CN113423092B

CN113423092B - Data transmission method for work machine

Info

Publication number: CN113423092B
Application number: CN202110694134.8A
Authority: CN
Inventors: 王正滨
Original assignee: Shanghai Huaxing Digital Technology Co Ltd
Current assignee: Shanghai Huaxing Digital Technology Co Ltd
Priority date: 2021-06-22
Filing date: 2021-06-22
Publication date: 2024-08-27
Anticipated expiration: 2041-06-22
Also published as: CN113423092A

Abstract

The invention provides a data transmission method of a working machine, which is applied to a first working machine and comprises the following steps: pairing with a second work machine if the distance between the first work machine and the second work machine is less than a target threshold, the second work machine not being networked; receiving first data sent by the second working machine under the condition that the pairing with the second working machine is successful; generating second data based on the first data; in the case of networking of the first work machine, the second data is sent to the dispatch management system. According to the method, the first data generated by the second working machine matched with the first working machine is transmitted to the dispatching management system through the first working machine, so that the first data of the second working machine in the non-network coverage area can be transmitted to the dispatching management system, the condition that the same first data is transmitted for multiple times is avoided, the complexity of the dispatching management system is reduced, and the data transmission capacity is improved.

Description

Data transmission method for work machine

Technical Field

The invention relates to the technical field of working machines, in particular to a data transmission method of a working machine.

Background

When the working machine works, data exchange is needed to be carried out with the dispatching management system so that the dispatching management system can reasonably dispatch the working machine. In the prior art, data exchange between a work machine and a dispatching management system is generally performed by adopting a network transmission mode, but the method cannot be used for a situation that the work machine works in a work environment with poor network signals or no network signals.

Disclosure of Invention

The invention provides a data transmission method of a working machine, which is used for solving the defect of poor data transmission capability in the prior art and improving the data transmission capability.

The invention provides a data transmission method of a working machine, which is applied to a first working machine and comprises the following steps:

Pairing with a second work machine if the distance between the first work machine and the second work machine is less than a target threshold, the second work machine not being networked;

Receiving first data sent by the second working machine under the condition that the pairing with the second working machine is successful;

generating second data based on the first data;

And sending the second data to a scheduling management system under the condition that the first working machine is networked.

According to the data transmission method of the working machine provided by the invention, when the distance between the first working machine and the second working machine is smaller than the target threshold value, the pairing is carried out with the second working machine, and the data transmission method comprises the following steps:

Receiving pairing information sent by the scheduling management system under the condition that the first working machine is networked, wherein the pairing information comprises first authentication information;

Transmitting the first authentication information to the second working machine and receiving second authentication information transmitted by the second working machine when the distance between the first working machine and the second working machine is smaller than a target threshold, wherein the first authentication information is used for pairing the second working machine;

pairing with the second work machine based on the second authentication information.

According to the data transmission method of the working machine provided by the invention, the pairing with the second working machine based on the second authentication information comprises the following steps:

decrypting the second encrypted random value in the second authentication information to obtain a second decrypted random value;

And determining that the first working machine and the second working machine are successfully paired under the condition that the second decryption random value is consistent with the first random value in the first authentication information.

According to the data transmission method of the working machine provided by the invention, the pairing information further comprises:

the number of the second working machine is used for determining the identity information of the second working machine;

And the first position information of the second working machine is used for determining the running direction of the first working machine.

According to the data transmission method of the working machine provided by the invention, the method further comprises the following steps: and after the second data is sent to a scheduling management system, receiving the updated pairing information sent by the scheduling management system.

According to the data transmission method of the working machine provided by the invention, the method further comprises the following steps:

Transmitting a request signal to the second work machine if pairing with the second work machine fails;

receiving second position information of the second working machine sent by the second working machine;

the second location information is sent to the dispatch management system with the first work machine networked.

The invention also provides a data transmission method of another working machine, which is applied to a second working machine, wherein the second working machine is not networked, and the method comprises the following steps:

pairing with the first work machine if the distance between the second work machine and the first work machine is less than a target threshold;

transmitting first data to the first work machine if pairing with the first work machine is successful; the first data is for the first work machine to send to a dispatch management system in a networked condition.

According to the data transmission method of the working machine provided by the invention, the pairing with the first working machine comprises the following steps:

receiving first authentication information sent by the first working machine and sending second authentication information to the first working machine;

Pairing with the first work machine based on the first authentication information.

According to the data transmission method of the working machine provided by the invention, the pairing with the first working machine based on the first authentication information comprises the following steps:

decrypting the first encrypted random value in the first authentication information to obtain a first decrypted random value;

and determining that the first working machine and the second working machine are successfully paired under the condition that the first decryption random value is consistent with the second random value in the second authentication information.

Receiving a request signal sent by the first working machine under the condition that pairing with the first working machine fails;

In response to the request signal, second location information of the second work machine is sent to the first work machine, the second location information being for the first work machine to send to the dispatch management system if networked.

The invention also provides a data transmission method of another working machine, which is applied to a dispatching management system, wherein the dispatching management system is not in communication connection with a second working machine, and the method comprises the following steps:

In the case of networking of a first work machine, second data transmitted by the first work machine is received, the second data being generated based on first data transmitted by the second work machine to the first work machine.

According to the data transmission method of the working machine provided by the invention, before the second data sent by the first working machine is received, the method further comprises the following steps:

Generating pairing information of the first work machine and the second work machine based on scheduling information, the pairing information including first authentication information, a number of the second work machine, and first location information of the second work machine;

And sending pairing information to the first working machine when the first working machine is networked, wherein the pairing information is used for pairing the first working machine and the second working machine.

The present invention also provides a data transmission device for a work machine, for use with a first work machine, the device comprising:

A first processing module for pairing with a second work machine if the distance between the first work machine and the second work machine is less than a target threshold, the second work machine not being networked;

the first receiving module is used for receiving first data sent by the second working machine under the condition that the second working machine is successfully paired;

A second processing module for generating second data based on the first data;

And the first sending module is used for sending the second data to a dispatching management system under the condition that the first working machine is networked.

The present invention also provides a data transmission apparatus for another work machine for use with a second work machine, the second work machine being non-networked, the apparatus comprising:

a third processing module configured to pair with the first work machine if a distance between the second work machine and the first work machine is less than a target threshold;

the second sending module is used for sending first data to the first working machine when the first working machine is successfully paired; the first data is for the first work machine to send to a dispatch management system in a networked condition.

The present invention also provides a data transmission device of another work machine, applied to a schedule management system, the schedule management system not being in communication connection with a second work machine, the device comprising:

and the second receiving module is used for receiving second data sent by the first working machine under the condition that the first working machine is networked, and the second data is generated based on the first data sent by the second working machine to the first working machine.

The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the data transmission method of any one of the working machines described above when executing the program.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a data transmission method of a work machine as described in any of the above.

According to the data transmission method of the working machine, the first working machine transmits the first data generated by the second working machine in the network coverage area matched with the first working machine to the dispatching management system under the condition that the first working machine is in the network coverage area, so that the data transmission between the second working machine in the network coverage area and the dispatching management system can be realized, the condition that the same first data is transmitted for multiple times is avoided, the complexity of the dispatching management system is reduced, and the data transmission capacity is improved.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a method for data transmission of a work machine according to the present disclosure;

FIG. 2 is a second flow chart of a data transmission method of a work machine according to the present invention;

FIG. 3 is a schematic diagram of a data transmission device of a work machine according to the present disclosure;

FIG. 4 is a third flow chart of a data transmission method of a work machine according to the present invention;

FIG. 5 is a second schematic diagram of a data transmission device of a work machine according to the present invention;

Fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The data transmission method of the work machine of the present invention is described below with reference to fig. 1 to 2.

The data transmission method described below is applied to first work machine 210.

It should be noted that, the first work machine 210 is a traveling work machine that can freely pass between the location where the second work machine 220 is located and the transportation destination, and the first work machine 210 may be communicatively connected to the dispatch management system 230 during a certain period of time, for example, the first work machine 210 may be a mine car or a wide car.

The main body of execution of the data transmission method of the working machine may be a controller on the first working machine 210, or a control device independent of the first working machine 210, or a server communicatively connected to the first working machine 210, or an operator terminal, which may be a mobile phone or a computer of the operator, or the like.

The second working machine 220 is a working machine that performs work in a working scenario without or with poor network signals, such as an excavator, loader, tower crane, truck crane, pile driver, concrete machine, road roller, mixer truck, tunneller, pump truck, etc.

It will be appreciated that during actual operation, first work machine 210 may be used to transport material, such as earth and rock, or ore, resulting from operation of second work machine 220 to a shipping destination. For example, the mine car transports materials such as earth and stones excavated by the excavator in areas without network signal coverage such as remote mines to factories so as to process the materials such as earth and stones. During transportation, long distance transportation is often involved, and on the travel route of first work machine 210, areas with good network signals may be routed.

As shown in fig. 1, in some embodiments, the data transmission method of the work machine includes: step 110, step 120, step 130 and step 140.

Step 110, pairing with the second work machine 220 when the distance between the first work machine 210 and the second work machine 220 is less than the target threshold, wherein the second work machine 220 is not networked;

the target threshold may be a maximum distance that the first work machine 210 and the second work machine 220 can perform data transmission in an environment without network coverage; or the target threshold may be user-defined based, but the target threshold cannot exceed the maximum distance of data transmission.

In actual implementation, an on-board unit (OBU) of C-V2X may be used, and the direct connection function/PC 5 interface of LTE-V2X or 5G-V2X may be used to implement data sensing and information interaction between the first work machine 210 and the second work machine 220 on the transport path.

As shown in fig. 2, in the event that the second work machine 220 enters a network-free coverage area, the first work machine 210 begins pairing with the second work machine 220 upon detecting that the distance between the first work machine 210 and the second work machine 220 is less than a target threshold.

It will be appreciated that prior to pairing, a correspondence between first work machine 210 and second work machine 220 should be established first, and the implementation of this correspondence will be described in detail in the embodiments that follow.

The implementation of this pairing is described below by way of specific embodiments.

In some embodiments, step 110, pairing with the second work machine 220 if the distance of the first work machine 210 from the second work machine 220 is less than a target threshold, includes:

In the case where the first work machine 210 is networked, receiving pairing information sent by the schedule management system 230, the pairing information including first authentication information;

When the distance between the first work machine 210 and the second work machine 220 is smaller than the target threshold, transmitting first authentication information to the second work machine 220, and receiving second authentication information transmitted by the second work machine 220, wherein the first authentication information is used for pairing the second work machine 220;

pairing with the second work machine 220 is performed based on the second authentication information.

With continued reference to fig. 2, where first work machine 210 is networked, i.e., where first work machine 210 is in a network covered area, i.e., where information transfer may occur between first work machine 210 and schedule management system 230.

In actual implementation, information transmission between first work machine 210 and dispatch management system 230 may be implemented using a network such as a paving 4G or 5G network; alternatively, a V2X RSU may be set up at the end of the transport of the first work machine 210 for data exchange with the dispatch management system 230, which RSU should be internet-capable.

The pairing information includes first authentication information for pairing the first work machine 210 and the second work machine 220.

The first authentication information has primary validity and timeliness; the first authentication information is used to ensure that only work machines in the same team can exchange information.

In some embodiments, the first authentication information may further include: the number of the second work machine 220 and the first position information of the second work machine 220.

Wherein the number of the second work machine 220 is used to determine the identity information of the second work machines 220, it will be appreciated that each second work machine 220 is associated with a unique number;

The first position information of the second work machine 220 is a work position where the second work machine 220 is located, and is used to determine a traveling direction of the first work machine 210.

The first authentication information may include a number of one or more second work machines 220 and first position information of the second work machines 220; that is, one first work machine 210 may be simultaneously enqueued with one or more second work machines 220; of course, a second work machine 220 may also be simultaneously enqueued with one or more first work machines 210.

In this step, the first work machine 210 may acquire the location of the second work machine 220 that forms a team with the first work machine by receiving the pairing information sent by the scheduling management system 230, so as to determine the driving direction, which is beneficial to reasonably planning the driving route and improving the transportation efficiency.

After first work machine 210 travels to the network-free coverage area, when the distance between first work machine 210 and second work machine 220 is less than the target threshold, first work machine 210 starts transmitting the first authentication information to second work machine 220, and receives the second authentication information transmitted by second work machine 220.

The second authentication information is also valid and valid once for the first work machine 210 to pair.

The first work machine 210 receives the second authentication information sent by the second work machine 220 and mates with the second work machine 220 in response to the second authentication information.

In some embodiments, pairing with the second work machine 220 based on the second authentication information may include:

The first work machine 210 decrypts the second encrypted random value in the second authentication information to obtain a second decrypted random value;

In the event that the second decrypted random value matches the first random value in the first authentication information, it is determined that the first work machine 210 and the second work machine 220 were successfully paired.

Wherein the first authentication information includes an authentication validity period and a first random value (nonce), and the second authentication information includes an authentication validity period and a second random value.

Before sending the second authentication information, the second work machine 220 encrypts the second random value in the second authentication information by using a public key (public key) to obtain a second encrypted random value; the second encrypted random value is transmitted to first work machine 210 when paired with first work machine 210.

Similarly, the first work machine 210 encrypts the first random value to generate a first encrypted random value and transmits the first encrypted random value to the second work machine 220 before transmitting the first authentication information.

After the first working machine 210 receives the second encrypted random value, it decrypts the second encrypted random value by using the private key to obtain a second decrypted random value, compares the second decrypted random value with the first random value in the first authentication information, and determines that the first working machine 210 and the second working machine 220 are successfully paired when the second decrypted random value is consistent with the first random value, i.e. the second working machine 220 and the first working machine 210 are in the same team.

It should be noted that, the pairing is a bidirectional pairing, that is, step 120 may be performed only after both the first work machine 210 and the second work machine 220 determine that the pairing of the other party and the second work machine is successful.

The second work machine 220 is paired in a manner similar to the embodiments described above, and will be specifically described in subsequent embodiments.

According to the embodiment, by pairing the second working machine 220, the subsequent transmission of the first data is only entered if the pairing is successful, so that the safety of the data transmission is effectively ensured.

Of course, in the case where the second work machine 220 is manually operated, the second work machine 220 may also notify the driver of the pairing result using an effective human-machine interface after the pairing is completed, in accordance with other embodiments of the present disclosure; for example, in the event of successful pairing, information of the first work machine 210 with which it is being paired is displayed via the display screen of the second work machine 220.

Step 120, receiving first data sent by the second working machine 220 when the pairing with the second working machine 220 is successful;

Wherein the first data includes a second operating parameter of the second work machine 220, a second generation time of the second operating parameter, and the like; the second operating parameter is used to characterize an operating state of the second work machine 220.

In actual operation, the second work machine 220 may store information such as its own second operation parameter in the local database, and when the pairing with the first work machine 210 is successful, send data such as the second operation parameter stored in the local database and the second generation time of the second operation parameter to the first work machine 210, and record the first transmission time corresponding to the data.

In actual execution, first work machine 210 may utilize V2X technology to receive first data sent by second work machine 220 during a period of establishing contact with second work machine 220, and after successful receipt of all first data during the team, then mark that the first data has been received.

Likewise, first work machine 210 may store the first data in a local server.

After the data transmission is completed, the first work machine 210 travels away from the second work machine 220 and toward the destination.

It is appreciated that the duration of data transmission between first work machine 210 and second work machine 220 may be user-defined based. For example, some or all of the time during which the first work machine 210 is loading material, or all of the time when the first work machine 210 is less than a target threshold distance from the second work machine 220.

Step 130, generating second data based on the first data;

Wherein the second data includes: the first data and a first transmission time corresponding to the first data.

The first work machine 210 generates second data based on the first data, which may be stored in a local server of the first work machine 210 when the first work machine 210 is not in network coverage.

In some embodiments, the second data may further include: a first operating parameter of first work machine 210, a first generation time corresponding to the first operating parameter, and the like; wherein the first operating parameter is used to characterize an operating state of the first work machine 210.

Step 140, in the case of networking of first work machine 210, sends the second data to schedule management system 230.

With continued reference to fig. 2, after traveling out of the network coverage area and entering the network coverage area, the first work machine 210 may establish a communication connection with the schedule management system 230, and at this time, send second data stored in the local server to the schedule management system 230, and simultaneously send a second sending time corresponding to the second data.

Of course, in other embodiments, first work machine 210 may also send the second data to a cloud communicatively coupled to schedule management system 230.

In actual execution, information may be transferred between first work machine 210 and dispatch management system 230 via a network such as a 4G or 5G network.

According to other embodiments of the present disclosure, a V2X RSU may be set up at the destination of the first work machine 210 for data exchange with the schedule management system 230 without network signal coverage throughout the haul route of the first work machine 210, and the first work machine 210 may send the second data to the RSU and then to the schedule management system 230 by the RSU. In this case, the RSU should have an internet connection capability.

In this step, by transmitting the second data to the schedule management system 230, the schedule management system 230 is facilitated to determine the travel information of the first work machine 210 based on the first transmission time and the second transmission time, which contributes to better schedule management.

After first work machine 210 has all of the second data sent to schedule management system 230, the present team formation is ended.

In some mine areas, particularly in strip mines, when the second working machine 220 such as an excavator or a loader performs loading and unloading on earth and stone in the area, the working condition data of the second working machine 220 cannot be transmitted to the dispatching management system 230, and therefore the second working machine cannot be effectively communicated with the dispatching management system 230 under the condition that network signals are poor or no signals exist. In the prior art, data transmission is often carried out by paving a 4G/5G network. However, in a short period, laying a 4G/5G network in a single mine area may require millions or even nearly millions of additional investments, and the construction costs are extremely high, which is difficult to afford for both the mine owners and the digital transformation service providers.

By the above embodiment, the second work machine 220 in the coverage area without network transmits the second data generated based on the first data to the schedule management system 230 when the first work machine 210 enters the coverage area with network by transmitting the first data to the first work machine 210 paired with the second work machine, so that the first data generated by the second work machine 220 in the coverage area without network can be effectively transmitted to the schedule management system 230, and the problem of data transmission of the work machine in the environment without network signal or network signal failure is solved; in addition, by pairing the first working machine 210 and the second working machine 220, the problem that the first data generated by the same second working machine 220 is transmitted multiple times can be effectively avoided, which is helpful for reducing the complexity of the scheduling management system 230, and meanwhile, the confidentiality and security of data transmission can be improved, and the data transmission capability is further improved.

According to the data transmission method of the working machine provided by the embodiment of the invention, the first working machine 210 transmits the first data generated by the second working machine 220 in the network coverage area matched with the first working machine to the dispatching management system 230 under the condition of being in the network coverage area, so that the data transmission between the network coverage area and the dispatching management system 230 can be realized, the condition that the same first data is transmitted for multiple times is avoided, the complexity of the dispatching management system 230 is reduced, and the data transmission capability is improved.

In other embodiments, after pairing with the second work machine 220 at step 110, the method further includes:

in the event of a pairing failure with the second work machine 220, sending a request signal to the second work machine 220;

receiving second position information of a second work machine 220 transmitted by the second work machine 220;

In the case of networking of first work machine 210, the second location information is sent to dispatch management system 230.

It will be appreciated that in actual execution, there may be situations where the first work machine 210 fails to mate with the second work machine 220, i.e., the second work machine 220 is not in the same team as the first work machine 210.

In the event that the distance between the first work machine 210 and the second work machine 220 is less than the target threshold and the pairing of the first work machine 210 and the second work machine 220 fails, the first work machine 210 sends a request signal to the second work machine 220, wherein the request signal is used to determine whether the second work machine 220 has a need to forward data.

In the event that there is a need for the second work machine 220 to forward data, the second work machine 220 transmits second position information of the second work machine 220 to the first work machine 210 in response to the request signal; the second position information is the current position of the second work machine 220.

The first work machine 210 receives the second position information transmitted from the second work machine 220, travels away from the second work machine 220, and transmits the second position information to the dispatch management system 230 after the first work machine 210 reenters the network coverage area.

Upon receiving the second location information, dispatch management system 230 may dispatch first work machine 210, which is in team with second work machine 220, based on the second location information.

In the case where the pairing of the first work machine 210 and the second work machine 220 fails, the first work machine 210 only receives the second position information of the second work machine 220, and does not receive other information, so as to avoid multiple transmissions of the same data.

For other data of the second work machine 220, the data sent by the second work machine 220 to the first work machine 210 with which the pairing was successful is transmitted.

According to the data transmission method of the working machine provided by the embodiment of the invention, the first working machine 210 sends the second position information of the second working machine 220 which is not in team formation with the first working machine to the dispatching management system 230, so that the dispatching management system 230 can conveniently carry out team formation dispatching on the second working machine 220, and the data transmission capability is improved.

In some embodiments, after sending the second data to the schedule management system 230 at step 140, the method further comprises: the updated pairing information sent by the schedule management system 230 is received.

In this embodiment, after first work machine 210 sends the second data to schedule management system 230, the end of the present pairing is marked.

The schedule management system 230 performs overall arrangement of the transportation route and the work area based on the second data currently received transmitted from each first work machine 210, redistributes the second work machines 220 paired with the first work machines 210, and transmits the updated pairing information to the first work machines 210.

The updated pairing information may be the same as the pairing information of the previous time, or may be different from the pairing information of the previous time.

For example, in the case where the second work machine 220 reassigned by the schedule management system 230 to be paired with the first work machine 210 is the last paired second work machine 220, the pairing information may be unchanged. That is, the number of the second work machine 220, the first position information of the second work machine 220, and the first authentication information in the pairing information are the same as those of the previous time, and the schedule management system 230 considers that the pairing information of the previous time is still valid.

For another example, when the second work machine 220 paired with the first work machine 210 and reassigned by the schedule management system 230 is not the second work machine 220 that was previously formed, the schedule management system 230 regenerates the number of the second work machine 220 that was currently formed, the first position information of the second work machine 220, and the new first authentication information, and transmits the same to the first work machine 210.

Upon receiving the updated pairing information, the first work machine 210 performs pairing again based on the pairing information.

According to the data transmission method of the working machine provided by the embodiment of the invention, the first working machine 210 sends the first data of the second working machine 220 which is formed into a team with the first working machine to the dispatching management system 230, and the first working machine is formed into a team again after finishing one pairing, so that reasonable dispatching arrangement can be performed based on the current dispatching situation, and the data transmission capability is improved.

The data transmission device of a working machine according to the present invention will be described below, and the data transmission device of the working machine described below and the data transmission method of the working machine described above may be referred to correspondingly.

It should be noted that the apparatus described below is applied to the first work machine 210.

As shown in fig. 3, in some embodiments, the data transmission device of the work machine includes: the device comprises a first processing module, a first receiving module, a second processing module and a first sending module.

A first processing module for pairing with a second work machine 220 if the distance between the first work machine 210 and the second work machine 220 is less than a target threshold, the second work machine 220 being non-networked;

A first receiving module, configured to receive, when the pairing with the second working machine 220 is successful, first data sent by the second working machine 220;

a second processing module for generating second data based on the first data;

a first sending module for sending the second data to the schedule management system 230 in the case of networking of the first work machine 210.

In some embodiments, the first processing module is further to:

In some embodiments, the pairing information further includes:

A number of the second work machine 220 for determining identity information of the second work machine 220;

First position information of second work machine 220 is used to determine a travel orientation of first work machine 210.

In some embodiments, after sending the second data to the schedule management system 230, the method further comprises: the updated pairing information sent by the schedule management system 230 is received.

In some embodiments, the apparatus further comprises:

A third transmission module configured to transmit a request signal to the second work machine 220 when pairing with the second work machine 220 fails after pairing with the second work machine 220;

A third receiving module, configured to receive second position information of the second work machine 220 sent by the second work machine 220;

A fourth sending module, configured to send the second location information to the schedule management system 230 when the first work machine 210 is networked.

According to the data transmission device of the working machine provided by the embodiment of the invention, the first working machine 210 transmits the first data generated by the second working machine 220 in the network coverage area matched with the first working machine to the dispatching management system 230 under the condition of being in the network coverage area, so that the data transmission between the network coverage area and the dispatching management system 230 can be realized, the condition that the same first data is transmitted for multiple times is avoided, the complexity of the dispatching management system 230 is reduced, and the data transmission capability is improved.

Another data transmission method of the work machine of the present invention is described below with reference to fig. 2 and 4.

The data transmission method of the work machine described below is applied to the second work machine 220, and the second work machine 220 is not networked.

The second work machine 220 may be a work machine that performs work in a work scenario where no or poor network signals are present, such as an excavator, loader, tower crane, truck crane, pile driver, concrete machine, road roller, mixer truck, tunneler or pump truck, etc.

The main body of execution of the data transmission method of the working machine may be a controller on the second working machine 220, or a control device independent of the second working machine 220, or a server communicatively connected to the second working machine 220, or an operator terminal, which may be a mobile phone or a computer of the operator, or the like.

As shown in fig. 4, in some embodiments, the method includes: step 410 and step 420.

Step 410, pairing with the first work machine 210 if the distance between the second work machine 220 and the first work machine 210 is less than the target threshold;

The target threshold may be a maximum distance that the first work machine 210 and the second work machine 220 can perform data transmission in an environment without network coverage; or may be custom based on the user.

In actual implementation, an on-board unit (OBU) of C-V2X may be used to implement information interaction between the second work machine 220 and the first work machine 210 using a direct function/PC 5 interface of LTE-V2X or 5G-V2X.

As shown in fig. 2, the first work machine 210 is in a network-free coverage area for work, and the second work machine 220 is reciprocated between the destination of transportation and the work area of the first work machine 210, and the area with or without network coverage is passed through the transportation path of the first work machine 210.

In the event that first work machine 210 enters a network-free coverage area and the distance from first work machine 210 is less than a target threshold, first work machine 210 begins pairing with second work machine 220.

In some embodiments, step 410, pairing with first work machine 210, includes:

receiving first authentication information sent by first work machine 210 and sending second authentication information to first work machine 210;

pairing with the first work machine 210 is performed based on the first authentication information.

The second authentication information is also one-time valid and valid for pairing by the first work machine 210.

The second work machine 220 receives the first authentication information sent by the first work machine 210 and mates with the first work machine 210 in response to the first authentication information.

In some embodiments, pairing with first work machine 210 based on the first authentication information may further include:

In the event that the first decrypted random value matches the second random value in the second authentication information, it is determined that the first work machine 210 and the second work machine 220 were successfully paired.

The first authentication information received by the second work machine 220 includes an authentication validity period and an encrypted first encrypted random value, and the second authentication information transmitted to the first work machine 210 includes an authentication validity period and an encrypted second encrypted random value.

After receiving the first encrypted random value, the second working machine 220 decrypts the first encrypted random value by using a private key to obtain a first decrypted random value, compares the first decrypted random value with a second random value in the second authentication information, and determines that the first working machine 210 and the second working machine 220 are successfully paired, that is, the first working machine 210 and the second working machine 220 are in the same team under the condition that the first decrypted random value is consistent with the second random value.

It should be noted that, the pairing is a bidirectional pairing, that is, step 420 may be performed only after both the first work machine 210 and the second work machine 220 determine that the pairing of the other party and the second work machine is successful.

According to the present embodiment, by pairing the first work machine 210, the security and the uniqueness of the data transmission can be effectively ensured only if the pairing is successful and the subsequent transmission of the first data is entered.

Step 420, transmitting first data to first work machine 210 if the pairing with first work machine 210 is successful; the first data is for first work machine 210 to send to schedule management system 230 in a networked condition.

It should be noted that the same second work machine 220 may be simultaneously enqueued with one or more first work machines 210.

When the same second work machine 220 is simultaneously paired with at least two first work machines 210, the second work machine 220 preferentially transmits first data to the first work machine 210 successfully paired with the first work machine during the current queuing period, and performs first data transmission during the current queuing period.

After ending the first data transmission, the second work machine 220 transmits the remaining first data not transmitted to the next successfully paired first work machine 210.

After receiving the first data, the first work machine 210 moves away from the second work machine 220, goes to the destination, and after entering the network coverage area, sends the second data generated based on the first data to the dispatch management system 230, and receives the updated pairing information for next team formation and data transmission.

In some embodiments, after pairing with first work machine 210 at step 410, the method further includes:

In the event of a pairing failure with the first work machine 210, receiving a request signal sent by the first work machine 210;

in response to the request signal, second location information for second work machine 220 is sent to first work machine 210 for first work machine 210 to send to schedule management system 230 in a networked condition.

In the case where the pairing of the first work machine 210 and the second work machine 220 fails, the second work machine 220 only transmits the second position information to the first work machine 210, so as to avoid multiple transmissions of the same data.

Of course, in other embodiments, in the event that the second work machine 220 does not have a transmission request, a response signal for rejection may be sent to the first work machine 210 in response to the request signal, and the transmission of this signal may be terminated after the response signal is received by the first work machine 210.

The data transmission device of another working machine provided by the present invention will be described below, and the data transmission device of the working machine described below and the data transmission method of the working machine described above may be referred to correspondingly with each other.

It should be noted that the apparatus described below applies to the second work machine 220, and the second work machine 220 is not networked.

As shown in fig. 5, in some embodiments, the data transmission device of the work machine includes: a third processing module and a second transmitting module.

A third processing module for pairing with the first work machine 210 if the distance between the second work machine 220 and the first work machine 210 is less than a target threshold;

A second transmitting module, configured to transmit the first data to the first work machine 210 if the pairing with the first work machine 210 is successful; the first data is for first work machine 210 to send to schedule management system 230 in a networked condition.

In some embodiments, the third processing module is further to:

In some embodiments, the third processing module is further to: pairing with the first work machine 210 based on the first authentication information includes:

In some embodiments, the apparatus further comprises:

a fourth receiving module, configured to receive, after pairing with the first working machine 210, a request signal sent by the first working machine 210 if pairing with the first working machine 210 fails;

A fifth transmitting module is configured to transmit second location information of the second work machine 220 to the first work machine 210 in response to the request signal, where the second location information is transmitted by the first work machine 210 to the schedule management system 230 in a networked condition.

A further data transmission method of a work machine according to the invention will be described below with reference to fig. 2.

It should be noted that the data transmission method of the work machine described below is applied to the schedule management system 230, the schedule management system 230 is not communicatively connected to the second work machine 220, and the schedule management system 230 and the first work machine 210 may perform information transmission for a period of time.

It will be appreciated that the dispatch management system 230 may be communicatively coupled to the first work machine 210 directly, or the dispatch management system 230 may be communicatively coupled to the first work machine 210 via an RSU, or the dispatch management system 230 may be communicatively coupled to the first work machine 210 via a cloud server.

The execution subject of the data transmission method of the working machine may be a controller on the dispatch management system 230, or a control device independent of the dispatch management system 230, or a server communicatively connected to the dispatch management system 230, or an operator terminal, which may be an operator's mobile phone or a computer, etc.

In some embodiments, the method comprises: in the case of networking of first work machine 210, second data transmitted by first work machine 210 is received and generated based on first data transmitted by second work machine 220 to first work machine 210.

In some embodiments, the second data may further include: a first operating parameter of first work machine 210, a first generation time corresponding to the first operating parameter, and so forth.

The second data is generated by the first work machine 210 based on the first data sent by the second work machine 220.

As shown in fig. 2, in the case of networking of the first work machine 210, the second data may be sent to a cloud communicatively connected to the schedule management system 230, and sent by the cloud to the schedule management system 230.

Alternatively, first work machine 210 may send the second data directly to dispatch management system 230 via a wireless connection or a wired connection, such as via a cable or fiber optic cable, for example.

Of course, in other embodiments, an internet-capable V2X RSU may also be established at the end of the shipment without a network coverage area on the shipment route of the first work machine 210, which RSU is communicatively coupled to the dispatch management system 230. The first work machine 210 sends the second data to the RSU and then to the schedule management system 230 by the RSU.

It will be appreciated that dispatch management system 230 should first establish a team relationship between first work machine 210 and second work machine 220 before receiving first data corresponding to second work machine 220 paired with first work machine 210.

The implementation of this team relationship is described in detail below.

In some embodiments, prior to receiving the second data sent by first work machine 210, the method further includes:

Generating pairing information for the first work machine 210 and the second work machine 220 based on the scheduling information, the pairing information including first authentication information, a number of the second work machine 220, and first location information for the second work machine 220;

in the event that first work machine 210 is networked, pairing information is sent to first work machine 210 for pairing first work machine 210 with second work machine 220.

The scheduling information may include the number and the number of the first work machines 210 and the second work machines 220, the transportation state of each first work machine 210, the operation state and the transportation road condition of each second work machine 220, the current operation progress, the operation period, and the like.

Based on the scheduling information, the scheduling management system 230 may reasonably schedule departure time, a transportation path, pairing information of the first work machine 210 and the second work machine 220, and the like of the first work machine 210, thereby achieving efficient scheduling management.

The pairing information includes the first authentication information, the number of the second work machine 220, and the first position information of the second work machine 220. The first authentication information is used to pair the first work machine 210 with the second work machine 220, the number of the second work machine 220 is used to determine the identity information of the second work machine 220, and the first position information of the second work machine 220 is used to determine the travel orientation of the first work machine 210.

After scheduling management system 230 generates pairing information, the pairing information is sent to first work machine 210 that ended the last team or first work machine 210 that has not yet started the team.

In the following, a description will be given of a data transmission device of a further working machine according to the present invention, and the data transmission device of the working machine described below and the data transmission method of the working machine described above may be referred to correspondingly with each other.

It should be noted that the apparatus described below is applied to the schedule management system 230, and the schedule management system 230 is not communicatively connected to the second work machine 220.

In some embodiments, a data transmission device of a work machine includes: the second receiving module is configured to receive, in a case where the first work machine 210 is networked, second data sent by the first work machine 210, and the second data is generated based on the first data sent by the second work machine 220 to the first work machine 210.

In some embodiments, the apparatus further comprises:

A fourth processing module configured to generate pairing information of the first work machine 210 and the second work machine 220 based on the scheduling information before receiving the second data sent by the first work machine 210, the pairing information including the first authentication information, the number of the second work machine 220, and the first location information of the second work machine 220;

A sixth transmitting module is configured to transmit pairing information to the first work machine 210 when the first work machine 210 is networked, where the pairing information is used for pairing the first work machine 210 with the second work machine 220.

Fig. 6 illustrates a physical schematic diagram of an electronic device, as shown in fig. 6, which may include: processor 610, communication interface (Communications Interface) 620, memory 630, and communication bus 640, wherein processor 610, communication interface 620, memory 630 communicate with each other via communication bus 640. Processor 610 may invoke logic instructions in memory 630 to perform a method of data transmission for a work machine, the method being applied to a first work machine, the method comprising: pairing with a second work machine if the distance between the first work machine and the second work machine is less than a target threshold, the second work machine not being networked; receiving first data sent by the second working machine under the condition that the pairing with the second working machine is successful; generating second data based on the first data; and sending the second data to a scheduling management system under the condition that the first working machine is networked.

Further, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method of data transmission of a work machine provided by the methods described above, the method being applied to a first work machine, the method comprising: pairing with a second work machine if the distance between the first work machine and the second work machine is less than a target threshold, the second work machine not being networked; receiving first data sent by the second working machine under the condition that the pairing with the second working machine is successful; generating second data based on the first data; and sending the second data to a scheduling management system under the condition that the first working machine is networked.

In yet another aspect, the present disclosure also provides a non-transitory computer readable storage medium having stored thereon a computer program that when executed by a processor is implemented to perform the data transmission method of the work machine provided above, the method being applied to a first work machine, the method comprising: pairing with a second work machine if the distance between the first work machine and the second work machine is less than a target threshold, the second work machine not being networked; receiving first data sent by the second working machine under the condition that the pairing with the second working machine is successful; generating second data based on the first data; and sending the second data to a scheduling management system under the condition that the first working machine is networked.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of data transmission for a work machine, for use with a first work machine, the method comprising:

Pairing with a second work machine when the distance between the first work machine and the second work machine is smaller than a target threshold, wherein the second work machine is not networked, and a corresponding relation between the first work machine and the second work machine is established in advance before pairing;

receiving first data sent by the second working machine under the condition that the pairing with the second working machine is successful, wherein the first data comprises a second working parameter of the second working machine and a second generation time of the second working parameter, and the second working parameter is used for representing the working state of the second working machine; generating second data based on the first data, the second data comprising: the first data, a first sending time corresponding to the first data, a first working parameter of the first working machine, and a first generating time corresponding to the first working parameter, wherein the first working parameter is used for representing the working state of the first working machine; transmitting the second data to a scheduling management system under the condition that the first working machine is networked, wherein the scheduling management system is used for updating pairing information;

Transmitting a request signal to the second work machine if pairing with the second work machine fails; receiving second position information of the second working machine sent by the second working machine; transmitting the second location information to the dispatch management system with the first work machine networked; the scheduling management system is configured to schedule, after receiving the second location information, a first work machine that is in a group with the second work machine to be allocated to the second work machine based on the second location information.

2. The method according to claim 1, wherein the pairing with the second work machine in a case where a distance between the first work machine and the second work machine is smaller than a target threshold value, comprises:

3. The data transmission method according to claim 2, characterized in that the pairing with the second work machine based on the second authentication information includes:

4. The method of data transmission of a work machine of claim 2, further comprising:

and after the second data is sent to a scheduling management system, receiving the updated pairing information sent by the scheduling management system.

5. A method of data transmission for a work machine, applied to a second work machine, the second work machine being non-networked, the method comprising:

Pairing with the first work machine when the distance between the second work machine and the first work machine is smaller than a target threshold, wherein a corresponding relation between the first work machine and the second work machine is established in advance before pairing;

transmitting first data to the first work machine if pairing with the first work machine is successful; the first data is used for the first working machine to send to a dispatching management system under the condition of networking, and the first data comprises a second working parameter of the second working machine and a second generation time of the second working parameter, wherein the second working parameter is used for representing the working state of the second working machine;

Receiving a request signal sent by the first working machine under the condition that pairing with the second working machine fails; and transmitting second position information of the second work machine to the first work machine in response to the request signal, the second position information being for the first work machine to transmit to the dispatch management system in a networked condition.

6. The method of data transmission for a work machine according to claim 5, wherein said pairing with said first work machine comprises:

7. The method for transmitting data to a working machine according to claim 6, wherein the pairing with the first working machine based on the first authentication information includes:

8. A data transmission method of a work machine, applied to a schedule management system, the schedule management system not communicatively connected to a second work machine, the method comprising:

Receiving second data sent by a first working machine under the condition that the first working machine is successfully paired with the second working machine and the first working machine is networked, wherein the second data is generated based on first data sent by the second working machine to the first working machine;

Receiving second position information of the second working machine sent by the first working machine under the condition that the pairing of the first working machine and the second working machine fails and the first working machine is networked; scheduling, based on the second location information, the second work machine with a first work machine in a group with the second work machine;

Wherein the first data includes a second operating parameter of the second work machine and a second generation time of the second operating parameter, the second operating parameter being used to characterize an operating state of the second work machine; the second data includes: the first data, a first sending time corresponding to the first data, a first working parameter of the first working machine, and a first generating time corresponding to the first working parameter, where the first working parameter is used to represent a working state of the first working machine.

9. The method of data transmission for a work machine of claim 8, wherein prior to said receiving second data sent by said first work machine, said method further comprises: