CN-122001784-A - ISOBUS virtual terminal multi-device collaborative scheduling system, method and terminal

CN122001784ACN 122001784 ACN122001784 ACN 122001784ACN-122001784-A

Abstract

The invention provides ISOBUS virtual terminal multi-device collaborative scheduling system, method and terminal, which accurately evaluate the health condition and the active state of devices by monitoring the message sending frequency, bandwidth occupation and message success rate of each ECU device connected with a ISOBUS virtual terminal in real time, calculate the bandwidth share of each ECU according to the basic weight set by the device type and the health and the active state, dynamically allocate the underutilized bandwidth to high-demand devices, predict the ECU message sending time based on a historical sending mode, detect potential bus conflicts in advance, formulate a sending delay adjustment scheme for low-priority devices, introduce a token bucket machine to control the message sending rate of each ECU, monitor the congestion state of the bus in real time and trigger corresponding control measures. According to the invention, the equipment state monitoring, the weighted fair bandwidth allocation, the conflict prediction avoidance and the token bucket flow control technology are integrated, so that the efficient cooperative communication of multiple ECUs and VT is realized, and the communication efficiency and the system stability of the cooperative operation of multiple equipment of the agricultural machinery are obviously improved.

Inventors

YAN ZHIWEI
ZHANG YU
ZHANG PENG

Assignees

昆山寰安电子科技有限公司

Dates

Publication Date: 20260508
Application Date: 20251231

Claims (10)

1. ISOBUS virtual terminal multi-device collaborative scheduling system is characterized in that the system is applied to agricultural machinery equipment and comprises: the device state monitoring module is used for monitoring the message sending frequency, bandwidth occupation and message success rate of each ECU device connected with the ISOBUS virtual terminal in real time and evaluating the health condition and the activity state of each ECU device; A bandwidth allocation module for calculating bandwidth share of each ECU device according to the basic weight determined by the device type of each ECU device and the health status and activity state of each ECU device, and reallocating underused bandwidth to ECU devices requiring more bandwidth; the conflict prediction and avoidance module is used for predicting the transmission time of each ECU device based on the historical transmission mode, detecting potential conflict and generating a transmission delay adjustment scheme for low-priority devices; And the flow control module is used for controlling the message sending rate of each ECU device by using a token bucket mechanism, detecting the congestion state of the bus and taking corresponding control measures.
2. The ISOBUS virtual terminal multi-device co-scheduling system of claim 1, wherein the device state monitoring module comprises: an ECU registration manager for managing ISOBUS registration, deregistration and basic information of each ECU device to which the virtual terminal is connected; The state sampler is used for periodically sampling the message sending frequency and bandwidth occupation of each ECU device; A health evaluator for evaluating a communication health condition of the devices based on a message success rate of each ECU device; an activity detector for detecting whether each ECU device is in an active use state; a demand predictor for predicting a bandwidth demand change of the device based on the historical data.
3. The ISOBUS virtual terminal multi-device co-scheduling system as in claim 2, wherein the bandwidth allocation module comprises: a weight calculator for calculating an effective weight based on the device type, activity, and health status of each ECU device; a fair share calculator for calculating the basic bandwidth share of each ECU device according to the effective weight proportion; And a residual bandwidth reallocator for reallocating the underutilized bandwidth to the ECU devices requiring more bandwidth based on the base bandwidth share and bandwidth demand of each ECU device.
4. The ISOBUS virtual terminal multi-device co-scheduling system of claim 3, wherein the collision prediction and avoidance module comprises: A transmission time predictor for predicting a next transmission time of the ECU device based on a history transmission mode including a periodic mode or a statistical mode; A collision detector for detecting potential message collisions within a predicted time window; and the avoidance strategy generator is used for generating a transmission delay adjustment scheme for the low-priority equipment.
5. The ISOBUS virtual terminal multi-device collaborative scheduling system according to claim 4, wherein the avoidance policy generator is configured to compare effective weights of conflicting devices, the ECU device with high weight determines high priority, the ECU device with low weight determines low priority, and calculates delay time, so that the ECU device with high priority keeps the original transmission time unchanged, and the low priority ECU device delays transmission based on the delay time.
6. The ISOBUS virtual terminal multi-device co-scheduling system of claim 5, wherein the flow control module comprises: A token bucket manager for maintaining a token bucket for each ECU device to limit the transmission rate; A congestion detector for detecting a bus congestion state and obtaining a congestion level; and the flow control message generator is used for sending a flow control instruction to the target equipment according to the congestion level.
7. The ISOBUS virtual terminal multi-device co-scheduling system as in claim 6, wherein the sending the flow control instruction to the target device according to the congestion level comprises: when the congestion level is light congestion, sending a flow control instruction for reducing the bandwidth quota of the lowest priority device; when the congestion level is medium congestion, sending a flow control instruction for reducing the bandwidth quota of the plurality of low-priority devices; When the congestion level is heavy congestion, a flow control instruction is sent that enables the emergency mode to allow only critical messages to be transmitted on the bus.
8. The ISOBUS virtual terminal multi-device co-scheduling system of claim 7, further comprising an emergency message processing module comprising: An emergency message identifier for identifying emergency messages such as alarm, security, etc.; an emergency bandwidth reservation device for reserving a portion of the bus bandwidth dedicated to the emergency message; a fast path manager for causing the urgent message to be immediately transmitted by skipping the normal queue.
9. A ISOBUS virtual terminal multi-device collaborative scheduling method, which is characterized by being applied to agricultural machinery equipment, the method comprising: monitoring the message sending frequency, bandwidth occupation and message success rate of each ECU device connected with the ISOBUS virtual terminal in real time, and evaluating the health condition and the activity state of each ECU device; Calculating bandwidth share of each ECU device according to the basic weight determined by the device type of each ECU device and the health status and activity state of each ECU device, and reallocating underused bandwidth to ECU devices requiring more bandwidth; Predicting the transmission time of each ECU device based on the historical transmission mode, detecting potential conflict, and generating a transmission delay adjustment scheme for low-priority devices; and controlling the message sending rate of each ECU device by using a token bucket mechanism, detecting the congestion state of the bus, and taking corresponding control measures.
10. An electronic terminal is characterized by comprising one or more memories and one or more processors; The one or more memories are used for storing computer programs; the one or more processors being coupled to the memory for running the computer program to perform the method of claim 9.

Description

ISOBUS virtual terminal multi-device collaborative scheduling system, method and terminal Technical Field The invention relates to the technical field of agricultural machinery electronic control, in particular to a ISOBUS virtual terminal multi-device collaborative scheduling system, a method and a terminal. Background In the modern precise agricultural operation scene, the cooperative operation of multiple devices has become normal, and one tractor often needs to mount operation devices such as a seeder, a fertilizer applicator, a pesticide sprayer and the like at the same time, and is connected with a plurality of Electronic Control Units (ECU) such as a monitoring system and the like. All the devices realize data interaction with a Virtual Terminal (VT) through ISOBUS CAN buses, but the current ISOBUS system generally adopts the bus bandwidth of 250 kbps, and the limited bandwidth resource becomes a core constraint condition for supporting high-concurrency communication of multiple devices. The communication scheduling of the conventional ISOBUS system completely depends on a CAN bus original arbitration mechanism, and a series of key problems are exposed when multiple devices communicate concurrently due to the lack of an upper-layer intelligent management and control strategy. Firstly, the bandwidth management mechanism is lost, the system cannot dynamically allocate according to the actual bandwidth requirements of each device, when a plurality of devices initiate data transmission at the same time (such as a seeder, a fertilizer applicator and a monitoring system with the sum of required bandwidths reaching 300 kbps are connected to a 250 kbps bandwidth bus), arbitration is carried out only by means of CAN ID priority, low-ID device messages continuously occupy bus resources, high-ID device messages are frequently delayed, serious unbalance of bandwidth allocation is caused, update lag of part of device interfaces is caused, and the overall operation efficiency of the system is greatly reduced directly. Secondly, the problem of message conflict is prominent, bus conflict is extremely easy to trigger when a plurality of ECUs synchronously send messages, failed messages need to wait for retransmission, the average number of times of conflict per second is up to 45 times under a high-load scene with the bus utilization rate up to 85%, single messages are retransmitted for 1.8 times on average, and in the worst case, the message delay is over 200ms,5% of messages are lost due to overtime, the bus communication efficiency is seriously weakened, and the real-time performance of the system is difficult to guarantee. Thirdly, the equipment state sensing capability is insufficient, the virtual terminal cannot acquire the real-time running state of each access equipment, the activity degree, the message sending frequency and the mode of the equipment are not mastered, the priority and the importance of the equipment cannot be identified, the dynamic change of the equipment bandwidth requirement cannot be prejudged, the system cannot implement targeted resource optimization scheduling, the communication congestion risk is difficult to avoid in advance, and the adaptability and the flexibility are poor. And meanwhile, the system cannot distinguish the priority of key messages and common messages, and once a bus is saturated, the communication of all devices is affected, so that extremely high bus overload risk exists, key service messages are blocked more likely, and the system operation stability is seriously threatened. Disclosure of Invention In view of the above-mentioned drawbacks of the prior art, the present invention aims to provide a ISOBUS virtual terminal multi-device cooperative scheduling system, method and terminal, which are used for solving the technical problems of uneven distribution of communication bandwidth, frequent message collision, lack of flow control and the like of the existing ISOBUS multi-device. In order to achieve the above and other related objects, the present invention provides a ISOBUS virtual terminal multi-device collaborative scheduling system, which comprises a device state monitoring module for monitoring in real time the message sending frequency, bandwidth occupation and message success rate of each ECU device connected to a ISOBUS virtual terminal and evaluating the health status and active status of each ECU device, a bandwidth allocation module for calculating the bandwidth share of each ECU device according to the basic weight determined by the device type of each ECU device and the health status and active status of each ECU device and reallocating the underused bandwidth to the ECU device requiring more bandwidth, a collision prediction and avoidance module for predicting the sending time of each ECU device based on the historical sending mode, detecting the potential collision, generating a sending delay adjustment scheme for the low priority device, and a flow