CN-122027594-A - Agricultural machinery virtual terminal intelligent message management method, system, device and medium based on ISOBUS standard

CN122027594ACN 122027594 ACN122027594 ACN 122027594ACN-122027594-A

Abstract

The application provides an intelligent message management method, system, device and medium for an agricultural machine virtual terminal based on ISOBUS standard, which remarkably improves the message processing efficiency between an agricultural machine electronic control unit and the agricultural machine virtual terminal through innovative multilevel priority queue management, dynamic priority adjustment mechanism and message merging optimization technology. The application solves the problems that the existing ISOBUS VT system has large message processing delay, low bus bandwidth utilization rate, incapability of timely responding to key messages and the like under a high-load scene. In addition, experiments show that the key message response CAN be shortened by 40% -60%, the CAN bus load CAN be reduced by 25% -35%, and the message packet loss rate CAN be reduced by more than 85%.

Inventors

YAN ZHIWEI
ZHANG PENG

Assignees

昆山寰安电子科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251231

Claims (15)

1. An agricultural machinery virtual terminal intelligent message management system based on ISOBUS standard, which is characterized by comprising: the message receiving and analyzing module is used for receiving the virtual terminal information of the agricultural machine from the ISOBUS CAN bus, analyzing the virtual terminal information of the agricultural machine and marking a receiving time stamp for each message; The multi-level priority queue management module is used for distributing the current message object to the message queues with different priorities according to the message types obtained through analysis; the dynamic priority adjustment module is used for periodically calculating the dynamic priority of the messages in each priority queue and migrating the messages among different queues according to the priority change; the message merging optimization module is used for identifying two or more messages aiming at the same target object in the duration of a preset merging window, merging the messages according to a preset merging strategy and outputting a message queue; The queue scheduling module is used for extracting messages from each priority queue by adopting a weighted polling algorithm for processing; And the message output and feedback module is used for outputting a message processing result.
2. The ISOBUS-standard-based intelligent message management system for an agricultural machine virtual terminal of claim 1, wherein the message receiving and parsing module comprises: a CAN frame receiver for receiving an original data frame from a ISOBUS CAN bus; the protocol analyzer is used for analyzing VT protocol messages in the CAN frame through loading ISOBUS protocol packets, extracting message types, equipment addresses and load data in real time, and displaying a communication process in a diagrammatical form; the message validator is used for carrying out integrity and validity check on the structured information output by the protocol parser so as to reject invalid messages; and the time stamp labeler is used for labeling the receiving time stamp for the effective message checked by the message verifier so as to record the specific moment when the message is received by the system.
3. The intelligent message management system for the agricultural machinery virtual terminal based on ISOBUS standard according to claim 1, wherein the multi-level priority queue management module includes a plurality of different priority queues including an extended priority queue, a high priority queue, a medium priority queue and a low priority queue, and the message capacity limit of the queues is increased, the weight is decreased, and the maximum delay is increased.
4. The intelligent message management system for an agricultural machine virtual terminal based on ISOBUS standard according to claim 1, wherein the dynamic priority adjustment module calculates the dynamic priority of the message in each priority queue by inputting the message object and the context content thereof into a dynamic priority calculation algorithm, calculating the waiting time factor, the user interaction factor, the ECU state factor, and outputting the comprehensive dynamic priority corresponding to the message.
5. The intelligent message management system of an agricultural machine virtual terminal based on ISOBUS standard according to claim 4, wherein the dynamic priority adjustment module invokes a dynamic priority calculation algorithm, and the algorithm execution process includes: Acquiring a basic priority of a message object; The method comprises the steps of respectively calculating a waiting time factor of a message object, a user interaction factor and an ECU (electronic control unit) state factor, wherein the waiting time factor is used for tracking the waiting time of each message object in a queue, the user interaction factor is used for detecting the current user interaction state and a focus object, and the ECU state factor is used for evaluating the communication state and importance of each ECU; Based on the waiting time factor, the user interaction factor and the ECU state factor, calculating the dynamic priority of each message object by using a multi-factor weighting algorithm, and migrating the message objects with the changed priorities to corresponding queues.
6. The intelligent message management system for the agricultural machinery virtual terminal based on ISOBUS standard according to claim 5, wherein the waiting time factor is calculated by calculating a corresponding waiting time according to the current system time and a generated timestamp of a message object, and calculating a waiting time factor based on the waiting time and a preset maximum waiting time threshold.
7. The agricultural machinery virtual terminal intelligent message management system based on ISOBUS standard according to claim 5, wherein the user interaction factor is calculated by raising a factor value of the user interaction factor from a default value to a first gradient threshold value if a latest operation time of a user recorded in the context is less than a preset time threshold value from a current time stamp, raising the factor value of the user interaction factor from the default value to the first gradient threshold value if the message object is consistent with a current system focus object, taking a maximum value between the current factor value of the user interaction factor and a second gradient threshold value if the message object exists in a current visible object list of the system, wherein the default value, the second gradient threshold value and the first gradient threshold value are configured to be sequentially increased.
8. The intelligent message management system for an agricultural machine virtual terminal based on ISOBUS standard according to claim 5, wherein the ECU state factor is calculated by acquiring a source address of an incoming message, and calling a message transmission success rate of the ECU device identified by the source address in a specified recent period, and returning the corresponding ECU state factor accordingly.
9. The ISOBUS-standard-based intelligent message management system for an agricultural machine virtual terminal of claim 1, wherein the message merge optimization module comprises: The system comprises a merging window manager, a message feature extractor, a similar message detector, a merging strategy executor and a batch message generator, wherein the merging window manager is used for configuring and managing merging window time, the message feature extractor is used for extracting key identification information and message operation types from message objects, the similar message detector is used for detecting a plurality of messages which belong to the same target object and have the same attribute, and the merging strategy executor is used for executing differentiated merging logic on the detected similar messages according to the attribute types so as to merge the similar messages into a single message.
10. The agricultural machinery virtual terminal intelligent message management system based on ISOBUS standard of claim 1, wherein the queue scheduling module comprises a weighted polling scheduler, a fairness assurance device, an emergency message transmitter and a flow controller, wherein the weighted polling scheduler extracts messages from each queue according to priority weights based on a weighted polling scheduling algorithm, the fairness assurance device prevents low priority long term starvation based on an anti-starvation algorithm, the emergency message transmitter provides a bypass mechanism for extremely high priority messages, and the flow controller triggers a flow control strategy when the queues are overloaded based on a flow control algorithm.
11. The agricultural machinery virtual terminal intelligent message management system based on ISOBUS standard of claim 10, wherein the execution of the weighted round robin scheduling algorithm comprises: Initializing a counter, wherein the counter comprises a static array and a static scheduling round, the static array is configured to record the remaining service times of each priority queue in each round of scheduling period, and the static scheduling round is configured to mark the current scheduling round; Traversing all queues in sequence from high priority to low priority to find out the next queue to be scheduled, wherein the searching conditions comprise that the priority queue still has scheduling quota and the queue still has information to be processed; when the number of the residual service times counter corresponding to all the priority queues is detected to be 0, resetting operation is carried out, wherein the resetting operation comprises the steps of recovering the static array to be initial configuration, adding 1 to the variable of the static scheduling round, and marking to enter a new round of scheduling period; If the algorithm finds that all queues are empty after traversing all priority queues, no message to be processed is currently available.
12. The ISOBUS-standard-based intelligent message management system for an agricultural machine virtual terminal according to claim 1, further comprising an adaptive parameter adjustment module, wherein the adaptive parameter adjustment module is configured to adaptively adjust a size, a priority weight, and a queue scheduling weight of a merging window according to a real-time performance index of the system, and the real-time performance index of the system includes an average delay, a CPU usage rate, a queue usage rate, and a message discarding rate.
13. An agricultural machinery virtual terminal intelligent message management method based on ISOBUS standard is characterized by comprising the following steps: receiving agricultural machine virtual terminal information from ISOBUS CAN buses, analyzing the agricultural machine virtual terminal information, and marking a receiving time stamp for each message; distributing the current message object to message queues with different priorities according to the analyzed message type; periodically calculating the dynamic priority of the messages in each priority queue, and migrating the messages among different queues according to the priority change; identifying two or more messages aiming at the same target object in the duration of a preset merging window, merging according to a preset merging strategy respectively, and then outputting a message queue; Extracting messages from each priority queue by adopting a weighted polling algorithm for processing; and outputting a message processing result.
14. A computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the agricultural virtual terminal intelligent message management method based on ISOBUS standard of claim 13.
15. A computer device comprising a memory, a processor and a computer program stored on the memory, wherein the processor executes the computer program to implement the agricultural machine virtual terminal intelligent message management method of claim 13 based on ISOBUS standards.

Description

Agricultural machinery virtual terminal intelligent message management method, system, device and medium based on ISOBUS standard Technical Field The application relates to the technical field of agricultural machinery electronic control, in particular to an agricultural machinery virtual terminal message management technology based on the ISO 11783 (ISOBUS) standard, which is particularly suitable for agricultural machinery CAN bus communication optimization, multi-working set message scheduling and real-time man-machine interaction response optimization. Background As a core interaction carrier for realizing multi-equipment cooperative control in the field of agricultural machinery, a ISOBUS VT (agricultural machinery virtual terminal) system is based on a message communication architecture constructed by a CAN bus, and a plurality of technical bottlenecks are gradually exposed in an actual operation scene, so that the problems restrict the improvement of system performance and further obviously influence the operation safety and user experience. The message processing mechanism of the current mainstream system has structural defects, and an optimization space exists from message scheduling logic to a flow control full link, and the core problems are concentrated in the following four aspects. In a first aspect, the current ISOBUS VT system generally relies on FIFO queuing mechanism to process messages, and this indiscriminate mode completely ignores the urgency and business value differences of the messages, and cannot prioritize the messages. In actual operation, the real-time operation instruction of clicking the button by the user, the equipment fault alarm information and the background non-key data update message are placed in the same processing sequence, so that the high-priority message is frequently blocked by low-value data. For example, emergency alert information such as sensor threshold oversteps may be inundated with a large number of ordinary status update messages, while the response delay of real-time control commands is even more up to 300-500ms and fluctuates out of order. The defects of the scheduling logic directly cause two major problems, namely, the feedback of user operation is lagged, the continuity of the operation flow is damaged, and the transmission of emergency safety information is delayed, so that potential safety hazards are buried for the operation of agricultural machinery, and the problem of system stability is more remarkable especially in scenes with extremely high requirements on real-time performance, such as high-speed sowing, accurate fertilization and the like. In the second aspect, there is severe redundancy in message transmission, wasting bus bandwidth resources. When the ECU (electronic control unit) needs to update the interface object attribute (actually displaying the sensor value) quickly, a large number of intermediate value messages without practical meaning are generated due to the lack of an effective data merging and filtering mechanism. For example, in the process of gradually changing the sensor value from 100 to 200, the system may continuously generate 100 redundant messages, and multiple attribute updates of the same device may be split into multiple independent messages to be transmitted respectively, and the fragmentation transmission mode severely occupies the effective bandwidth of the CAN bus. According to actual test data, the redundant information can occupy more than 30% of transmission resources of the bus, so that the transmission delay of the effective information is prolonged, unnecessary consumption of CPU processing resources is caused, and a vicious circle of 'data congestion-resource waste' is formed, which is deviated from the pursuit of efficient transmission targets in the field of vehicle-mounted communication. In the third aspect, a static priority policy is adopted, so that the dynamic scene requirement cannot be adapted. The message priority of the existing system is fixed in the encoding stage, and cannot be dynamically adjusted according to the real-time context in the running process. The rigid strategy is difficult to adapt to complex and changeable agricultural operation scenes, and cannot respond to the dynamic operation demands of users. When a user concentrates on parameter adjustment of a certain device, a message related to the operation cannot temporarily raise priority, while a low-priority message long at the end of a queue may be in a starvation state and cannot be processed forever. The scheduling logic lacking elasticity causes extremely poor system adaptability, and in complex scenes such as multi-farm tool collaborative operation, unbalance phenomenon that part of operation response is blocked and the other part of non-key data is continuously brushed is frequently caused, so that the problem of user experience deterioration is particularly prominent, and the situation adaptability target pursued by agr