method for data transmission according to an adaptive period as described in claim 1, characterized in that, Obtain the numerical change of two transmitted data items from the sender, including: The change in value is determined by the difference between the values ​​of two adjacent transmitted data at the sending end.

3. The method for transmitting data according to an adaptive period as described in claim 2, characterized in that, Based on the numerical change, a preset numerical change threshold, and an adaptive transmission period, the data to be transmitted is sent to at least one acquisition terminal, including: If the change in the value is greater than or equal to a first preset value change threshold and continues for a first preset duration, the data to be transmitted is sent to at least one acquisition terminal according to a first adaptive transmission cycle. If the change in the value is less than the second preset value change threshold and continues for the second preset duration, the data to be transmitted is sent to at least one acquisition terminal according to the second adaptive transmission cycle. If the change in the value is less than a third preset threshold for the change in the value and continues for a third preset duration, the data to be transmitted is sent to at least one acquisition terminal according to a third adaptive transmission cycle.

4. The method for transmitting data according to an adaptive period as described in claim 3, characterized in that, The first preset value change threshold Second preset threshold for numerical change The third preset threshold for numerical change.

5. The method for transmitting data according to an adaptive period as described in claim 3, characterized in that, The first preset duration, the second preset duration, and the third preset duration are determined according to the type of the sending end.

6. A method for transmitting data according to an adaptive cycle, characterized in that, The method, which involves at least one acquisition terminal installed on a coal mining excavator, wirelessly connecting the acquisition terminal to multiple transmitters installed on the robotic arm of the coal mining excavator, comprises: The adaptive transmission period corresponding to at least one transmission state of the transmitting end is obtained; the adaptive transmission period is determined by the transmitting end based on the at least one transmission state and sent to the acquisition end, and the at least one transmission state is determined by the transmitting end based on the hardware parameter information of the transmitting end; According to the aforementioned adaptive transmission period, receive the transmission data sent by the sending end; Wherein, at least one transmission state of the sending end is determined according to the following method: Based on the hardware parameter information, determine the emergency state, normal state, and sleep state of the transmitting end; Wherein, at least one adaptive transmission period of the sending end is determined according to the following method: Based on the hardware limit parameters of the transmitting end, a first adaptive transmission period for the emergency state of the transmitting end is determined; wherein, the first adaptive transmission period is determined by the following formula: ； ； in, Indicates the first adaptive transmission period. Under ideal conditions, the shortest continuous transmission interval that the above hardware parameters can support at the transmitting end is: This represents the historical average of the proportion of time the channel is occupied by other devices. This represents the shortest continuous transmission interval that the hardware limits of the transmitter can support under the worst-case scenario. The maximum value in historical data representing the proportion of time the channel is occupied by other devices; Based on the battery capacity of the transmitter, a second adaptive transmission period for the normal state of the transmitter is determined; wherein the second adaptive transmission period is determined by the following formula: ； in, This indicates the second adaptive transmission period. This is the minimum power required for the transmitter to function properly. This represents the value indicating the full battery level of the sending end. The smoothing coefficient represents the weight that controls the adjustment magnitude. This indicates the default sending interval used by the sender when the battery is fully charged and there are no additional optimization strategies. Based on the battery power saving strategy of the transmitting end, a third adaptive transmission period for the sleep state of the transmitting end is determined; wherein, the third adaptive transmission period is based on... The preset battery voltage drop slope is determined, where, This indicates the shortest timing wake-up interval determined based on the sender's RTC clock accuracy and wake-up delay.

7. A transmitter, characterized in that, The transmitting end is mounted on the robotic arm of the coal mining equipment and is wirelessly connected to at least one acquiring end mounted on the coal mining equipment. The transmitting end includes: The first acquisition module is used to acquire the hardware parameter information of the sending end of the data to be transmitted; The first processing module is used to determine at least one transmission state of the transmitting end based on the hardware parameter information; and to determine the adaptive transmission period corresponding to each transmission state. Obtain the numerical change of two transmitted data items from the sending end; Based on the numerical change, the preset numerical change threshold, and the adaptive transmission period, the data to be transmitted is sent to at least one acquisition terminal. Determining at least one transmission state of the transmitting end based on the hardware parameter information includes: Based on the hardware parameter information, determine the emergency state, normal state, and sleep state of the transmitting end; Among them, determining the adaptive transmission period corresponding to each transmission state includes: Based on the hardware limit parameters of the transmitting end, a first adaptive transmission period for the emergency state of the transmitting end is determined; wherein, the first adaptive transmission period is determined by the following formula: ； ； in, Indicates the first adaptive transmission period. Under ideal conditions, the shortest continuous transmission interval that the above hardware parameters can support at the transmitting end is: This represents the historical average of the proportion of time the channel is occupied by other devices. This represents the shortest continuous transmission interval that the hardware limits of the transmitter can support under the worst-case scenario. The maximum value in historical data representing the proportion of time the channel is occupied by other devices; a second adaptive transmission period for the normal state of the transmitter is determined based on the transmitter's battery capacity; wherein the second adaptive transmission period is determined by the following formula: ； in, This indicates the second adaptive transmission period. This is the minimum power required for the transmitter to function properly. This represents the value indicating the full battery level of the sending end. The smoothing coefficient represents the weight that controls the adjustment magnitude. This indicates the default sending interval used by the sender when the battery is fully charged and there are no additional optimization strategies. Based on the battery power saving strategy of the transmitting end, a third adaptive transmission period for the sleep state of the transmitting end is determined; wherein, the third adaptive transmission period is based on... The preset battery voltage drop slope is determined, where, This indicates the shortest timing wake-up interval determined based on the sender's RTC clock accuracy and wake-up delay.

8. A data acquisition terminal, characterized in that, The acquisition terminal is installed on a coal mine excavation equipment and is wirelessly connected to at least one transmitting terminal installed on the coal mine excavation equipment. The acquisition terminal includes: The second acquisition module is used to acquire the adaptive transmission period corresponding to at least one transmission state of the sending end; the adaptive transmission period is determined by the sending end based on the at least one transmission state and sent to the acquisition end, and the at least one transmission state is determined by the sending end based on the hardware parameter information of the sending end; The second processing module is used to receive the transmission data sent by the sending end according to the adaptive transmission period; Wherein, at least one transmission state of the sending end is determined according to the following method: Based on the hardware parameter information, determine the emergency state, normal state, and sleep state of the transmitting end; Wherein, at least one adaptive transmission period of the sending end is determined according to the following method: Based on the hardware limit parameters of the transmitting end, a first adaptive transmission period for the emergency state of the transmitting end is determined; wherein, the first adaptive transmission period is determined by the following formula: ； ； in, Indicates the first adaptive transmission period. Under ideal conditions, the shortest continuous transmission interval that the above hardware parameters can support at the transmitting end is: This represents the historical average of the proportion of time the channel is occupied by other devices. This represents the shortest continuous transmission interval that the hardware limits of the transmitter can support under the worst-case scenario. The maximum value in historical data representing the proportion of time the channel is occupied by other devices; Based on the battery capacity of the transmitter, a second adaptive transmission period for the normal state of the transmitter is determined; wherein the second adaptive transmission period is determined by the following formula: ； in, This indicates the second adaptive transmission period. This is the minimum power required for the transmitter to function properly. This represents the value indicating the full battery level of the sending end. The smoothing coefficient represents the weight that controls the adjustment magnitude. This indicates the default sending interval used by the sender when the battery is fully charged and there are no additional optimization strategies. Based on the battery power saving strategy of the transmitting end, a third adaptive transmission period for the sleep state of the transmitting end is determined; wherein, the third adaptive transmission period is based on... The preset battery voltage drop slope is determined, where, This indicates the shortest timing wake-up interval determined based on the sender's RTC clock accuracy and wake-up delay.

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