CN113300925A

CN113300925A - CAN bus network access unit of linear type and transfer machine and related method thereof

Info

Publication number: CN113300925A
Application number: CN202010591207.6A
Authority: CN
Inventors: 邓嘉
Original assignee: Alibaba Group Holding Ltd
Current assignee: Hema China Co Ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2021-08-24
Anticipated expiration: 2040-06-24
Also published as: WO2021259234A1; CN113300925B

Abstract

The present disclosure provides a linear and transfer vehicle CAN bus network access unit and related methods. The linear CAN bus networking unit comprises a first CAN bus, a second CAN bus, a first port and a third port, wherein the connection direction of the first port and the third port is consistent with the conveying direction of a conveying section where the linear CAN bus networking unit is located, the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus or the second CAN bus through a switch. The embodiment of the disclosure provides a CAN bus switching technology, so as to clean up obstacles for unitizing an electrical control system of a transmission line.

Description

CAN bus network access unit of linear type and transfer machine and related method thereof

Technical Field

The present disclosure relates to the field of automatic control, and more particularly, to a linear and transfer vehicle CAN bus network access unit and related methods thereof.

Background

Modern logistics merchant background logistics sorting and ex-warehouse generally adopt conveying line products. The conveyor line is the sum of all conveying devices such as a conveyor belt and a conveyor which complete the conveyance of the article. In the places surrounding the storehouses, the production workshops and the packaging workshops, a conveying chain consisting of a plurality of belt conveyors, roller conveyors and the like is arranged, and the continuous conveying line is formed by connecting the belt conveyors, the roller conveyors and the like end to end. Since the transmission line not only needs physical equipment for actual transmission, but also needs an electric control signal to control transmission of the transmission line, a corresponding electric control system is also needed in the transmission line.

The electric control system of the conveying line which is used in a large amount in the market at present adopts a Programmable Logic Controller (PLC) for centralized control, and has the main defects of single-point or multi-point control, complex wiring, difficult field deployment, large amount of field debugging work required by each new shop and difficult quick shop opening. The other improved electric control system of the transmission line adopts a single chip microcomputer, only solves the problem of high cost of the PLC, and has the defect of difficult field deployment and difficult quick shop opening. If the electrical control system of the transmission line is unitized, how each unit CAN freely switch the connected CAN bus becomes a technical obstacle.

Disclosure of Invention

In view of the above, the present disclosure is directed to a CAN bus switching technique for cleaning up obstacles in order to unitize an electrical control system of a transmission line.

According to an aspect of the present disclosure, a linear controller area network CAN bus networking unit is provided, including a first CAN bus, a second CAN bus, a first port, and a third port, wherein a connection direction of the first port and the third port is consistent with a conveying direction of a conveying section where the linear controller CAN bus networking unit is located, the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus or the second CAN bus through a switch.

Optionally, the switch is a first single-pole double-throw switch, one end of the first single-pole double-throw switch is connected to the third port, and the other end of the first single-pole double-throw switch is switched between connection with the first CAN bus and connection with the second CAN bus.

Optionally, the switches comprise a first switch connected to the first CAN bus and a second switch connected to the second CAN bus.

Optionally, in a first scan period, a second scan period, a third scan period, and a fourth scan period of a networking phase, which are consecutive, the third port is connected to the second CAN bus through the switch.

Optionally, in the consecutive first scanning period, second scanning period, third scanning period, and fourth scanning period, the first port and the third port send a notification message, where the notification message includes an identifier of the CAN bus network access unit, a port number for sending the notification message, and a bus number connected to the port for sending the notification message.

Optionally, during a first quiet period prior to the first scan period, connecting the third port to the second CAN bus through the switch; connecting, by the switch, the third port to the second CAN bus during a second quiet period following the fourth scan period.

Optionally, the linear type CAN bus network access unit further includes a second port, a fourth port, and a microcontroller MCU.

Optionally, if the first port or the third port receives a notification message containing an identifier, a bus number 1, and a port number 1 of a CAN bus network access unit during consecutive first scan period, second scan period, third scan period, and fourth scan period, the MCU determines that the first port or the third port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, and the connection port of the connected linear CAN bus network access unit is the first port and the connected first port is the inlet.

Optionally, if the first port or the third port receives a notification message containing an identifier, a bus number 2, and a port number 3 of the CAN bus network access unit during the consecutive first scan period, the second scan period, the third scan period, and the fourth scan period, the MCU determines that the first port or the third port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, and the connection port of the connected linear CAN bus network access unit is the third port and the connected third port is the outlet.

Optionally, if the first port or the third port receives a notification message containing an identifier of a CAN bus network access unit, a bus number 1, and a specific flag bit in a first scanning period, the MCU determines that the first port or the third port is connected to a transfer machine CAN bus network access unit, records the identifier of the connected CAN bus network access unit, where the connection port of the connected transfer machine CAN bus network access unit is the first port, and the connected first port is an inlet.

Optionally, if the first port or the third port receives a notification message containing an identifier of a CAN bus access unit, a bus number 1 or 2, and a specific flag bit in the second scanning period, the MCU determines that the first port or the third port is connected to a transfer machine CAN bus access unit, and sends a port query request to the CAN bus access unit that sent the notification message, the received response indicates that the port number is 2, records the identifier of the connected CAN bus access unit, the connection port of the connected transfer machine CAN bus access unit is the second port, and in the case of the bus number 1, the connected second port is the outlet.

Optionally, in case of bus number 2, the second port connected to is the ingress; if the first port or the third port receives a notification message containing an identifier of a CAN bus network access unit, a bus number 1 or 2 and a specific zone bit in the third scanning period, the MCU determines that the first port or the third port is connected to a transfer machine CAN bus network access unit, and after a port query request is sent to the CAN bus network access unit sending the notification message, the received response indication port number is 3, the identifier of the connected CAN bus network access unit is recorded, the connection port of the connected transfer machine CAN bus network access unit is the third port, and under the condition of the bus number 1, the connected third port is an outlet.

Alternatively, in the case of bus number 2, the third port connected to is the ingress; if the first port or the third port receives a notification message containing an identifier of a CAN bus network access unit, a bus number 1 or 2 and a specific flag bit in the fourth scanning period, the MCU determines that the first port or the third port is connected to a transfer machine CAN bus network access unit, and after a port query request is sent to the CAN bus network access unit which sends the notification message, the received response indication port number is 4, records the identifier of the connected CAN bus network access unit, the connection port of the connected transfer machine CAN bus network access unit is a fourth port, and the fourth port is an outlet under the condition of the bus number 1; in the case of bus number 2, this fourth port is an entry.

Optionally, in the use phase, the third port is connected to the first CAN bus or the second CAN bus by the switch according to the field requirement.

According to an aspect of the present disclosure, there is also provided a mobile carrier controller local area network CAN bus networking unit, including a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port, where a connection direction of the first port and the third port and a connection direction of the second port and the fourth port are perpendicular to each other, where the first port is connected to the first CAN bus, and at least one of the second port, the third port, and the fourth port is connected to the first CAN bus or the second CAN bus through a respective switch.

Optionally, the switch includes a second, a third, and a fourth single-pole double-throw switch, where one end of the second single-pole double-throw switch is connected to a second port, and the other end of the second single-pole double-throw switch is connected to the first CAN bus or the second CAN bus; one end of the third single-pole double-throw switch is connected with a third port, and the other end of the third single-pole double-throw switch is connected to the first CAN bus or the second CAN bus; one end of the fourth single-pole double-throw switch is connected with a fourth port, and the other end of the fourth single-pole double-throw switch is connected to the first CAN bus or the second CAN bus.

Optionally, the switches include a fifth single-pole double-throw switch, a third switch, a fourth switch, and a fifth switch, where one end of the third switch, one end of the fourth switch, and one end of the fifth switch are respectively connected to the second port, the third port, and the fourth port, and the other ends of the third switch, the fourth switch, and the fifth switch are commonly connected to one end of the fifth single-pole double-throw switch, and the other end of the fifth single-pole double-throw switch switches between connecting the first CAN bus and connecting the second CAN bus.

Optionally, in a first scanning period of a networking stage, the first port is connected to a first CAN bus, and the second, third, and fourth ports are connected to a second CAN bus through the switch; in a second scanning period, the first port, the third port and the fourth port are connected to a first CAN bus and a second port is connected to a second CAN bus through the switch; in a third scanning period, connecting the first, second and fourth ports to a first CAN bus, and connecting the third port to a second CAN bus; and in a fourth scanning period, the first, the second and the third ports are connected to the first CAN bus, and the fourth port is connected to the second CAN bus.

Optionally, in the first scanning period, the second scanning period, the third scanning period, and the fourth scanning period, each port of the transfer machine CAN bus network access unit sends a notification message, where the notification message includes an identifier of the CAN bus network access unit, a bus number connected to the port that sends the notification message, and a specific flag bit.

Optionally, during a first quiet period prior to the first scan period, connecting the first port to the first CAN bus and the second, third and fourth ports to the second CAN bus; in a second quiet period following the fourth scan period, the first, second and third ports are connected to the first CAN bus and the fourth port is connected to the second CAN bus.

Optionally, the network access unit of the transfer machine CAN bus further comprises a micro control unit MCU.

Optionally, if the port of the transfer machine CAN bus network access unit receives notification messages containing the identifier, the bus number 1 and the port number 1 of the CAN bus network access unit during the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, the MCU determines that the port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, the connection port of the connected linear CAN bus network access unit is the first port, and the connected first port is the inlet.

Optionally, if the port of the transfer machine CAN bus network access unit receives notification messages containing the identifier, the bus number 2 and the port number 3 of the CAN bus network access unit in the continuous first scanning period, the second scanning period, the third scanning period and the fourth scanning period, the MCU determines that the port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, the connection port of the connected linear CAN bus network access unit is the third port, and the connected third port is the outlet.

Optionally, in the use stage, the switch connected with at least one of the second port, the third port and the fourth port is controlled to be turned on or turned off according to field requirements.

According to an aspect of the present disclosure, there is also provided a switch control method of a linear controller area network CAN bus network access unit, wherein the linear CAN bus network access unit includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port, wherein the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus or the second CAN bus through a switch, the method including:

in a networking stage, connecting the third port to the second CAN bus through the switch;

in the use phase, the third port is connected to the first CAN bus or the second CAN bus through the switch according to the field requirement.

According to an aspect of the present disclosure, there is also provided a method for controlling a switch of a transfer machine controller area network CAN bus network access unit, where the transfer machine CAN bus network access unit includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port, where the first port is connected to the first CAN bus, and at least one of the second port, the third port, and the fourth port is connected to the first CAN bus or the second CAN bus through a respective switch, the method including:

in a first scanning period of a networking stage, the first port is connected to a first CAN bus through the switch, and the second, third and fourth ports are connected to a second CAN bus; in a second scanning period, the first port, the third port and the fourth port are connected to a first CAN bus and a second port is connected to a second CAN bus through the switch; in a third scanning period, the first, second and fourth ports are connected to a first CAN bus and the third port is connected to a second CAN bus through the switch; in a fourth scanning period, the first, second and third ports are connected to a first CAN bus and the fourth port is connected to a second CAN bus through the switch;

and in the use stage, the on or off of a switch connected with at least one of the second port, the third port and the fourth port is controlled according to field requirements.

According to an aspect of the present disclosure, there is provided a method for assembling a remote visual CAN bus network access unit, including:

receiving a networking request of a user on a remote visual interface;

identifying a CAN bus network access unit in an electrical control system of a transmission line, wherein the CAN bus network access unit comprises a first CAN bus, a second CAN bus, a first port, a second port, a third port, a fourth port and a switch;

remotely controlling the switch to connect at least one of the first port, the second port, the third port, and the fourth port to at least one of the first CAN bus and the second CAN bus.

Optionally, the remotely controlling the switch to connect at least one of the first port, the second port, the third port, and the fourth port to at least one of the first CAN bus and the second CAN bus includes: and for the identified linear CAN bus network access unit, remotely controlling the switch of the linear CAN bus network access unit to connect the third port to the second CAN bus.

Optionally, the remotely controlling the switch to connect at least one of the first port, the second port, the third port, and the fourth port to at least one of the first CAN bus and the second CAN bus includes: for the identified transferring machine CAN bus network access unit, remotely controlling the switch of the transferring machine CAN bus network access unit in a first scanning period, and connecting the first port to a first CAN bus; in a second scanning period, remotely controlling the switch of the net-accessing unit of the CAN bus of the transfer machine, and connecting the second port to a second CAN bus; in a third scanning period, remotely controlling the switch of the net-accessing unit of the transfer machine CAN bus to connect the third port to a second CAN bus; and in a fourth scanning period, the fourth port is connected to a second CAN bus by remotely controlling the switch of the net-accessing unit of the CAN bus of the transfer machine.

Optionally, after remotely controlling the switch to connect at least one of the first port, the second port, the third port, and the fourth port to at least one of the first CAN bus and the second CAN bus, the method further comprises: and controlling the CAN bus network access unit to send a notification message in a first scanning period, a second scanning period, a third scanning period and a fourth scanning period which are continuous.

Optionally, the controlling, in the consecutive first scanning period, second scanning period, third scanning period, and fourth scanning period, the sending of the notification message by the CAN bus network access unit includes: and for the identified linear CAN bus network access unit, controlling the first port and the third port of the linear CAN bus network access unit to send notification messages in the continuous first scanning period, the second scanning period, the third scanning period and the fourth scanning period, wherein the notification messages comprise the identification of the CAN bus network access unit, the port number for sending the notification messages and the bus number connected with the port for sending the notification messages.

Optionally, the controlling, in the consecutive first scanning period, second scanning period, third scanning period, and fourth scanning period, the sending of the notification message by the CAN bus network access unit includes: and for the identified transfer machine CAN bus network access unit, controlling each port of the transfer machine CAN bus network access unit to send a notification message in the continuous first scanning period, the continuous second scanning period, the continuous third scanning period and the continuous fourth scanning period, wherein the notification message comprises the identification of the CAN bus network access unit, the bus number connected with the port for sending the notification message and a specific zone bit.

Optionally, after controlling the CAN bus network access unit to send the notification message in consecutive first, second, third, and fourth scan periods, the method further includes:

receiving the identification, the connection port number and the connection port property of the detected connected CAN bus network access unit sent by the CAN bus network access unit, and generating a CAN bus network access unit connection layout of the electrical control system;

and displaying the connection layout of the CAN bus network access unit of the electrical control system.

Optionally, after displaying a CAN bus network entry unit connection layout of the electrical control system, the method includes:

receiving a field connection requirement indication of a CAN bus network access unit input by a user on a remote visual interface;

and controlling the switch of the CAN bus networking unit according to the field connection requirement indication so as to connect at least one of the first port, the second port, the third port and the fourth port to at least one of the first CAN bus and the second CAN bus.

In the embodiment of the present disclosure, in order to standardize (unitize) an electrical control system used in a transmission line, the electrical control system is divided into two units, namely a linear type CAN bus network access unit and a transfer machine CAN bus network access unit. For the linear type CAN bus network access unit, the first port is always connected to the first CAN bus, and the third port CAN be connected to the first CAN bus and the second CAN bus through the switch to switch a bus switching mechanism, so that the linear type CAN bus network access unit CAN realize that either two ends are connected with the same CAN bus or different CAN buses through the switching of the switch. For the transferring machine CAN bus network access unit, a first port is connected to a first CAN bus, and at least one of a second port, a third port and a fourth port is connected to the first CAN bus or the second CAN bus through respective switches, so that the transferring machine CAN bus network access unit CAN realize signal reversing to different directions through switching of the switches. And the linear CAN bus network access unit and the transfer machine CAN bus network access unit CAN be flexibly combined to form an electrical control system in the conveying line. The CAN bus switching mechanism is designed for cleaning up obstacles in a unitized way of an electrical control system of a transmission line.

Drawings

The foregoing and other objects, features, and advantages of the disclosure will be apparent from the following description of embodiments of the disclosure, which refers to the accompanying drawings in which:

FIG. 1A is an illustration of a transmission line at a site according to one embodiment of the present disclosure.

FIG. 1B is an illustration of a linear transport segment according to one embodiment of the present disclosure.

Fig. 1C is an illustration of a transfer conveyor transport section according to one embodiment of the present disclosure.

Fig. 2 is a schematic diagram of the overall structure of a transmission line and its electrical control system according to one embodiment of the present disclosure.

Fig. 3 is a general physical structure diagram of a CAN bus networking unit without a switching section according to one embodiment of the present disclosure.

Fig. 4A is a physical structure diagram of a linear CAN bus networking unit according to an embodiment of the present disclosure.

Fig. 4B is another physical structure diagram of a linear CAN bus networking unit according to an embodiment of the present disclosure.

Fig. 4C is a logical structure diagram of a linear CAN bus networking unit according to an embodiment of the present disclosure.

Fig. 4D is another logical structure diagram of a linear CAN bus networking unit according to an embodiment of the present disclosure.

Fig. 5A is a connection diagram of networking phases of a linear CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 5B is a connection diagram of usage phases of a linear CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 6A is a physical structure diagram of a transfer machine CAN bus network access unit according to an embodiment of the present disclosure.

Fig. 6B is another physical structure diagram of a transfer machine CAN bus network access unit according to an embodiment of the present disclosure.

Fig. 6C is a logical structure diagram of a transfer machine CAN bus network access unit according to an embodiment of the present disclosure.

Fig. 6D is another logical structure diagram of a transfer machine CAN bus network access unit according to an embodiment of the present disclosure.

Fig. 7A-D are connection diagrams of networking stages of a transfer vehicle CAN bus network entry unit according to one embodiment of the present disclosure.

Fig. 7E is a connection diagram of the use phase of the transfer machine CAN bus network access unit according to one embodiment of the present disclosure.

Fig. 8 is a flowchart illustrating a method for controlling a switch of a linear CAN bus network access unit according to an embodiment of the present disclosure.

Fig. 9 shows a flowchart of a method for controlling the on/off of a transfer machine CAN bus network access unit according to an embodiment of the present disclosure.

Fig. 10 shows a flowchart of a method for assembling a remote visual CAN bus network entry unit according to an embodiment of the present disclosure.

Fig. 11 illustrates an architectural diagram of an environment in which CAN bus network entry unit 110 is used according to one embodiment of the present disclosure.

Fig. 12A-F show interface change diagrams when the remote visualization control 199 remotely controls the connection between the CAN bus network entry units 110 according to one embodiment of the present disclosure.

Detailed Description

The present disclosure is described below based on examples, but the present disclosure is not limited to only these examples. In the following detailed description of the present disclosure, some specific details are set forth in detail. It will be apparent to those skilled in the art that the present disclosure may be practiced without these specific details. Well-known methods, procedures, and procedures have not been described in detail so as not to obscure the present disclosure. The figures are not necessarily drawn to scale.

Background logistics sorting and ex-warehouse of modern logistics merchants commonly use conveyor line 100, as shown in fig. 1A. The conveyor line 100 is the sum of all conveying devices such as a conveyor belt, a conveyor, and the like that complete the conveyance of the articles. In the area surrounding the warehouse, the production workshop and the packaging workshop, a conveyor chain consisting of a plurality of belt conveyors, roller conveyors and the like is arranged, and the conveyor chain is connected end to form a continuous conveyor line 100. Since the transmission line 100 requires not only the physical equipment used for the actual transmission, but also the transmission of electrical control signals to control the transmission line, there is also a corresponding electrical control system (inside the transmission line in fig. 1A) in the transmission line.

The electrical control system of the conveyor line 100 which is used in a large amount in the market at present adopts a Programmable Logic Controller (PLC) for centralized control, and has the main defects of single-point or multi-point control, complex wiring, difficult field deployment, easy occurrence of assembly errors and difficult quick shop opening. Another kind of electric control system of improved transfer line 100 adopts the singlechip, has just solved the problem that PLC is with high costs, and the shortcoming still is the field deployment difficulty, appears assembling mistake easily, is unfavorable for opening a shop fast.

In order to facilitate field deployment, one solution is to unitize the electrical control system of the transmission line, the transmission line is divided into a section of transmission section, and the corresponding electrical control system is also divided into units (CAN bus network access units), namely, one CAN bus network access unit is arranged in one transmission section. Thus, the transmission line and the electric control system in the transmission line are divided into units in a building block-like manner, and each unit is of a similar structure. Each CAN bus network access unit CAN be in communication connection with the adjacent CAN bus network access units so as to be connected into an electrical control system. Therefore, no matter how long the transmission line is, the whole electrical control system can be constructed like building blocks through the units, and standardization of an electrical control part used in the transmission line is realized.

In the standardized method, the control component of each conveying section is accessed to the bus through the standard CAN bus network access unit, so that the standardized method is a decentralized control structure, centralized polling is not needed, the real-time performance is ensured, the time delay is reduced, a centralized structure is not needed, and the standardized method is very easy to deploy.

The electrical control system of the transmission line is unitized, and one obstacle is how to complete the switching of the CAN bus inside the unit, so that the unit CAN be connected in the same CAN, and CAN also complete the connection of various CAN in multiple directions. The present disclosure is directed to providing a mechanism for switching buses within a CAN bus access unit.

Fig. 1B-C show illustrations of two types of transport segments 102 (i.e., a straight transport segment and a transfer conveyor segment), respectively. The linear conveying section and the transfer machine conveying section are connected according to the field requirement, and various conveying lines 100 are built according to the field requirement like building blocks. The straight conveyor section shown in fig. 1B is characterized by the ability to connect other conveyor sections 102 in only the left and right directions, which is typical for conveying without changing the direction of conveyance. The transfer conveyor segment 102 shown in fig. 1C includes rollers 1021 and a conveyor 1023, wherein rolling of the rollers 1021 causes the articles thereon to move in a first direction (e.g., up and down), and conveying of the conveyor 1023 causes the articles thereon to move in a second direction (e.g., left and right). The first direction is perpendicular to the second direction, so that the roller 1021 of the transfer machine conveying section 102 is controlled to roll, or the conveyor 1023 is controlled to convey, so as to advance the goods thereon in the first direction, or advance the goods in the second direction, and thus the turning can be realized. If the goods that originally moved in the left-right direction reach the transfer conveyor section 102, the goods may move in the up-down direction instead. While the straight conveying section cannot realize steering. The conveying section of the transfer machine can only be connected with the linear conveying section.

In each transport section 102 of the transport line 100 there is a CAN-bus network entry unit 110 as an electrical control part. Which is internal to the conveying section 102 and is not shown in fig. 1A-C. Since it is the electrical control portion of the transport section 102, its shape also conforms to the shape of the transport section 102 in which it is located. The CAN bus network access unit 110 in the linear transport segment is a linear CAN bus network access unit, and only left and right directions CAN be used for connecting with the CAN bus network access unit 110 in the adjacent transport segment 102. The CAN bus network access unit 110 in the transfer section of the transfer machine is a transfer machine CAN bus network access unit, and four directions, namely front, back, left and right, CAN be used for being connected with the CAN bus network access unit 110 in the adjacent transfer section 102. Fig. 2 shows a schematic view of the overall topology of a conveyor line 100. In fig. 2, the transmission line 110 is divided into the transmission sections 102, each of which has one CAN bus network access unit 110 as an electrical control part, and all the CAN bus network access units 110 are connected in the order of the corresponding transmission line 110 to form an electrical control system 119. The electrical control system 119 is the electrical control portion of the overall delivery line 110. It should be understood that although the conveyor segments 102 are all shown as being sequentially linearly connected in fig. 2, in practice, due to the presence of the transfer conveyor segments, it may occur that the conveyor segments 102 extend in other directions (e.g., some conveyor segments 102 extend in an up-down direction).

In each transport section 102 there may be some control units 113, which are connected to the CAN-bus network access unit 110 of that transport section 102, are connected to the entire electrical control system 119 via the CAN-bus network access unit 110, and communicate with the control units 113 in the other transport sections 102. The CAN bus network entry unit 110 actually functions as an interface for the network-wide control units 113 to communicate with each other, so that control signals are transmitted between these control units 113 to coordinate the operation of the transmission line 100.

The electrical control system 119 in the transmission line 100 of fig. 2 includes a plurality of Controller Area Networks (CAN)114, each Controller Area Network (CAN)114 being an oval portion located in one of the heavy line boxes of fig. 2. A first CAN 1141, a second CAN 1142, and a third CAN1143 are shown, but those skilled in the art will appreciate that the electrical control system 119 may comprise other numbers of CANs, such as 2, 4, 5, etc.

CAN is a short name for Controller Area Network (CAN), and is one of field buses widely used internationally. Within a CAN, messages for one node are broadcast to all other nodes in the CAN. Thus, it CAN be said that messages within one CAN are all sent over the same CAN bus to all nodes within that CAN. And messages in different CAN buses are sent by different CAN buses. Since the length of the transmission line may be several kilometers, and contains several thousands or even several tens of thousands of CAN bus network access units 110, and the coverage distance of one CAN cannot reach such a length, the embodiment of the present disclosure adopts a form of serially connecting a plurality of CANs 114, wherein two adjacent CANs 114 are connected by one routing CAN bus network access unit 112. The routing CAN bus network entry unit 112 belongs to two adjacent CANs 114 at the same time, and is responsible for forwarding (broadcasting) messages of one CAN114 to the other CAN 114. Because the CAN buses on which the two CANs 114 transmit messages are different, it is generally desirable that the routing CAN bus network entry unit 112 be capable of connecting both CAN buses simultaneously and forwarding messages on one CAN bus to the other CAN bus. The routing CAN-bus network-accessing unit 112 shown in fig. 2 includes C4, C8, C11, where CX is the identification of the xth CAN-bus network-accessing unit in the figure.

In addition to the routing CAN-bus network access unit 112, another type of CAN-bus network access unit 110 is an internal CAN-bus network access unit 111, i.e. a unit within a CAN114 that is not routing CAN-bus network access unit 112. Since the same CAN bus is used to transmit messages within one CAN114, it is not required that messages on one CAN114 be forwarded to another CAN 114. The internal CAN bus networking unit 111 shown in fig. 2 includes C1, C2, C3, C5, C6, C7, C9, and C10.

The detailed structure (excluding the switch control section) of the CAN bus network entry unit 110 according to an embodiment of the present disclosure is described in detail below with reference to fig. 3.

As described above, the CAN bus network entry unit 110 is a component responsible for connection of the control component 113 to the electrical control system 119 in one transport section 102 of the transport line 100. The control unit 113 is a unit that can listen for bus messages in the line area 102 and issue bus messages when appropriate to communicate with the control units 113 in other line areas 102. The electrical control system 119 is an electrical control portion of the conveyor line 100 that is used to transmit control signals to the physical transport equipment within the conveyor line 100.

As shown in fig. 3, the CAN bus network entry unit 110 includes: a first CAN bus 121, a second CAN bus 122, a first CAN bus transceiver 123, a second CAN bus transceiver 124, a first port 131, and a plurality of variable connection ports 130 including a second port 132, a third port 133, and a fourth port 134. At least one of the plurality of variable connection ports 130 may be connected to either one of the first CAN bus 121 and the second CAN bus 122, or may be disconnected from both of the buses. As described above, when the CAN bus network accessing unit 110 is used as the routing CAN bus network accessing unit 112, different CAN buses need to be connected, and at this time, one of the second port 132, the third port 133, and the fourth port 134 CAN be connected to the second CAN bus 122, and since the first port 131 is always connected to the first CAN bus 121, the purpose of connecting different CAN buses is achieved. When the CAN bus network accessing unit 110 is used as the internal CAN bus network accessing unit 111, the same CAN bus needs to be connected, and at this time, the second port 132, the third port 133, and the fourth port 134 CAN be connected to the first CAN bus 121, and the purpose of connecting the same CAN bus is achieved because the first port 131 is always connected to the first CAN bus 121.

Although the plurality of variable connection ports 130 are exemplarily described above as including the second port 132, the third port 133, and the fourth port 134, in fact, other numbers of ports may be included, for example, the fifth port, the sixth port, and the like may also be included as needed, and only the second port 132, the third port 133, and the like may also be included.

The first CAN bus transceiver 123 is connected to the first CAN bus 121 for communicating with the first CAN bus transceiver 123 of the other CAN bus network access units 110 in the electrical control system 119, thereby establishing a first CAN communication. The second CAN bus transceiver 124 is connected to the second CAN bus 122 for communicating with the second CAN bus transceiver 124 of the other CAN bus network access units 110 in the electrical control system 119. It should be noted that although it is shown in fig. 1 that a plurality of CAN bus network entry units 110 are connected in sequence in each CAN (for example, the CAN bus network entry unit C1 is connected to the CAN bus network entry unit C2, and the CAN bus network entry unit C2 is connected to the CAN bus network entry unit C3), in practice, after one CAN bus network entry unit 110 sends a message through its first CAN bus transceiver 123 or second CAN bus transceiver 124, the first CAN bus transceiver 123 or second CAN bus transceiver 124 of the other CAN bus network entry unit 110 connected to the first bus or second bus CAN receive the message. Sending a message can be considered a broadcast as long as it is connected to a bus. Therefore, in fig. 2, if the CAN bus network-accessing unit C2 sends a message, since the CAN bus network-accessing units C1, C3, C4 are all connected to the first CAN bus 121, they all receive the message, i.e. the message is broadcast to the CAN bus network-accessing units C1, C3, C4.

As shown in fig. 3, the first port 131 is connected to the first CAN bus 121. At least one variable connection port 130 of the plurality of variable connection ports 130 is connected to one of the first CAN bus 121 and the second CAN bus 122 (connected by a switch structure, not shown in fig. 3), or is not connected to both the first CAN bus 121 and the second CAN bus 122, so that the CAN bus network access unit 110 has different types, i.e., a linear CAN bus network access unit and a transfer machine CAN bus network access unit.

The linear type CAN bus network access unit and the transfer machine CAN bus network access unit are described in detail below.

As shown in fig. 3, the CAN bus network entry unit 110 is a straight CAN bus network entry unit if only the first port 131 and the third port 133 are used, and the second port 132 and the fourth port 134 are not used (the second port 132 and the fourth port 134 are shielded by physical devices, for example, are closed by a cover). The connection direction of the first port 131 and the third port 133 is the same as the conveying direction of the conveying section where the linear CAN bus network access unit 110 is located. The CAN bus network access unit 110 is an electrical control part of the conveying section, and the connection shape of the CAN bus network access unit is adapted to the integral connection mode of the conveying section. If the linear CAN bus network access unit 110 is located in the transmission segment as shown in fig. 1B, and the transmission direction is the left-right direction, the connection line between the first port 131 and the third port 133 is also the left-right direction, so that it CAN be ensured that the connection is made with other CAN bus network access units 110 in the left-right direction.

In this case, the first port 131 is fixedly connected to the first CAN bus 121, which is necessarily an inlet of the electrical control signal in the electrical control network 119, and the third port 133 CAN be connected only to the first CAN bus 121 as an outlet of the electrical control signal, because if it is connected to the second CAN bus 122, the signal flowing from the first port 131 cannot flow out, and thus, it CAN be connected only to the first CAN bus 121 as an outlet of the signal flowing into the first port 131. Any of the second port 132 and the fourth port 134 is not connected to the first CAN bus 121 or the second CAN bus 122.

In the above-mentioned linear CAN-bus networking unit, the first port 131 is connected to the first CAN-bus 121, and the third port 133 may be connected to the first CAN-bus 121 or the second CAN-bus 122. In the disclosed embodiment, the switching of the third port 133 between the connection to the first CAN-bus 121 and the connection to the second CAN-bus 122 is achieved by a switch.

In one embodiment, as shown in FIG. 4A, the switch is a first single pole double throw switch D1. The first single pole double throw switch D1 has one end connected to the third port 133 and the other end switched between being connected to the first CAN bus 121 and being connected to the second CAN bus 122. When the other end is connected to the first CAN-bus 121, the connection of the third port 133 to the first CAN-bus 121 is achieved. When the other end is connected to the second CAN-bus 122, the connection of the third port 133 to the second CAN-bus 122 is achieved.

In another embodiment, as shown in fig. 4B, the switches include a first switch K1 connected to the first CAN bus 121, and a second switch connected to the second CAN bus 122. K2. In this way, when the first switch K1 is closed and the second switch K2 is open, the connection of the third port 133 to the first CAN bus 121 is achieved. When the first switch K1 is open and the second switch K2 is closed, the connection of the third port 133 to the second CAN bus 122 is achieved.

Through the method, the CAN bus switching mechanism of the linear CAN bus networking unit is realized, and obstacles are cleaned away for the electrical control system of the transmission line in a unitized manner.

Fig. 4C-D are logical block diagrams of the linear CAN bus network entry unit 110 of fig. 4A-B, respectively. These logic structure diagrams obscure the internal connection relationship in the CAN bus network-accessing unit 110 of fig. 4A-B, and regarding the internal connection relationship as a black box, only regarding the CAN bus network-accessing unit 110 as having four logic ports 131-. The

logical ports

131 and 134 may be either ingress or egress. The entry means that if an input signal is supplied from a port connected to the first CAN-bus 121 or the second CAN-bus 122, the port is an entry. The egress means that if a port is connected to the first CAN bus 121 or the second CAN bus 122 from which a signal is output to the port, the port is an egress. Since the first port 131 is fixedly connected to the first CAN-bus 121, it CAN only be an inlet. Since the second port 132, the third port 133, and the fourth port 134 CAN be connected to the first CAN bus 121 or the second CAN bus 122, when the second port is connected to the first CAN bus 121, an outlet that just forms a signal with the inlet of the first port 131 is an outlet; when it is connected to the second CAN bus 122, it is connected to a new CAN bus at this time, and is its input signal, i.e. the entry.

As shown in fig. 3, the CAN bus network access unit 110 is a transfer-machine CAN bus network access unit if all of the first port 131, the second port 132, the third port 133, and the fourth port 134 are available. In the transfer-machine CAN bus network-accessing unit 110, the connection direction between the first port 131 and the third port 133 is perpendicular to the connection direction between the second port 132 and the fourth port 134. The CAN bus network access unit 110 is an electrical control part of the conveying section, and the connection shape of the CAN bus network access unit is adapted to the integral connection mode of the conveying section. Since the transportation section where the transfer machine CAN bus network access unit 110 is located is as shown in fig. 1C, it is necessary to transmit in four directions, i.e., up, down, left, and right, and accordingly, the transfer machine CAN bus network access unit 110 is required to be able to connect in four directions, wherein the first port 131 and the third port 133 CAN be connected in the left-right direction, and the second port 132 and the fourth port 134 CAN be connected in the up-down direction. Thus, it is required that the connection direction of the first port 131 and the third port 133 and the connection direction of the second port 132 and the fourth port 134 are perpendicular to each other.

In this case, the first port 131 is fixedly connected to the first CAN bus 121 and is always an inlet, and the second port 132, the third port 133, and the fourth port 134 may be connected to the first CAN bus 121 as an outlet or may be connected to the second CAN bus 122 as an inlet. The connection of the second port 132, the third port 133, and the fourth port 134 to the first CAN bus 121 or the second CAN bus 122 is also through a switching mechanism. At least one of the second port 132, the third port 133, the fourth port 134 is connected to the first CAN-bus 121 or to the second CAN-bus 122 via a respective switch.

In one implementation of the above switching mechanism, as shown in fig. 6A, the switch includes a second, a third and a fourth single-pole double-throw switch D2-4, and the second single-pole double-throw switch D2 has one end connected to the second port 132 and the other end connected to the first CAN bus 121 or the second CAN bus 122. The second port 132 CAN thus be switched between being connected to the first CAN-bus 121 and being connected to the second CAN-bus 122. Similarly, the third single-pole double-throw switch D3 has one end connected to the third port 133 and the other end connected to the first CAN bus 121 or the second CAN bus 122. The third port 133 CAN thus be switched between being connected to the first CAN-bus 121 and being connected to the second CAN-bus 122. The fourth single pole double throw switch D4 has one end connected to the fourth port 134 and the other end connected to the first CAN bus 121 or to the second CAN bus 122. The fourth port 134 CAN thus be switched between being connected to the first CAN-bus 121 and being connected to the second CAN-bus 122.

In one implementation of the above switching mechanism, as shown in fig. 6B, the switches include a fifth single-pole double-throw switch D5, a third switch K3-5, a fourth switch K3-5, wherein one end of the third switch K3-5 is connected to the second port 132, the third port 133 and the fourth port 134 respectively, the other end is commonly connected to one end of the fifth single-pole double-throw switch D5, and the other end of the fifth single-pole double-throw switch D5 switches between connecting the first CAN bus 121 and connecting the second CAN bus 122.

Since the second port 132 is connected to the first CAN bus 121 or the second CAN bus 122 through the third switch K3 and the fifth single-pole double-throw switch D5, when the other end of the fifth single-pole double-throw switch D5 is switched to be connected to the first CAN bus 121 and the third switch K3 is closed, the second port 132 is connected to the first CAN bus 121; when the other end of the fifth single pole double throw switch D5 is switched to connect with the second CAN bus 122 and the third switch K3 is closed, the second port 132 is connected to the second CAN bus 122.

Similarly, when the other end of the fifth single pole double throw switch D5 is switched to connect with the first CAN bus 121 and the fourth switch K4 is closed, the third port 133 is connected to the first CAN bus 121; when the other end of the fifth single pole double throw switch D5 is switched to connect with the second CAN bus 122 and the fourth switch K4 is closed, the third port 133 is connected to the second CAN bus 122.

Similarly, when the other end of the fifth single-pole double-throw switch D5 is switched to connect with the first CAN bus 121 and the fifth switch K5 is closed, the fourth port 134 is connected to the first CAN bus 121; when the other end of the fifth single pole double throw switch D5 is switched to connect with the second CAN bus 122 and the fifth switch K5 is closed, the fourth port 133 is connected to the second CAN bus 122.

In addition, the linear CAN bus network access unit may be connected to a linear CAN bus network access unit, such as each CAN bus network access unit 110 in fig. 5A-B, or may be connected to a transfer machine CAN bus network access unit, and 4 linear CAN bus network access units 110 in the upper, lower, left, and right sides in fig. 7A-E are connected to the transfer machine CAN bus network access unit 110 in the middle. However, the transfer-machine CAN bus network access unit 110 CAN be connected to only the linear CAN bus network access units 110, and the transfer-machine CAN bus network access unit 110 in the middle of fig. 7A to E CAN be connected to only the 4 linear CAN bus network access units 110 on the upper, lower, left, and right sides.

The switch structures inside the linear type CAN bus network access unit 110 and the transfer machine CAN bus network access unit 110 are described above. The working process of the switch structure in the networking and using stages is described below.

A large-scale conveyor line 100 has thousands of control units 113 and thousands of CAN bus network access units 110, so as to complete the electrical control of each device on the whole large-scale conveyor line 100. These CAN bus network access units 110 include a linear type CAN bus network access unit and a transfer machine CAN bus network access unit. In addition, the connection mode of the ports is various, and particularly, the connection mode of the ports is very flexible for the transfer machine. If the connection structure of the entire electrical control system 119 is manually checked, a large labor cost is required. The networking stage is a stage in which the CAN bus networking units 110 are assembled together to form the electrical control system 119. In the networking phase, the identification, the port number (the first, second, third, or fourth port), and whether the port of the connection is an ingress or an egress of the CAN bus network access unit 110 connected to the CAN bus network access unit 110 may be mutually discovered by each CAN bus network access unit 110.

In the disclosed embodiment, multiple sequential scanning periods are set during the networking phase. In each scanning period, the connection relationship between each port in each CAN bus networking unit 110 and the first CAN bus 121 or the second CAN bus 122 is set, and each port sends a message according to a predetermined rule, wherein the message indicates the port number and the connection relationship between the port and the first CAN bus 121 or the second CAN bus 122. The ports of the other CAN bus network access units 110 connected to the port receive the message, and then identify the connected CAN bus network access unit 110, the connected port number, whether the port is an inlet or an outlet, and other information, so that the connection condition of each port of the CAN bus network access unit 110 is automatically obtained, manual investigation is not needed, and the efficiency of checking the connection condition of each port of the CAN bus network access unit 110 is improved.

As CAN be seen from the above, the connection status of each port of the CAN bus network access unit 110 is checked, on one hand, each port of the CAN bus network access unit 110 is connected to the first CAN bus 121 or the second CAN bus 122 according to a predetermined rule in a plurality of sequential scanning periods to send a status notification message, i.e., a status notification, and on the other hand, the connection status is processed after receiving the status notification messages of other CAN bus network access units 110. In practice, each port of each CAN-bus network-entry unit 110 performs both the former and the latter. The former is done to let the adjacent CAN bus network access unit 110 discover its own status, and the latter is done to find out the status of the adjacent CAN bus network access unit 110. The two supplement each other. The following description will be made for the notification of the state of the CAN bus network access unit of the linear transfer machine and the detection of the connection state of the CAN bus network access unit.

In order to enable the lan CAN bus access units to perform the above status notification and connection status detection synchronously, the sending of the status notification and the connection status detection may be initiated by a unified scan initiator subtype CAN control message. And each local area network CAN bus network access unit is provided with a detection starting CAN bus network access unit which is specially used for sending the message. The unified message is used to initiate the state notification and the state detection of the whole CAN bus network access unit, on one hand, to coordinate the actions of each CAN bus network access unit 110 in the whole electrical control system 119, so that the state notification and the state detection CAN be synchronized (since only one of the two connected CAN bus network access units 110 performs the state notification, and the other performs the state detection, the coordination CAN be performed), and on the other hand, a unified time reference is provided for the first, second, third, and fourth scanning periods mentioned below.

The CAN bus network access unit for detecting the start is a CAN bus network access unit 110 preset in the electrical control system 119, and the CAN bus network access unit transmits a CAN control message of a scanning start subtype through the whole network, so that after receiving the CAN control message, the CAN bus network access unit 110 of the whole network starts to set a first scanning period, a second scanning period, a third scanning period and a fourth scanning period mentioned later based on the time of receiving the CAN control message or the timestamp of receiving the CAN control message, sets different connection states of each port and the first CAN bus 121 or the second CAN bus 122 in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, transmits different messages, receives the messages by other CAN bus network access units 110 connected with the ports, and identifies the adjacent CAN bus network access unit 110 and the port connection state based on the messages.

The CAN control message is a message that is specified in advance (for example, by a protocol) for transmitting a network-wide control command in the entire electrical control system 119. Such network-wide control commands are not limited to scan initiation, and other types of control, such as timing control, may be performed. CAN control messages for different types of control may be distinguished by subtype. The scan start CAN control message for connection state detection of the CAN bus network access unit in the embodiment of the present disclosure is a scan start subtype, and the timing control CAN control message for timing control is a timing control subtype, and so on. The subtype may be embodied as one field of a CAN control message. When a CAN bus network access unit 110 receives a CAN control message, it looks at the field indicating the subtype, and if the field indicates the scan start subtype, it starts to prepare for the first, second, third, and fourth scan periods mentioned later, sets the connection status of different ports to the first CAN bus 121 or the second CAN bus 122, and sends different messages.

The detection of the start of the CAN bus access unit to send the scan start subtype CAN control message to all the CAN bus access units 110 of the whole network CAN be performed in the following manner: the CAN bus access unit broadcasts the CAN control message to all other CAN bus access units in the CAN where the CAN bus access unit is located, after the CAN bus access unit receives the CAN control message, the CAN control message is identified as a scanning initiator subtype, and the scanning initiator subtype is broadcasted to all other CAN bus access units in the other CAN, and so on until all CAN bus access units in all the CAN in the electrical control system 119 obtain the CAN control message.

Take the electrical control system 119 of fig. 2 as an example. Assume C2 is a detection-enabled CAN bus network entry unit. Since C2 is located in the first CAN 1141, it broadcasts a CAN control message whose subtype field indicates the scan enable subtype to other CAN bus network entry units 110 within the first CAN 1141, i.e., C1, C3, C4. After receiving the CAN control message, the routing CAN bus network access unit C4 between the first CAN 1141 and the second CAN 1142 recognizes that the subtype field of the CAN control message indicates the subtype of the scan initiator, and broadcasts the scan initiator to all other CAN bus network access units, i.e., C5-C8, in the second CAN 1142. After receiving the CAN control message, the routing CAN bus network access unit C8 between the second CAN 1142 and the second CAN1143 recognizes that the subtype field of the CAN control message indicates the subtype of the scan initiator, and broadcasts the scan initiator to all other CAN bus network access units, i.e., C9-C11, in the third CAN 1143. Thus, C1-C11 all obtain the CAN control message, so that the subsequent first, second, third and fourth scan periods CAN be set based on the time of receiving the CAN control message or the time stamp of the CAN control message, and the status notification and status detection described later CAN be performed.

Although the times of receiving the CAN control messages by the CAN bus network access units in the electrical control system 119 are not synchronous but slightly different in the above process, the first, second, third and fourth scanning periods are generally of the order of 5s, so that the time difference of receiving the CAN control messages is negligible compared with 5 s. Accordingly, the subsequent first, second, third, and fourth scan periods may be set based on the time at which the CAN control message is received. In addition, a timestamp may also be set in the CAN control message. The time stamp is added when the CAN control message is generated, and is not changed along with the different times of receiving the CAN control message by each CAN bus network access unit, so that if the subsequent first, second, third and fourth scanning periods are set based on the time stamp, the accuracy of setting the scanning period CAN be improved, and the detection effect is improved.

In addition, before the first scan period, a first quiet period may be set; after the fourth scan period, a second quiet period may be set. The lengths of the first quiet period and the second quiet period may be set to be substantially the same as each of the first, second, third, and fourth scan periods, i.e., about 5 s. The connection state of each port to the first CAN bus 121 or the second CAN bus 122 in the first quiet period is the same as the first scan period, and the messages sent are also the same as the first scan period (the connection state of each port to the first CAN bus 121 or the second CAN bus 122 in the first scan period and the messages sent will be described later). The connection state of each port to the first CAN bus 121 or the second CAN bus 122 in the second quiet period is the same as that in the fourth scan period, and the transmitted message is also the same as that in the fourth scan period (the connection state of each port to the first CAN bus 121 or the second CAN bus 122 in the fourth scan period and the transmitted message will be described later).

The first quiet period is set to provide the CAN bus network entry unit 110, which is not ready to start changing states and sending messages according to the connection state change rule of the ports of the first, second, third and fourth scan periods, with enough time, because only the messages received in the first, second, third and fourth scan periods (detailed in the connection state detection) are considered in the subsequent connection state detection, the first quiet period does not work, and thus the first quiet period plays a role in buffering. On the other hand, the first quiet period is set to make up for the time difference that each CAN bus network access unit 110 receives the scan initiator subtype CAN control message. Thus, even if there is a time difference, only the length of the first quiet period is affected, and the first, second, third and fourth scanning periods can still start and end synchronously.

The second quiet period is set to have a similar function as the first quiet period, and the state of the fourth scanning period is kept in the second quiet period, so that the state buffering function is realized. Meanwhile, the CAN bus network-accessing unit 110 that fails to detect in the fourth scanning period may continue to detect in this buffered state.

The switching states of the switching mechanism of the linear CAN bus network access unit and the transplanting machine CAN bus network access unit in the first, second, third and fourth scanning periods and the sent notification messages are described below respectively.

For the linear CAN bus network access unit, in the consecutive first scanning period, second scanning period, third scanning period, and fourth scanning period of the networking stage, the third port 133 is connected to the second CAN bus 122 through the switch. Specifically, in the embodiment of fig. 4A, the first single pole double throw switch D1 has one end connected to the third port 133 and the other end switched to connect to the second CAN bus 122 so that the third port 133 is connected to the second CAN bus 122. In the embodiment of fig. 4B, the first switch K1 connected to the first CAN bus 121 is open and the second switch K2 connected to the second CAN bus 122 is closed.

In addition, the third port 133 is also connected to the second CAN bus 122 through the switch in a first quiet period before the first scan period and a second quiet period after the fourth scan period. Specifically, in the embodiment of fig. 4A, the first single pole double throw switch D1 has one end connected to the third port 133 and the other end switched to connect to the second CAN bus 122. In the embodiment of fig. 4B, the first switch K1 connected to the first CAN bus 121 is open and the second switch K2 connected to the second CAN bus 122 is closed.

This is because, when the linear CAN bus network entry unit actually operates, only the first port 131 and the third port 133 operate, so that the first port 131 is connected to the first CAN bus 121, and the third port 133 is connected to the second CAN bus 122, it is possible to clearly distinguish whether the first port 131 is connected or the third port 133 is connected to the other CAN bus network entry unit 110.

Fig. 5A shows a schematic diagram of a plurality of linear CAN bus network access units connected to each other in a networking stage to form an electrical control system 119. In fig. 5A, a CAN network is formed between two adjacent linear CAN bus network access units, as shown by the dashed boxes in fig. 5A.

In one embodiment, the first port 131 and the third port 133 of the linear CAN bus network access unit send notification messages in consecutive first scan period, second scan period, third scan period, and fourth scan period, where the notification messages include the identifier of the linear CAN bus network access unit, the port number of the notification message, and the bus number of the port connection sending the notification message.

The identification of the CAN bus network access unit is a unique mark assigned to the CAN bus network access unit, and CAN uniquely distinguish the identification 'who' the CAN bus network access unit is. In the notification message, this flag is used to notify other CAN-bus network access units 110 connected to the CAN-bus network access unit 110 of which CAN-bus network access unit 110 port is connected to the other CAN-bus network access unit.

The port number for transmitting the notification message refers to which port among the first port 131, the second port 132, the third port 133, and the fourth port 134 the port for transmitting the notification message is. For example, the first port 131 may be denoted by 1, the second port 132 may be denoted by 2, the third port 133 may be denoted by 3, and the fourth port 134 may be denoted by 4.

The bus number of the port connection that sends the notification message refers to whether the port that sends the notification message is connected to the first CAN-bus 121 or the second CAN-bus 122. For example, the first CAN bus 121 may be denoted by 1, and the second CAN bus 122 may be denoted by 2.

For the linear type CAN bus network access unit, in the networking stage, the first port is connected to the first CAN bus, and the third port is connected to the second CAN bus, so that the first CAN bus transceiver 123 is used for sending a message, and the identification, the bus number 1 (because the first CAN bus 121 is connected with the first CAN bus transceiver 123), and the port number 1 (because the first port 131 is connected with the first CAN bus 121) of the CAN bus network access unit are informed through the first port 131 connected with the first CAN bus transceiver 123; the CAN bus access unit is informed of the identity, bus number 2 (since the second CAN bus 122 is connected to the second CAN bus transceiver 124), port number 3 (since the third port 133 is connected to the second CAN bus 122) via the third port 133 connected to the second CAN bus transceiver 124 by messaging using the second CAN bus transceiver 124.

Thus, as long as the adjacent CAN bus network access unit receives a notification message containing the identifier of the CAN bus network access unit, the bus number 1 and the port number 1, the adjacent CAN bus network access unit determines that the first port or the third port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, and CAN determine that the first port 131 of the linear CAN bus network access unit is connected from the port number 1. Since the first port 131 is connected to the first CAN bus 121, it is determined that the connected first port is an entry. If a message containing the id of the linear CAN bus access unit, the bus number 2, and the port number 3 is received, it CAN be determined from the port number 3 that the third port 133 of the linear CAN bus access unit is connected. Since the third port 133 is connected to the second CAN bus 122 and functions as an egress, the third port 133 is an egress. Therefore, the adjacent CAN bus network access unit is informed of the connection state of the CAN bus network access unit through the conversion of the internal switching mechanism and the sent notification message in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period.

For the CAN bus network access unit of the transfer machine, in the first scanning period, the first port 131 is connected to the first CAN bus 121; in a second scan period, the second port 132 is connected to the second CAN bus 122 through a switch; connecting the third port 133 to the second CAN bus 122 through a switch during the third scan period; in the fourth scan period, the fourth port 134 is connected to the second CAN bus 122.

In the embodiment of fig. 6A, the first port 131 is connected to the first CAN bus 121. In the first scanning period, the second single-pole double-throw switch D2-4 is switched to be connected with the second CAN bus 122; in the second scanning period, the third and fourth single-pole double-throw switches D3-4 are respectively switched to be connected with the first CAN bus 121, and the second single-pole double-throw switch D2 is switched to be connected with the second CAN bus 122; in a third scanning period, the second single-pole double-throw switch D2 and the fourth single-pole double-throw switch D4 are respectively switched to be connected with the first CAN bus 121, and the third single-pole double-throw switch D3 is switched to be connected with the second CAN bus 122; in the fourth scanning period, the second and third single-pole double-throw switches D2-3 are switched to be connected to the first CAN bus 121, and the fourth single-pole double-throw switch D4 is switched to be connected to the second CAN bus 122.

In the embodiment of fig. 6B, during the first scan period, the fifth single pole double throw switch D5 is switched to connect with the first CAN bus 121, and the third, fourth, and fifth switches K3-5 are open; in the second scanning period, the fifth single-pole double-throw switch D5 is switched to be connected with the second CAN bus 122, the third switch K3 is closed, and the fourth and fifth switches K4-5 are opened; in the third scanning period, the fifth single-pole double-throw switch D5 is switched to be connected with the second CAN bus 122, the fourth switch K4 is closed, and the third and fifth switches K3 and K5 are opened; in the fourth scan period, the fifth single-pole double-throw switch D5 is switched to connect with the second CAN bus 122, the fifth switch K5 is closed, and the third and fourth switches K3-4 are opened.

Fig. 7A-D show the first, second, third and fourth scan period switch state diagrams of the transfer machine CAN bus network access unit in the networking stage. Fig. 7A shows a first scan period in which the second, third and fourth single pole double throw switches D2-4 are respectively switched to connect with the second CAN bus 122; fig. 7B shows a second scan period in which the third and fourth spdt switches D3-4 are switched to connect to the first CAN bus 121 and the second spdt switch D2 is switched to connect to the second CAN bus 122, respectively; fig. 7C shows a third scan period in which the second and fourth single pole double throw switches D2, D4 are switched to connect with the first CAN bus 121 and the third single pole double throw switch D3 is switched to connect with the second CAN bus 122, respectively; fig. 7D shows a fourth scan period in which the second and third single-pole double-throw switches D2-3 are switched to be connected to the first CAN bus 121 and the fourth single-pole double-throw switch D4 is switched to be connected to the second CAN bus 122, respectively.

In the first scanning period, the meaning of connecting the first port 131 to the first CAN bus 121 is that, for the transfer machine CAN bus network access unit, the first port 131 should be connected to the first CAN bus 121 during normal use. The first port 131 is connected to the first CAN bus 121, and the second, third and

fourth ports

132 and 134 are connected to the second CAN bus 122 through a switch, so that if the bus number corresponding to the transceiver in the notification message is 1 in the first scan period, the notification message is always sent by the first port 131, thereby clearly indicating to the other CAN bus network-entry units 110 connected to the ports that the first port 131 is connected to the other CAN bus.

If it is said that the first port 131 is connected to the first CAN-bus 121 in the first scan period in order to clearly distinguish whether the first port 131 is connected to the first CAN-bus 121, the meaning of the second port 132 being connected to the second CAN-bus 122 in the second scan period is to clearly distinguish whether the second port 132 is connected to the second CAN-bus 122. Since only the second port 132 is connected to the second CAN bus 122 and the other ports are connected to either the first CAN bus 121 or neither CAN bus in the second scanning period, if a certain CAN bus access unit 110 receives a notification message indicating that the bus number is 2 in the second scanning period, it CAN be clearly known that the second port 132 of another CAN bus access unit 110 is connected to it.

Similarly, in the third scan period, the third port 133 is connected to the second CAN bus 122 in order to clearly distinguish whether the third port 133 is connected to the second CAN bus 122. In the fourth scan period, the fourth port 134 is connected to the second CAN bus 122, so as to clearly distinguish whether the fourth port 134 is connected to the second CAN bus 122, and the description thereof is omitted.

For the CAN bus network access unit of the transfer machine, in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, the connection relation between each port and the first CAN bus 121 or the second CAN bus 122 has different setting modes, and at this time, the port number is difficult to inform in the message, so that in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, each port of the CAN bus network access unit of the transfer machine sends an informing message, and the informing message contains the identification of the CAN bus network access unit, the bus number connected with the port for sending the informing message, a specific mark bit and no port number. Then, the CAN bus network accessing unit 110 that receives the message sends a port query request to the current CAN bus network accessing unit 110, and the current CAN bus network accessing unit 110 responds to the request, where the response indicates the port number of the bus connection. Thus, if the message is sent by the first CAN bus transceiver 123, the message contains the identification of the CAN bus access unit, the bus number 1, and the specific flag bit, where the bus number 1 indicates that the bus connected to the port sending the notification message is the first CAN bus 121, and the specific flag bit indicates that the message is sent by the transfer machine CAN bus access unit, and is, for example, 0. In the case of a message sent by the second CAN-bus transceiver 124, the message contains the identification of the CAN-bus access unit, bus number 2, a specific flag bit, where bus number 2 indicates that the bus to which the port sending the notification message is connected is the second CAN-bus 122.

After the CAN bus network access units of the linear type transplanter and the transplanter transmit the notification messages, the notification messages of other connected CAN bus network access units are simultaneously received, and the connection states of the other CAN bus network access units are determined based on the notification messages.

The CAN bus network access unit internally comprises a micro control unit (MCU, not shown) for finishing logic judgment and processing in the CAN bus network access unit.

For the linear type CAN bus network access unit, the linear type CAN bus network access unit or the transplanting machine CAN bus network access unit is connected with the linear type CAN bus network access unit, so that the connection state of the adjacent CAN bus network access units is determined according to the following process.

As described above, the straight CAN bus access unit has no specific flag in the notification message, and the transfer-machine CAN bus access unit has a specific flag in the notification message, so that whether the adjacent CAN bus access unit is a straight CAN bus access unit or a transfer-machine CAN bus access unit CAN be determined from whether the specific flag is present.

If no specific flag bit exists, the port to be detected is connected with a linear CAN bus network access unit, and the port to be detected CAN further determine which port of the linear CAN bus network access unit is connected, and whether the port is an inlet or an outlet. Specifically, if a message containing the identifier of the linear CAN bus network access unit, the bus number 1, and the port number 1 is received, it CAN be determined from the port number 1 that the first port 131 of the linear CAN bus network access unit is connected. Since the first port 131 is connected to the first CAN-bus 121, it functions as a portal and is thus a portal. If a message containing the id of the linear CAN bus access unit, the bus number 2, and the port number 3 is received, it CAN be determined from the port number 3 that the third port 133 of the linear CAN bus access unit is connected. Since the third port 133 is connected to the second CAN-bus 122, it functions as an egress and is thus an egress.

Since the ports of the linear CAN bus network access unit in the first scan period, the second scan period, the third scan period, and the fourth scan period are the same as the connection state of the CAN bus, the process may be performed at any time in the first scan period, the second scan period, the third scan period, and the fourth scan period, but in one embodiment, the process may be performed only in the first scan period, or may be performed in any other scan period.

Therefore, if the first port 131 or the third port 133 of the linear CAN bus network entry unit receives a notification message containing the identifier, the bus number 1, and the port number 1 of the CAN bus network entry unit during the consecutive first scan period, the second scan period, the third scan period, and the fourth scan period, the MCU of the linear CAN bus network entry unit determines that the first port 131 or the third port 133 is connected to one linear CAN bus network entry unit, records the identifier of the connected CAN bus network entry unit, determines that the connection port of the connected linear CAN bus network entry unit is the first port 131, and determines that the connected first port 131 is an entrance; if the first port 131 or the third port 133 of the linear CAN bus network entry unit receives a notification message containing the identifier, the bus number 2, and the port number 3 of the CAN bus network entry unit during the consecutive first scan period, the second scan period, the third scan period, and the fourth scan period, the MCU of the linear CAN bus network entry unit determines that the first port 131 or the third port 133 is connected to the linear CAN bus network entry unit, records the identifier of the connected CAN bus network entry unit, the connection port of the connected linear CAN bus network entry unit is the third port 133, and the connected third port 133 is an exit.

If the specific zone bit exists, the port to be detected is connected with a transfer machine CAN bus network access unit, and the port to be detected CAN be determined to be an inlet or an outlet by combining four scanning periods respectively. As described above, in the first scan period, the first port 131 is connected to the first CAN bus 121, the second, third, and fourth ports 132 and 134 are connected to the second CAN bus 122 or none of the CAN buses are connected, wherein the connection of the first port 131 is set to be different from the other ports, mainly for the purpose of identifying whether the first port 131 is connected, and whether the first port 131 functions as an inlet or an outlet; in the second scanning period, the first port 131, the third port 133, and the fourth port 134 are connected to the first CAN bus 121 or not connected to the CAN bus, and the second port 132 is connected to the second CAN bus 122, wherein the connection of the second port 132 is set to be different from the other ports, mainly for identifying whether the second port 132 is connected, and whether the second port 132 functions as an inlet or an outlet; in the third scanning period, the first port 131, the second port 132, and the fourth port 134 are connected to the first CAN bus 121 or not connected to the CAN bus, and the third port 133 is connected to the second CAN bus 122, mainly to identify whether the third port 133 is connected and whether the third port 133 functions as an inlet or an outlet; in the fourth scanning period, the first, second and third ports 131 and 133 are connected to the first CAN bus 121 or not connected to the CAN bus, and the fourth port 134 is connected to the second CAN bus 122, wherein the connection of the fourth port 134 is set to be different from the other ports, mainly in order to identify whether the fourth port 134 is connected and whether the fourth port 134 functions as an inlet or an outlet. Therefore, in the first, second, third, and fourth scan periods, whether to connect the first port 131, the second port 132, the third port 133, and the fourth port 134, and the properties of the ports are determined, respectively.

If the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message notifying the identification, the bus number 1, and the specific flag bit of the CAN bus network access unit in the first scanning period, the specific flag bit indicates that the CAN bus network access unit sending the notification message is a transfer machine CAN bus network access unit. Therefore, the identification of the CAN bus networking unit CAN be recorded. The first CAN bus 121 is fixedly connected to the first port 131, and therefore, it is possible to directly determine that the first port 131 of the transfer-machine CAN bus network-accessing unit is connected without sending an inquiry request. Also, since the first port 131 is connected to the first CAN bus 121, it functions as a portal and is thus a portal.

If the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message notifying the identification, the bus number 1 or 2, and the specific flag bit of the CAN bus network access unit in the second scanning period, the specific flag bit indicates that the CAN bus network access unit sending the notification message is a transfer machine CAN bus network access unit. Therefore, the identification of the CAN bus networking unit CAN be recorded. After sending the port query request to the CAN bus network access unit that sent the notification message, the received port number is 2, and at this time, it may be determined that the port is connected to the second port 132 of the transfer machine CAN bus network access unit. In the case of bus number 1, the second port 132 is connected to the first CAN bus 121, which means that the second port 132 is an outlet. In the case of bus number 2, the second port 132 is an entry.

If the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message notifying the identification, the bus number 1 or 2, and the specific flag bit of the CAN bus network access unit in the third scanning period, the specific flag bit indicates that the CAN bus network access unit sending the notification message is a transfer machine CAN bus network access unit. Therefore, the identification of the CAN bus networking unit CAN be recorded. After sending the port query request to the CAN bus network access unit that sent the notification message, the received port number is 3, and at this time, it may be determined that the port is connected to the third port 133 of the transfer machine CAN bus network access unit. In the case of bus number 1, the third port 133 is connected to the first CAN bus 121, which is illustrated as an egress. In the case of bus number 2, this third port is an entry.

If the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message notifying the identification, the bus number 1 or 2, and the specific flag bit of the CAN bus network access unit in the fourth scanning period, the specific flag bit indicates that the CAN bus network access unit sending the notification message is a transfer machine CAN bus network access unit. Therefore, the identification of the CAN bus networking unit CAN be recorded. After sending the port query request to the CAN bus network access unit that sent the notification message, the received port number is 4, and it may be determined that the port is connected to the fourth port 134 of the transfer machine CAN bus network access unit. In the case of bus number 1, the fourth port 134 is connected to the first CAN bus 121, which is illustrated as an outlet. In the case of bus number 2, this fourth port is an entry.

For the transfer machine CAN bus network access unit, only a linear CAN bus network access unit CAN be connected with the transfer machine CAN bus network access unit, so that the MCU of the transfer machine CAN bus network access unit determines the connection state of the adjacent CAN bus network access units according to the following process.

If the port of the CAN bus network access unit of the transfer machine receives notification messages containing the identification, the bus number 1 and the port number 1 of the CAN bus network access unit in the continuous periods of the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, the MCU determines that the port is connected to a linear CAN bus network access unit and records the identification of the connected CAN bus network access unit. From port number 1, it CAN be determined that the first port 131 of the linear CAN bus network entry unit is connected. Since the first port 131 is connected to the first CAN-bus 121, it functions as a portal and is thus a portal.

If the port of the CAN bus network access unit of the transfer machine receives notification messages containing the identification, the bus number 2 and the port number 3 of the CAN bus network access unit in the continuous periods of the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, the MCU determines that the port is connected to a linear CAN bus network access unit, records the identification of the connected CAN bus network access unit, and CAN determine that the connected port is the third port 133 of the linear CAN bus network access unit from the port number 3. Since the third port 133 is connected to the second CAN-bus 122, it functions as an egress and is thus an egress.

The use stage of the CAN bus network access unit refers to the stage that the CAN bus network access unit is actually put into use after networking, and at this time, the internal switch state does not need to be set as shown in fig. 5A (linear type CAN bus network access unit) or fig. 7A-D (transfer machine CAN bus network access unit), but CAN be set according to the field requirement.

In the linear CAN-bus networking unit, the third port 133 is connected to the first CAN-bus 121 or the second CAN-bus 122 by a switch according to the field requirements during the use phase. As shown in fig. 5B, for the two CAN-bus network-accessing units on the left, the third port 133 is connected to the first CAN-bus 121 according to the field requirement, so that the two CAN-bus network-accessing units on the left are connected to the same CAN, as shown by the dashed box on the left of fig. 5B. The third port 133 of the third CAN-bus network-accessing unit is connected to the second CAN-bus 122 according to the field requirement, so that the third CAN-bus network-accessing unit and the fourth CAN-bus network-accessing unit are connected to the same CAN, as shown by the dashed box on the right of fig. 5B.

In the transfer machine CAN bus network-accessing unit, the on/off of the switch connected to at least one of the second port 132, the third port 133, and the fourth port 134 is controlled according to the field requirement in the use stage. As shown in fig. 7E, the second port 132, the third port 133, and the fourth port 134 of the intermediate transfer-machine CAN bus network-accessing unit are connected to the first CAN bus 121 by switches D2-D4. Therefore, the transfer machine CAN bus network access unit in the middle and the upper, lower, left and right 4 linear CAN bus network access units are positioned in the same CAN.

In addition, according to an embodiment of the present disclosure, as shown in fig. 8, there is provided a switch control method of a linear controller area network CAN bus network unit 110, wherein the linear CAN bus network unit 110 includes a first CAN bus 121, a second CAN bus 122, a first port 131, a second port 132, a third port 133, and a fourth port 134, wherein the first port 131 is connected to the first CAN bus 121, and the third port 133 is connected to the first CAN bus 121 or the second CAN bus 122 through a switch, the method including:

step 810, in the networking stage, connecting the third port 133 to the second CAN bus 122 through the switch;

step 820, in the use stage, the third port 133 is connected to the first CAN bus 121 or the second CAN bus 122 through the switch according to the field requirement.

The details of the above steps have been described in detail in the above with reference to the embodiment of the linear CAN bus networking unit 110, and therefore, the details are not described again for brevity.

Further, according to an embodiment of the present disclosure, as shown in fig. 9, there is provided a switching control method for a transfer controller area network CAN bus network access unit, the transfer controller area network CAN bus network access unit includes a first CAN bus 121, a second CAN bus 122, a first port 131, a second port 132, a third port 133, and a fourth port 134, where the first port 131 is connected to the first CAN bus 121, and at least one of the second port 132, the third port 133, and the fourth port 134 is connected to the first CAN bus 121 or the second CAN bus 122 through a respective switch, the method includes:

step 910, in the first scanning period of the networking phase, the switch is used to connect the first port 131 to the first CAN bus 121, and connect the second, third, and

fourth ports

132 and 134 to the second CAN bus 122; in the second scanning period, the first, third and

fourth ports

131, 133 and 134 are connected to the first CAN bus 121 and the second port 132 is connected to the second CAN bus 122 through the switches; in a third scanning period, the first, second and

fourth ports

131, 132 and 134 are connected to the first CAN bus 121 and the third port 133 is connected to the second CAN bus 122 through the switch; in a fourth scanning period, the first, second and

third ports

131 and 133 are connected to the first CAN bus 121 and the fourth port 134 is connected to the second CAN bus 122 through the switch;

and 920, in the use stage, respectively controlling the connection or the closing of the switch connected with at least one of the second port 132, the third port 133 and the fourth port 134 according to the requirements in the field.

The details of the above steps have been described above in detail with reference to the embodiment of the CAN bus networking unit 110 of the transplanter, and therefore, for brevity, will not be described again.

Fig. 11 illustrates an architectural diagram of an environment in which CAN bus network entry unit 110 is used according to one embodiment of the present disclosure. The architecture includes a remote visual control 199 at the remote control end and a plurality of CAN bus network access units 110 at the site end. The administrator at the remote end remotely controls the CAN bus network access unit 110 to perform port connection with the adjacent CAN bus network access unit 110 through the remote visual control device 199, so as to connect the CAN bus network access unit and the adjacent CAN bus network access unit into an electrical control system of the whole transmission line. The remote visualization control 199 may be embodied as a remote server, may be a part of a remote server (e.g., a virtual machine), may be embodied as a cloud server, or may be embodied as a server cluster composed of a plurality of remote servers. Remote visualization control 199 communicates with CAN bus network entry unit 110 via wireless communication.

On the display screen of the remote visualization control device 199, a prompt may be displayed to guide the administrator user to complete the port connection of the CAN bus network access unit 110 by one step operation.

According to an embodiment of the present disclosure, a remote visualization CAN bus networking unit assembly method is provided, which is performed by the remote visualization control 199. As shown in fig. 10, the method includes:

step 410, receiving a networking request of a user on a remote visual interface;

step 420, identifying a CAN bus network access unit in an electrical control system of the transmission line, wherein the CAN bus network access unit comprises a first CAN bus, a second CAN bus, a first port, a second port, a third port, a fourth port and a switch;

and 430, remotely controlling the switch to connect at least one of the first port, the second port, the third port and the fourth port to at least one of the first CAN bus and the second CAN bus.

The above steps are described in detail below.

In step 410, a remote visualization interface is displayed on the display screen of the remote visualization control 199. The user may initiate a networking request on the interface. As shown in fig. 12A, a "start networking" option is displayed on the display screen. The user selects the option on the display screen and initiates a networking request. Networking means that the periphery of each CAN bus network access unit is detected to detect which other CAN bus network access units are connected, what are the connection ports, and the like, so that a connection layout of the whole electric control system is formed.

In step 420, a CAN bus network entry unit in the electrical control system of the transmission line is identified. Specifically, it is identified which CAN bus network access unit exists in the electrical control system, and whether the CAN bus network access unit is a linear type CAN bus network access unit or a transfer machine CAN bus network access unit. The remote visual control device 199 CAN broadcast an inquiry signal to the CAN bus network access units within a certain range, and the CAN bus network access units within the range send out a response after receiving the inquiry signal. In this response, an indication may be carried whether the CAN bus network access unit that sent the response is a linear CAN bus network access unit or a transfer machine CAN bus network access unit.

Fig. 12B shows an interface showing that the CAN bus network-accessing unit is being identified after the user selects "start networking".

In step 430, the remote visualization control means 199 remotely controls the switch to connect at least one of the first port, the second port, the third port, the fourth port to at least one of the first CAN bus, the second CAN bus.

Specifically, for the identified linear CAN bus network entry unit, the remote visualization control means 199 remotely controls the switch of the linear CAN bus network entry unit to connect the third port to the second CAN bus. For the identified transfer machine CAN bus network access unit, in a first scanning period, the remote visual control device 199 remotely controls the switch of the transfer machine CAN bus network access unit to connect the first port to a first CAN bus; in a second scanning period, remotely controlling the switch of the net-accessing unit of the CAN bus of the transfer machine, and connecting the second port to a second CAN bus; in a third scanning period, remotely controlling the switch of the net-accessing unit of the transfer machine CAN bus to connect the third port to a second CAN bus; and in a fourth scanning period, the fourth port is connected to a second CAN bus by remotely controlling the switch of the net-accessing unit of the CAN bus of the transfer machine. The following rule is the same as the above step 210 in fig. 8 and step 310 in fig. 9, but the following rule is controlled by the remote visualization control device 199 in this embodiment, and thus the description is omitted.

In addition, after step 430, the method may further include: and controlling the CAN bus network access unit to send a notification message in a first scanning period, a second scanning period, a third scanning period and a fourth scanning period which are continuous. Specifically, for the identified linear type CAN bus network access unit, in the continuous first scanning period, second scanning period, third scanning period, and fourth scanning period, the first port and the third port of the linear type CAN bus network access unit are controlled to send a notification message, where the notification message includes an identifier of the CAN bus network access unit, a port number for sending the notification message, and a bus number connected to the port for sending the notification message. And for the identified transfer machine CAN bus network access unit, controlling each port of the transfer machine CAN bus network access unit to send a notification message in the continuous first scanning period, the continuous second scanning period, the continuous third scanning period and the continuous fourth scanning period, wherein the notification message comprises the identification of the CAN bus network access unit, the bus number connected with the port for sending the notification message and a specific zone bit. The rule for sending the notification message in each scanning period is identical to the rule for sending the notification message by the linear type CAN bus network access unit and the transfer machine CAN bus network access unit in the networking stage, which is described above, and the notification message is sent by the remote visualization control device 199 in this embodiment, which is not described in detail.

Fig. 12C shows an interface for port bus connection and notification message transmission by the CAN bus access unit being remotely controlled after the CAN bus access unit is identified.

After controlling the CAN bus network access unit to send the notification message in the continuous first scanning period, second scanning period, third scanning period and fourth scanning period, the method further comprises: receiving the identification, the connection port number and the connection port property of the detected connected CAN bus network access unit sent by the CAN bus network access unit, and generating a CAN bus network access unit connection layout of the electrical control system; and displaying the connection layout of the CAN bus network access unit of the electrical control system.

The CAN bus network access unit CAN identify the identifier, the connection port number, and the connection port property of the connected CAN bus network access unit according to the notification message received from the connected CAN bus network access unit, and the process is discussed in the detailed description of the networking stage of the linear type CAN bus network access unit and the transfer machine CAN bus network access unit, and is not described again. After the CAN bus network access unit recognizes the identification, the connection port number, and the connection port property of the connected CAN bus network access unit, the information CAN be sent to the remote visualization control device 199, and the remote visualization control device 199 generates and displays the connection layout of the CAN bus network access unit of the electrical control system according to the collected information. The CAN bus network access unit connection layout of the electrical control system refers to a layout showing which CAN bus network access units are included in the electrical system and the port connection relationship between the CAN bus network access units (i.e. which port of one CAN bus network access unit is connected to which port of an adjacent CAN bus network access unit).

Fig. 12D shows an example of displaying a connection layout generated from the received parameters detected by the CAN-bus networking unit on the display of the remote visualization control 199.

After the connection layout of the CAN bus network access unit of the electrical control system is displayed, a field connection requirement indication of the CAN bus network access unit input by a user CAN be received on a remote visual interface on a display screen of the remote visual control device 199.

As shown in fig. 12E, a prompt box may be displayed on the remote visualization interface prompting the user to enter a field connection requirement. The networking stage is only to detect the connection structure of each CAN bus networking unit in the electrical control system, and how to connect the port and the bus in actual use is determined according to the field connection requirement.

Then, the switch of the CAN bus network entry unit may be controlled to connect at least one of the first port, the second port, the third port, and the fourth port to at least one of the first CAN bus and the second CAN bus according to the field connection requirement indication. Specifically, for a linear CAN bus network access unit, the third port is connected to the first CAN bus or the second CAN bus through the switch according to the field requirement. And for the CAN bus network access unit of the transfer machine, the on-off of a switch connected with at least one of the second port, the third port and the fourth port is respectively controlled according to the field requirements.

As shown in fig. 12F, it CAN be prompted on the remote visual interface that the connection between the port of the CAN bus networking unit and the bus is being controlled according to the field connection requirement.

The embodiment provides a remote control mode, and the connection between the port and the bus in the CAN bus network access unit CAN be quickly controlled through the mode, so that the networking and using efficiency is improved.

It should be understood that the embodiments in this specification are described in a progressive manner, and that the same or similar parts in the various embodiments may be referred to one another, with each embodiment being described with emphasis instead of the other embodiments. In particular, as for the method embodiment, since it is substantially similar to the implementation process described in the apparatus embodiment, the description is simple, and the relevant points can be referred to partial descriptions of other embodiments.

It should be understood that the above description describes particular embodiments of the present specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

It should be understood that an element described herein in the singular or shown in the figures only represents that the element is limited in number to one. Furthermore, modules or elements described or illustrated herein as separate may be combined into a single module or element, and modules or elements described or illustrated herein as single may be split into multiple modules or elements.

It is also to be understood that the terms and expressions employed herein are used as terms of description and not of limitation, and that the embodiment or embodiments of the specification are not limited to those terms and expressions. The use of such terms and expressions is not intended to exclude any equivalents of the features shown and described (or portions thereof), and it is recognized that various modifications may be made within the scope of the claims. Other modifications, variations, and alternatives are also possible. Accordingly, the claims should be looked to in order to cover all such equivalents.

Claims

1. A CAN bus networking unit of a linear controller area network comprises a first CAN bus, a second CAN bus, a first port and a third port, wherein the connection direction of the first port and the third port is consistent with the conveying direction of a conveying section where the linear CAN bus networking unit is located, the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus or the second CAN bus through a switch.

2. The linear CAN bus network entry unit of claim 1, wherein the switch is a first single pole double throw switch having one end connected to the third port and the other end switched between connecting the first CAN bus and connecting the second CAN bus.

3. The linear CAN bus network entry unit of claim 1, wherein the switch comprises a first switch connected to the first CAN bus and a second switch connected to the second CAN bus.

4. The linear CAN bus networking unit of claim 1, wherein the third port is connected to the second CAN bus through the switch in consecutive first, second, third, and fourth scan periods of a networking phase.

5. The linear CAN bus network entry unit according to claim 4, wherein the first port and the third port transmit a notification message in the consecutive first scan period, second scan period, third scan period, and fourth scan period, and the notification message includes an identifier of the CAN bus network entry unit, a port number for transmitting the notification message, and a bus number of a port connection for transmitting the notification message.

6. The linear CAN bus network entry unit of claim 4, wherein the third port is connected to the second CAN bus through the switch during a first quiet period prior to the first scan period; connecting, by the switch, the third port to the second CAN bus during a second quiet period following the fourth scan period.

7. The linear CAN bus networking unit of claim 1, further comprising a second port, a fourth port, and a microcontroller.

8. The linear CAN bus network unit of claim 7, wherein if the first port or the third port receives a notification message containing an identification of the CAN bus network unit, a bus number 1, and a port number 1 during consecutive first scan period, second scan period, third scan period, and fourth scan period, the MCU determines that the first port or the third port is connected to one linear CAN bus network unit, records the identification of the connected CAN bus network unit, the connection port of the connected linear CAN bus network unit is the first port, and the connected first port is the entry port.

9. The linear CAN bus network unit of claim 7, wherein if the first port or the third port receives a notification message containing an identification of the CAN bus network unit, a bus number 2, and a port number 3 during consecutive first scan period, second scan period, third scan period, and fourth scan period, the MCU determines that the first port or the third port is connected to one linear CAN bus network unit, records the identification of the connected CAN bus network unit, the connection port of the connected linear CAN bus network unit is the third port, and the connected third port is the exit port.

10. The linear CAN bus network unit of claim 7, wherein if the first port or the third port receives a notification message containing an identification of the CAN bus network unit, a bus number 1, and a specific flag bit during the first scan period, the MCU determines that the first port or the third port is connected to a transfer-loader CAN bus network unit, records the identification of the connected CAN bus network unit, the connection port of the connected transfer-loader CAN bus network unit is the first port, and the first port connected thereto is the entry port.

11. The linear CAN bus network accessing unit of claim 7, wherein if the first port or the third port receives a notification message containing an identifier of the CAN bus network accessing unit, a bus number 1 or 2, and a specific flag bit during the second scanning period, the MCU determines that the first port or the third port is connected to a transfer machine CAN bus network accessing unit, and after sending a port query request to the CAN bus network accessing unit that sent the notification message, the received reply indicates that the port number is 2, records the identifier of the connected CAN bus network accessing unit, the connection port of the connected transfer machine CAN bus network accessing unit is the second port, and in case of the bus number 1, the connected second port is the outlet; in the case of bus number 2, the second port to which it is connected is the ingress.

12. The linear CAN bus network unit according to claim 7, wherein if the first port or the third port receives a notification message containing an identifier of the CAN bus network unit, a bus number 1 or 2, and a specific flag bit in the third scanning period, the MCU determines that the first port or the third port is connected to a transfer-machine CAN bus network unit, and after sending a port query request to the CAN bus network unit that sent the notification message, the number of the received reply indicates that the port is 3, records the identifier of the connected CAN bus network unit, the connection port of the connected transfer-machine CAN bus network unit is the third port, and in the case of the bus number 1, the connected third port is an outlet; in the case of bus number 2, the third port to which it is connected is the ingress.

13. The linear CAN bus network unit according to claim 7, wherein if the first port or the third port receives a notification message containing an identifier of the CAN bus network unit, a bus number 1 or 2, and a specific flag bit in the fourth scanning period, the MCU determines that the first port or the third port is connected to a transfer machine CAN bus network unit, and after sending a port query request to the CAN bus network unit that sent the notification message, the number of the received reply indicates 4, records the identifier of the connected CAN bus network unit, the connection port of the connected transfer machine CAN bus network unit is the fourth port, and in the case of bus number 1, the fourth port is the exit; in the case of bus number 2, this fourth port is an entry.

14. The linear CAN bus network entry unit of claim 1, wherein, in a use phase, the third port is connected to the first CAN bus or the second CAN bus by the switch according to a field requirement.

15. A move and carry machine controller LAN CAN bus unit of getting on net, includes first CAN bus, second CAN bus, first port, second port, third port and fourth port, the line direction of first port with the third port, the line direction of second port with the fourth port is mutually perpendicular, wherein, first port is connected to first CAN bus, at least one in second port, third port, the fourth port is connected to first CAN bus through respective switch, or be connected to second CAN bus.

16. The transfer carrier CAN bus network entry unit of claim 15 wherein said switch comprises a second, third, fourth single pole double throw switch, wherein said second single pole double throw switch has one end connected to a second port and the other end connected to said first CAN bus or to said second CAN bus; one end of the third single-pole double-throw switch is connected with a third port, and the other end of the third single-pole double-throw switch is connected to the first CAN bus or the second CAN bus; one end of the fourth single-pole double-throw switch is connected with a fourth port, and the other end of the fourth single-pole double-throw switch is connected to the first CAN bus or the second CAN bus.

17. The transfer-machine CAN bus network-entry unit of claim 15, wherein the switches comprise a fifth single-pole double-throw switch, a third switch, a fourth switch, and a fifth switch, wherein one end of the third switch, the fourth switch, and the fifth switch is connected to the second port, the third port, and the fourth port, respectively, and the other end is commonly connected to one end of the fifth single-pole double-throw switch, and the other end of the fifth single-pole double-throw switch switches between connecting the first CAN bus and connecting the second CAN bus.

18. The transfer-loader CAN bus networking unit of claim 15, wherein the first port is connected to a first CAN bus by the switch during a first scan period of a networking phase; connecting the second port to a second CAN bus through the switch during a second scan period; connecting, by the switch, the third port to a second CAN bus during a third scan period; in a fourth scan period, the fourth port is connected to a second CAN bus line through the switch.

19. The transfer-machine CAN bus network-accessing unit according to claim 18, wherein each port of the transfer-machine CAN bus network-accessing unit transmits a notification message in the first scanning period, the second scanning period, the third scanning period, and the fourth scanning period, and the notification message includes an identifier of the CAN bus network-accessing unit, a bus number of a port connection transmitting the notification message, and a specific flag.

20. The transfer machine CAN bus network entry unit of claim 19 wherein a first port is connected to a first CAN bus by the switch during a first quiet period prior to the first scan period; a fourth port is connected to a second CAN bus by the switch during a second quiet period following the fourth scan period.

21. The transfer machine CAN bus network entry unit of claim 15 further comprising a micro control unit MCU.

22. The transfer-machine CAN bus network-accessing unit according to claim 21, wherein if the port of the transfer-machine CAN bus network-accessing unit receives a notification message containing the identification of the CAN bus network-accessing unit, the bus number 1, and the port number 1 during the consecutive first scan period, second scan period, third scan period, and fourth scan period, the MCU determines that the port is connected to a linear CAN bus network-accessing unit, records the identification of the connected CAN bus network-accessing unit, the connected port of the connected linear CAN bus network-accessing unit is the first port, and the connected first port is the inlet.

23. The transfer-loader CAN bus network-accessing unit of claim 21, wherein if a port of the transfer-loader CAN bus network-accessing unit receives a notification message containing an identification of a CAN bus network-accessing unit, a bus number 2, and a port number 3 during consecutive first, second, third, and fourth scan periods, the MCU determines that the port is connected to a linear CAN bus network-accessing unit, records the identification of the connected CAN bus network-accessing unit, the connected port of the connected linear CAN bus network-accessing unit is the third port, and the connected third port is the exit port.

24. The transfer-machine CAN bus network-accessing unit according to claim 15, wherein in the using stage, the on or off of the switch connected to at least one of the second port, the third port, and the fourth port is controlled according to the field requirement.

25. A switch control method of a linear controller area network, CAN, bus, networking unit, wherein the linear CAN bus networking unit comprises a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port, wherein the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus or the second CAN bus through a switch, the method comprising:

26. A switch control method for a transfer machine controller area network, CAN, bus, networking unit, the transfer machine CAN bus networking unit comprising a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port, wherein the first port is connected to the first CAN bus, and at least one of the second port, the third port, and the fourth port is connected to the first CAN bus or the second CAN bus through a respective switch, the method comprising:

in a first scanning period of a networking stage, connecting the first port to a first CAN bus through the switch; connecting the second port to a second CAN bus through the switch during a second scan period; connecting, by the switch, the third port to a second CAN bus during a third scan period; connecting the fourth port to a second CAN bus line through the switch in a fourth scanning period;

27. A remote visual CAN bus network access unit assembling method comprises the following steps:

receiving a networking request of a user on a remote visual interface;

28. The method of claim 27 wherein said remotely controlling said switch to connect at least one of said first port, second port, third port, and fourth port to at least one of said first CAN bus and second CAN bus comprises:

and for the identified linear CAN bus network access unit, remotely controlling the switch of the linear CAN bus network access unit to connect the third port to the second CAN bus.

29. The method of claim 27 wherein said remotely controlling said switch to connect at least one of said first port, second port, third port, and fourth port to at least one of said first CAN bus and second CAN bus comprises:

for the identified transferring machine CAN bus network access unit, remotely controlling the switch of the transferring machine CAN bus network access unit in a first scanning period, and connecting the first port to a first CAN bus; in a second scanning period, remotely controlling the switch of the net-accessing unit of the CAN bus of the transfer machine, and connecting the second port to a second CAN bus; in a third scanning period, remotely controlling the switch of the net-accessing unit of the transfer machine CAN bus to connect the third port to a second CAN bus; and in a fourth scanning period, the fourth port is connected to a second CAN bus by remotely controlling the switch of the net-accessing unit of the CAN bus of the transfer machine.

30. The method of claim 27, wherein after remotely controlling the switch to connect at least one of the first port, second port, third port, and fourth port to at least one of the first CAN bus and second CAN bus, the method further comprises:

and controlling the CAN bus network access unit to send a notification message in a first scanning period, a second scanning period, a third scanning period and a fourth scanning period which are continuous.

31. The method of claim 30, wherein the controlling the CAN bus network entry unit to send the notification message in consecutive first, second, third, and fourth scan periods comprises:

and for the identified linear CAN bus network access unit, controlling the first port and the third port of the linear CAN bus network access unit to send notification messages in the continuous first scanning period, the second scanning period, the third scanning period and the fourth scanning period, wherein the notification messages comprise the identification of the CAN bus network access unit, the port number for sending the notification messages and the bus number connected with the port for sending the notification messages.

32. The method of claim 30, wherein the controlling the CAN bus network entry unit to send the notification message in consecutive first, second, third, and fourth scan periods comprises:

and for the identified transfer machine CAN bus network access unit, controlling each port of the transfer machine CAN bus network access unit to send a notification message in the continuous first scanning period, the continuous second scanning period, the continuous third scanning period and the continuous fourth scanning period, wherein the notification message comprises the identification of the CAN bus network access unit, the bus number connected with the port for sending the notification message and a specific zone bit.

33. The method of claim 30, wherein after controlling the CAN bus network entry unit to send the notification message for consecutive first, second, third, and fourth scan periods, the method further comprises:

34. The method of claim 33, wherein after displaying a CAN bus network entry cell connection layout of the electrical control system, the method comprises: