CN115047830A

CN115047830A - Bus system of controller and sensor, operation method and machine automation system

Info

Publication number: CN115047830A
Application number: CN202210557080.5A
Authority: CN
Inventors: 李伟坚
Original assignee: Pengyan Technology Shanghai Co ltd
Current assignee: Pengyan Technology Shanghai Co ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-09-13
Anticipated expiration: 2042-05-20
Also published as: CN115047830B

Abstract

The embodiment of the invention relates to the technical field of buses, and discloses a bus system of a controller and a sensor, an operation method and a machine automation system. The bus system includes: the system comprises a central processor core, a multimedia transmission internal network and a plurality of ports; the multimedia internal transmission network comprises at least one optical fiber transmission network directly connected with the central processor core; the optical fiber transmission network comprises at least one sub-network, the sub-network comprises cascade links and gates formed by a plurality of cascade-connected optical network units ONU, and each cascade link is connected with an optical line terminal OLT in the central processor core through the gate; the ONU and/or the door are connected with the port; and the ONU is configured to send the message to the OLT stage by stage through the cascade link and the gate where the message is located after receiving the external message through the connected port, so that the OLT broadcasts the message, and one or more ONUs related to the message send the message to the outside through the connected port. Reducing cost and complexity.

Description

Bus system of controller and sensor, operation method and machine automation system

Technical Field

The embodiment of the invention relates to the technical field of buses, in particular to a bus system of a controller and a sensor, an operation method and a machine automation system.

Background

With the development of automated driving of automobiles, intelligent robots, and factory automation, the field of machine automation is expanding rapidly. However, due to their diverse and high-speed requirements, no bus or network architecture is currently available to efficiently meet the requirements of these emerging technologies. In contrast, the current network has the problems of high time delay, low bandwidth, complex wiring, large Electromagnetic Interference (EMI), high cost, unsafe data, complex system integration, and the like. For example, the network does not have sufficient bandwidth to carry sensor data generated by cameras, LiDAR (Light Laser Detection and Ranging), etc. to a Central Processing Unit (CPU) Core (Core) with low latency. Furthermore, existing cable systems are complex, short-range, and cannot handle EMI without expensive shielding due to the use of copper cabling systems. There is currently no multi-function integrated "controller and sensor network" system bus solution to be able to support and carry internet L2/L3 ethernet packets, motor and motion control information, sensor data, and CPU commands (CPU-CMD) throughout the system from edge node to edge node.

Disclosure of Invention

The embodiment of the invention aims to provide a bus system of a controller and a sensor, an operation method and a machine automation system, which can reduce the cost and the complexity of the bus system of the controller and the sensor while realizing data transmission.

To achieve the above object, an embodiment of the present invention provides a bus system of a controller and a sensor, including: the system comprises a central processor core, a multimedia transmission internal network and a plurality of ports which are configured to be externally connected; the multimedia internal transmission network comprises at least one optical fiber transmission network directly connected with the central processor core; the optical fiber transmission network comprises at least one sub-network, the sub-network comprises cascade links and gates formed by a plurality of cascade-connected optical network units ONU, and each cascade link is connected with one optical line terminal OLT in the central processor core through the gate; the ONU and/or the door are/is connected with the port; after receiving an external message through the connected port, the ONUs send the message to the OLT through the cascade link and the gate in a cascade manner, so that the OLT broadcasts the message to each ONU step by step through the gate and the cascade link, and one or more ONUs related to the message send the broadcast received message to the outside through the connected port.

In order to achieve the above object, an embodiment of the present invention further provides a method for operating a controller and a sensor bus, where the controller and the sensor bus are as described above, and the method includes: the ONU receives external messages through a connected port; the ONU sends the received message to an OLT in a central processor core step by step through the cascade link and the gate where the ONU is located; the OLT broadcasts the received message in a bus system of the controller and the sensor; one or more ONUs associated with the message transmit the received message to the outside through the corresponding ports.

In order to achieve the above object, an embodiment of the present invention further provides a machine automation system, including: a bus system of the controller and the sensor as described above, and a plurality of external machine automation devices; the external machine automation device accesses the bus system of the controller and the sensor through a port configured to be externally connected in the bus system of the controller and the sensor.

The bus system of the controller and the sensor provided by the embodiment of the invention adopts a cascade mode for the ONU between the sub-networks, the ONU is connected with the outside through the port, and after receiving the external message through the port, the message is sent to the OLT in the central processor core step by step through the cascade link and the gate where the ONU is located, so that the OLT broadcasts the message, one or more ONUs related to the message are enabled to send the message to the outside, the data transmission is realized, and compared with the scheme that each ONU needs to use one optical fiber transceiver because each ONU is directly connected with the OLT respectively, the cascade connection between the ONUs enables a plurality of ONUs to share the same optical fiber transceiver, or the ONU is directly connected to the OLT through a copper cable without using the optical fiber transceiver, and simultaneously does not need an optical module and an optical splitter, thereby reducing the optical fiber transceivers needed in the bus system of the controller and the sensor, cost is saved and complexity of the bus is reduced.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

FIG. 1 is a schematic diagram of a bus system of a controller and a sensor provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an ONU provided in another embodiment of the present invention;

fig. 3 is a schematic diagram of a Chip-to-Chip interface-based ONU cascaded link structure according to another embodiment of the present invention;

fig. 4 is a schematic diagram of a transmission medium-based ONU cascaded link structure provided in another embodiment of the present invention;

fig. 5 is a schematic diagram of a Chip-to-Chip interface and transmission medium based ONU cascaded link structure according to another embodiment of the present invention;

FIG. 6 is a flow chart of a method of operation of the controller and sensor bus system provided in another embodiment of the present invention;

fig. 7 is a schematic structural diagram of a robot automation system provided in another embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in various embodiments of the invention, numerous technical details are set forth in order to provide a better understanding of the present invention. However, the claimed invention can be practiced without these specific details and with various changes and modifications based on the following examples.

The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.

One aspect of the embodiments of the present invention provides a bus system for a controller and a sensor. Referring to fig. 1, a bus system 100 of a controller and a sensor includes a central processor core 110, a multimedia internal transmission Network 120 formed around the central processor core 110, and a plurality of ports 130, where the central processor core 110 includes at least one Optical Line Terminal (OLT) 111, the multimedia internal transmission Network 120 includes at least one Optical fiber transmission Network 121, each Optical fiber transmission Network 121 includes at least one sub-Network 123, the sub-Network includes cascaded links and gates 124 composed of a plurality of Optical Network Units (ONUs) 122 connected in cascade, each cascaded link is connected with one OLT111 in the central processor core 110 through one gate 124, where the ONUs 122 and/or gates 124 are configured to be connected to the outside through the ports 130, so that the ONUs 122 can send messages to the OLT111 in the central processor core 110 through the cascaded links and the gates 124 after receiving external messages through the ports 130, the OLT110 broadcasts the message so that the one or more ONUs 122 associated with the message send the received message to the outside.

In fig. 1, only one OLT is shown in the central processor core, and the central processor may further include a plurality of OLTs, where different OLTs in the central processor correspond to switches, and send messages uploaded by subnets connected to the respective OLTs to other OLTs, so that the messages can be propagated to ONUs in the subnet connected to other OLTs, and message broadcasting is implemented in the entire system. In addition, a Splitter (Splitter) is also provided between the OLT and the optical fiber transmission network in the multimedia internal transmission network in fig. 1.

Therefore, when there is one OLT, the message transmission method between ONUs across subnets is: the ONU on the cascade link sends messages to the ONU at the upstream of the link in a point-to-point manner, and transmits the messages step by step until the ONU reaches the OLT, the OLT broadcasts the messages to the ONU connected with the OLT, and the ONU receiving the messages sends the messages to the ONU at the downstream of the step by step along the cascade link in which the ONU is positioned until the ONU at the most downstream of the link is reached; when a plurality of OLTs are provided, the message transmission mode among the ONUs across the OLTs is as follows: the ONU on the cascade link sends messages to the ONU at the upstream of the link point to point, the messages are transmitted step by step until the ONU reaches the OLT, the OLT sends messages to other OLTs through the kernel switch, so that each OLT broadcasts the messages to the ONU connected with the OLT, and the ONU receiving the messages sends the messages to the ONU at the downstream of the step by step along the cascade link where the ONU is located until the ONU reaches the ONU at the most downstream of the link. The upstream of the link is a part close to the OLT in the link, and the downstream of the link is a part far away from the OLT in the link. That is to say, in the bus system of the controller and the sensor, communication between two ONUs needs to be performed through the OLT, first, one ONU transmits a message to the corresponding OLT through the cascade link and the gate where the ONU is located, and after receiving the message, the OLT broadcasts the message to each ONU in the bus system of the controller and the sensor in a point-to-multipoint manner, but only NOU related to the message processes data, for example, sends the data to an external device connected to the ONU through a port.

It can be understood that, since a plurality of ONUs are cascade-connected, and a message is sent to the OLT from upstream to upstream, and a message is sent to the downstream-most ONU in the cascade-connection from downstream to downstream, a plurality of ONUs in the cascade-connection can share one optical fiber transceiver. Based on this, referring to fig. 1, only one fiber optic transceiver 125 is included in some sub-networks 123, the fiber optic transceiver 125 is disposed between the gate 124 in the sub-network 123 and the OLT111, 2 fiber optic transceivers 125 are included in some sub-networks 123, one fiber optic transceiver 125 is disposed between the gate 124 in the sub-network 123 and the OLT111, and another fiber optic transceiver 125 is disposed between the ONUs 122 in the sub-network 123. Therefore, compared with the scheme that each ONU needs to use one optical fiber transceiver because each ONU is directly connected with the OLT, the cascade connection among the ONUs ensures that a plurality of ONUs can share the same optical fiber transceiver, or the ONUs are directly connected to the OLT through a copper cable without using the optical fiber transceiver, so that the optical fiber transceivers needed in a bus system of a controller and a sensor are reduced, the cost is saved, and the complexity of the bus is reduced.

It should also be noted that all messages can be encapsulated in a General Encapsulation Mode (GEM) for transmission in the bus system of the controller and the sensor. I.e., the GEM, acts as a unique standardized data and message container for transmitting messages between ONUs and/or to the central processor core through the bus system of controllers and sensors. That is, the message may be encapsulated into a GEM format at each ONU upon entering the controller and sensor bus system, and passed through the central processor core (where it is de-encapsulated for processing and re-encapsulated for transmission) and to the ONU connected to the target external device, which de-encapsulates the message into the original format for egress to the target external device or other destination. The message may come from various sources, such as an external device connected to the ONU via the port, an external device connected to the gate via the port, a central processor core, and so on.

There are two types of GEM formats: GEM packet (packet) and GEM control (control). The GEM packet format includes a GEM header (header) plus a GEM payload (payload) (e.g., 8 bytes to 4 kilobytes in length). Generally, GEM packet formats are used to encapsulate input port data, packets and messages at ingress (e.g., ONU, port).

To implement the uplink and downlink transmission of the data, reference may be made to fig. 2 for a schematic structural diagram of the ONU.

In some embodiments, an ONU comprises at least the following components: a first serializer-deserializer 201, a second serializer-deserializer 202, a first transmission data selector 203, a second transmission data selector 204, a reception data selector 205, a reception georbox 206, a MAC chip 207, a transmission georbox 208.

In this embodiment, the first serializer-deserializer is configured to receive a message sent by a downstream ONU and send the message sent by the downstream ONU to the second transmission selector; the second transmission data selector is configured to send the received message sent by the downstream ONU into the second serializer-deserializer; the second serializer-deserializer is configured to send the received message sent by the downstream ONU to the upstream ONU or the gate; the second serializer-deserializer is further configured to receive a message sent by an upstream ONU or gate and send the message sent by the upstream ONU or gate to the first transmit data selector and the receive data selector, in case the first serializer-deserializer is configured to receive the message sent by a downstream ONU; the first transmission data selector is also configured to send the received message sent by the upstream ONU or the gate into the first serializer-deserializer; the first serializer-deserializer is further configured to send a received message sent by the upstream ONU or the gate to the downstream ONU; the receiving data selector is configured to send a received message sent by the upstream ONU or the gate into a receiving Gearbox, the receiving Gearbox is configured to send the received message sent by the upstream ONU or the gate into the MAC chip, and the local MAC chip is configured to send the received message sent by the upstream ONU or the gate; the transmission Gearbox is further configured to send the local data in the MAC chip as a message to the second serializer-deserializer through the second transmission data selector to be sent to the upstream ONU or gate through the second serializer-deserializer, in case the second serializer-deserializer is configured to receive a message sent by the upstream ONU or gate.

The upstream ONU is connected with the ONU which receives the message currently in a cascade mode and is closer to the OLT in the process that the message reaches the OLT stage by stage through a cascade link and a gate; the upstream ONU is an ONU which is in cascade connection with the local ONU and relatively far away from the OLT in the process that the message reaches each ONU from the OLT through the cascade link and the gate.

In order to facilitate those skilled in the art to better understand the functions of the structures of the ONU in fig. 2, the following description will take the transmission process of the message in the ONU as an example. The local data may be data stored in the local data itself, or may be a message uploaded by an external device connected to the local data itself through a port.

Referring to fig. 2:

in the process of transmitting the message from the cascade link to the OLT, a certain ONU receives the message reported by a downstream ONU: the message enters the ONU through the first serializer-deserializer 201, and then the message is sent to the second transmission data selector 204 after coming out of the first serializer-deserializer 201, then sent to the second serializer-deserializer 202 after coming out of the second transmission data selector 204, and finally sent out through the second serializer-deserializer 202. When the ONU does not have an upstream ONU but is directly connected to the gate, the message sent out by the second serializer-deserializer 202 is sent to the gate and transmitted to the OLT connected to the gate through the gate; in the case where there is an upstream ONU, the message sent out through the second serializer-deserializer 202 is sent to the upstream ONU, and the current transmission process is repeated in the upstream ONU until transmitted to the gate and transmitted through the gate to the OLT connected to the gate.

In addition, in the case where a message transmitted from a certain ONU is local data stored in the MAC chip 207, that is, a current ONU transmits a burst message to the OLT, the message is sent from the MAC chip 207 and sent to the transmission geobox 208, then the message sent from the transmission geobox 208 is sent to the second transmission data selector 204, and finally sent to the second serializer-deserializer 202 to be sent out through the second serializer-deserializer 202.

In the process of the message from the OLT to the ONUs in the cascade link, a certain ONU receives the message of the upstream ONU or the gate: the message enters the ONU via the second serializer-deserializer 202 and then is transmitted over two paths: in one path, the message from the second serializer-deserializer 202 is sent to the received data selector 205, the message from the received data selector 205 is sent to the received geobox 206, and finally the message is sent to the MAC chip 207; in the other path, the message from the second serializer-deserializer 202 is sent to the first transmit data selector 203, and then the message from the first transmit data selector 203 is sent to the first serializer-deserializer 201 to be sent out through the second serializer-deserializer 201. In the MAC chip 207, the message is parsed by the MAC chip 207, and if it is determined that the message is a destination of the message, the message is retained and processed accordingly, for example, the message is sent to an external device through a port, and if it is determined that the message is not a destination of the message, the message is discarded.

In some embodiments, to ensure that messages sent from a downstream ONU can be accurately sent to an upstream ONU, clock recovery is also required before transmission. Based on this, the ONU further comprises a clock data selector 209, a First asynchronous First-in-First-out (FIFO) memory 210, and a second asynchronous FIFO memory 212.

Wherein the second serializer-deserializer is further configured to send the received data to the first asynchronous FIFO memory; the first serializer-deserializer is further configured to send the received data to the second asynchronous FIFO memory; the clock data selector is configured to acquire a clock signal of the data received by the second serializer-deserializer and send the clock signal into the MAC chip; the MAC chip is also configured to generate clock control information according to the received clock signal and send the clock control information to the first asynchronous FIFO memory; the first asynchronous FIFO memory is configured to adjust the received data to make a clock of a message transmitted to the outside of the ONU coincide with a clock signal according to the clock control information, and transmit the adjusted data to the first serializer-deserializer; the second asynchronous FIFO memory is configured to adjust the received data to be synchronous with a clock of its own received data module and to transmit the adjusted data to the second serializer-deserializer.

In order to facilitate a better understanding of the functions of the clock data selector, the first asynchronous FIFO memory and the second asynchronous FIFO memory for a person skilled in the art, the following description will be made with respect to the flow of different messages during transmission.

Referring to fig. 2:

in the process of transmitting a message from a cascade link to an OLT, when a certain ONU receives a message reported from a downstream ONU, and the message enters the ONU through the first serializer-deserializer 201, the clock data selector 209 acquires a clock signal of the received message from the first serializer-deserializer 201, then the clock data selector 209 sends the acquired clock signal into the MAC chip 207, the MAC chip 207 generates a clock control message according to the clock signal and sends the clock control message into the second asynchronous FIFO memory 211, so that the second asynchronous FIFO memory 211 resets a read pointer and a write pointer according to the received clock control message, and after the message is sent from the first serializer-deserializer 201 into the second asynchronous FIFO memory 211, the message sent from the second asynchronous FIFO memory 211 to the second transmit data selector 204 is synchronized with a message clock when the message enters the first serializer-deserializer 201 through the reset read pointer and write pointer.

In the process of the message from the OLT to the ONUs in the cascade link, a certain ONU receives the message of the upstream ONU or the gate: after the message enters the ONU through the second serializer-deserializer 202, the message is sent to the first asynchronous FIFO memory 210, the first asynchronous FIFO memory 210 performs clock recovery on the received message so that the clock of the adjusted message is consistent with the clock of the data receiving module of the first asynchronous FIFO memory 210, and then the message coming out of the first asynchronous FIFO memory 210 is sent to the first transmission data selector 203.

Therefore, for the upstream message sent by the downstream ONU, the ONU mainly forwards the upstream message without performing analysis processing in the local MAC chip, and for the downstream message sent by the upstream ONU or the gate, the ONU needs to perform analysis processing in the local MAC chip to determine whether the downstream message is the destination of the message, as well as to forward the downstream message to notify other ONUs of the message.

In consideration of the situation that a transmission state may be abnormal in the message transmission process, such as overload of a certain ONU, disconnection of a connection (e.g., connection between ONUs, connection between internal structures of ONUs), and the like, it is also proposed to provide a switching mechanism for the message transmission process. Specifically, in some embodiments, the ONUs at both ends of the cascade link are connected to a gate, and the gate is configured to resend the message to the ONU at the other end of the cascade link when the transmission state of the message sent to the ONU at one end of the cascade link is abnormal in the process of transmitting the message to the ONU at the other end of the cascade link; and in the case that the transmission state abnormality occurs during the transmission of the message transmitted by the ONU in the direction from the ONU located at one end of the cascade link to the ONU located at the other end of the cascade link, receiving the message retransmitted by the ONU in the direction from the ONU located at the other end of the cascade link to the ONU located at one end of the cascade link. A certain cascade link is formed by cascading and connecting ONU1, ONU2 and ONU 35 NOU3, where ONU1 and ONU3 are connected to the gates, and ONU1 is preset to be the ONU at the head end of the cascade link, and ONU3 is preset to be the ONU at the tail end of the cascade link, so that, normally, a burst message from ONU2 will follow the transmission path from ONU2 to ONU1 to the OLT, and accordingly, the OLT will broadcast the message to each ONU in the cascade link along the transmission path from gate-ONU 1 to ONU2 to ONU 3; however, in case of a detected abnormality, the message of ONU2 burst will follow the transmission path of ONU2-ONU 3-gate until the transmission to the OLT, and accordingly, the OLT will broadcast the message to each ONU in the cascaded link along the transmission path of gate-ONU 3-ONU2-ONU 1. I.e. the message transmission path is reversed in the normal case and in the abnormal case. Therefore, when one transmission direction in the cascade link can not normally transmit the message, the message transmission direction is switched to enable the cascade link to retransmit the message which can not be normally transmitted by using the other transmission direction, so that the message can be normally transmitted, and the problem that the message can not be transmitted once a certain transmission direction is abnormal can not occur.

In order to support the conversion of the transmission path, the first serializer-deserializer is also configured to receive the message sent by the upstream ONU or gate and send the message sent by the upstream ONU or gate to the second transmission selector and the received data selector; the second sending data selector is configured to send the received message sent by the upstream ONU or the gate to the second serializer-deserializer; the second serializer-deserializer is configured to send the received message sent by the upstream ONU or the downstream ONU, the received data selector is configured to send the received message sent by the upstream ONU or the downstream ONU into the received geobox, the received geobox is configured to send the received message sent by the upstream ONU or the downstream ONU into the MAC chip, and the local MAC chip is configured to send the received message sent by the upstream ONU or the downstream ONU; the second serializer-deserializer is also configured to receive a message sent by a downstream ONU and send the message sent by the downstream ONU to the first transmission data selector in case the first serializer-deserializer is also configured to receive a message sent by an upstream ONU or a gate; the first transmission data selector is also configured to send the received message sent by the downstream ONU into the first serializer-deserializer; the first serializer-deserializer is further configured to transmit a received message transmitted by the downstream ONU to the upstream ONU; the transmission Gearbox is further configured to send the local data in the MAC chip as a message to the first serializer-deserializer through the first transmission data selector to be sent to the upstream ONU or gate through the first serializer-deserializer, in case the first serializer-deserializer is configured to receive a message sent by the upstream ONU or gate.

At this time, referring to fig. 2:

in the process of transmitting the message from the cascade link to the OLT, a certain ONU receives the message reported by a downstream ONU: the message enters the ONU through the second serializer-deserializer 202, and then the message from the second serializer-deserializer 202 is sent to the first transmit data selector 203, and then the message from the first transmit data selector 203 is sent to the first serializer-deserializer 201 to be sent out through the second serializer-deserializer 201. Under the condition that the ONU does not have an upstream ONU but is directly connected to the gate, the message sent out by the second serializer-deserializer 202 is sent to the gate, and is transmitted to the OLT connected to the gate through the gate; in the case where there is an upstream ONU, the message sent out through the second serializer-deserializer 202 is sent to the upstream ONU, and the current transmission process is repeated in the upstream ONU until transmitted to the gate and transmitted through the gate to the OLT connected to the gate.

In addition, in the case where a message transmitted from a certain ONU is local data stored in the MAC chip 207, that is, a message burst from the current ONU to the OLT, the message is sent from the MAC chip 207 and sent to the transmission geobox 208, then the message sent from the transmission geobox 208 is sent to the first transmission data selector 204, and finally sent to the first serializer-deserializer 202 to be sent out through the first serializer-deserializer 202.

In the process of the message from the OLT to the ONUs in the cascade link, a certain ONU receives the message of the upstream ONU or the gate: the message will enter the ONU via the first serializer-deserializer 201 and then be transmitted in two paths: in one path, the message from the first serializer-deserializer 202 is sent to the received data selector 205, then the message from the received data selector 205 is sent to the received geobox 206, and finally the message is sent to the MAC chip 207; in the other path, the message is sent to the second tx data selector 204 from the first serializer-deserializer 201, then sent to the second serializer-deserializer 202 from the second tx data selector 204, and finally sent out through the second serializer-deserializer 202. In the MAC chip 207, the message is parsed by the MAC chip 207, and if it is determined that the message is a destination of the message, the message is retained and processed accordingly, for example, the message is sent to an external device through a port, and if it is determined that the message is not a destination of the message, the message is discarded.

Accordingly, since the types of messages received by the first serializer-deserializer and the second serializer-deserializer are changed at this time, that is, the first serializer-deserializer is converted from receiving an upstream message sent by a downstream ONU to receiving a downstream message sent by an upstream ONU or gate, and the second serializer-deserializer is converted from receiving a downstream message sent by an upstream ONU or gate to receiving an upstream message sent by a downstream ONU, the function of clock recovery also needs to be converted accordingly. Specifically, the clock data selector is configured to acquire a clock signal of data received by the first serializer-deserializer and to input the clock signal into the MAC chip; the MAC chip is also configured to generate clock control information according to the received clock signal and send the clock control information to the second asynchronous FIFO memory; the second asynchronous FIFO memory is configured to adjust the received data so that a clock of a message transmitted to the outside of the ONU coincides with the clock signal according to the clock control information, and transmit the adjusted data to the second serializer-deserializer; the first asynchronous FIFO memory is configured to adjust received data to be synchronized with a clock of its own receive data module and to transmit the adjusted data to the first serializer-deserializer. At this point, there is still a second serializer-deserializer configured to send the received data to the first asynchronous FIFO memory; the first serializer-deserializer is further configured to send the received data to the second asynchronous FIFO memory.

It can be seen that the transmission path of the message, i.e., the first serializer-deserializer-first asynchronous FIFO memory-second transmission data selector-second serializer-deserializer and second serializer-deserializer-second asynchronous FIFO memory-first transmission data selector-first serializer-deserializer, is not changed, but since the message transmitted by it is converted from one of the downstream message and the upstream message to the other, the data sent into the MAC chip by the receive data selector and the receive georbox is converted from one of the first serializer-deserializer and the second serializer-deserializer to the other, and at the same time, the local data in the MAC chip is transmitted to one of the first transmission data selector and the second transmission data selector through the transmission data selector to the other, and the clock signal acquired by the clock selector is converted by one of the first serializer-deserializer and the second serializer-deserializer into the other.

It should be noted that, the first serializer-deserializer and the second serializer-deserializer in the same ONU do not receive the message sent by the downstream ONU at the same time, but one receives the message sent by the downstream ONU, and the other receives the message sent by the upstream ONU or the gate. Specifically, in the case where the first serializer-deserializer is configured to receive a downstream ONNU send message, the second serializer-deserializer would be configured to receive a message sent by an upstream ONU or gate; in the case where the first serializer-deserializer is configured to receive messages sent by an upstream ONU or gate, the second serializer-deserializer may be configured to receive downstream onuu send messages, such that the ONU has the capability to process both messages sent by the upstream ONU or gate and messages sent by the downstream onuu.

It should also be noted that the port in this embodiment may be any type of Interface port, such as Peripheral Component Interconnect express (PCIe), Mobile Industry Processor Interface (MIPI), ethernet, Universal Serial Bus (USB), General Purpose Input Output (GPIO), Universal Asynchronous Receiver/Transmitter (UART), Inter-Integrated Circuit (I2C), and/or other types of ports.

In this embodiment, the ONU associated with the message is an ONU connected to a target external device through a port, and the target external device is a transmission target of the message, for example, when the analysis server needs to perform correlation analysis using the ambient temperature data, the temperature sensor is an external device that transmits temperature data to the connected ONU through an interface, the temperature data acquired by the temperature sensor is a message, and the analysis server is the target external device. The data transmission process comprises the following steps: the temperature sensor serves as external equipment to send collected temperature data to a corresponding ONU, the ONU receives the data and then transmits the received temperature data to a central processor core through a cascade link in a subnet where the ONU is located, the central processor core broadcasts the temperature data, when the analysis server receives the temperature data through the ONU connected with a port, the data is analyzed and processed, the purpose of the temperature data is determined to be the temperature data, and then the temperature data is sent to the analysis server through the port.

Of course, the above are merely specific examples, And in other examples, the external device may include one or more of other sensor devices (e.g., ultrasonic, infrared, camera, LIDAR, SONAR, magnetic, RADAR, etc.), internet devices, motors, actuators, lights, displays (e.g., screen, user interface), speakers, graphics processing units, central processing units, memory (e.g., solid state drive, hard drive), And controller/microcontroller. In particular, the external device may be connected by a wireless connection or a wired connection, and the number of the connected ports may be one or more according to actual situations.

In some embodiments, referring to fig. 3, the cascade connection between ONUs in the same subnet is implemented through a Chip-to-Chip interface. More ONUs can be accessed into the subnet through the Chip-to-Chip interface, efficient expansion of the ONUs in a bus system of the controller and the sensor is facilitated, and cost cannot be increased remarkably.

In other embodiments, referring to fig. 4, the tandem connection between ONUs in the same subnet is implemented over a transmission medium. The transmission medium can be optical fiber only or copper cable only, and the optical fiber and the copper cable can be mixed for use. When the transmission medium is a copper wire, other equipment auxiliary connection does not need to be additionally arranged; when the transmission medium is an Optical fiber, an Optical Transceiver (Optical Transceiver) is also provided between the ONU connected to the Optical fiber and the Optical fiber.

In still other embodiments, referring to fig. 5, the cascade connection between ONUs in the same subnet is implemented by both a Chip-to-Chip interface and a transmission medium. Wherein the transmission medium comprises optical fiber and/or copper cable.

It should be noted that, referring to fig. 3 to fig. 5, the connection between the OLT and the ONU, or the connection between the OLT and the door, may be direct connection through a copper cable, or may be connection through an optical fiber, and when the connection is through the optical fiber, an optical transceiver is further disposed between the door or the ONU and the OLT.

It should be noted that the cascaded links shown in fig. 3 to 5 do not show gates for simplicity of illustrating the implementation of the cascaded links, and do not mean that no gates exist. In addition, the cascaded links shown in fig. 3-5 have only the ONU at one end connected to the OLT, but it can be understood that, in the case that a switching mechanism needs to be provided to ensure normal transmission of the message, the ONU at the end of the cascaded link that is not connected to the OLT in fig. 3-5 may also establish a connection with the OLT to implement the switching mechanism based on the connections established between the ONU at both ends of the cascaded link and the OLT.

It is worth mentioning that a plurality of transmission media are provided for the connection of the ONUs in the bus system of the controller and the sensor, and can be flexibly selected according to the occasion, wherein, compared with the prior art that a copper cable is used as the transmission medium, the use of the optical fiber can improve the bandwidth and the transmission efficiency, and reduce the time delay.

In another aspect, the present invention further provides a method for operating a controller and a sensor bus system, where the controller and the sensor bus system are the controller and the sensor bus system described in the above embodiments. The flow of the operation method of the controller and sensor bus system is shown in fig. 6, and at least includes the following steps:

in step 601, the ONU receives an external message through the connected port.

Step 602, the ONU sends the received message to the OLT in the core of the central processing unit step by step through the cascaded link and the gate where the ONU is located.

In step 603, the OLT broadcasts the received message in the bus system of the controller and the sensors.

In step 604, one or more ONUs associated with the message send the received message to the outside through the corresponding ports.

It should be understood that the present embodiment is a method embodiment corresponding to the bus system embodiment, and the present embodiment can be implemented in cooperation with the bus system embodiment. The related technical details mentioned in the embodiments of the bus system are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related art details mentioned in the present embodiment can also be applied in the bus system embodiment.

Another aspect of the embodiments of the present invention further provides a machine automation system, as shown in fig. 7, including: a bus system 100 of controllers and sensors, and a plurality of external machine automation devices 200; the external machine automation device 200 is configured to access the bus system 100 of the controller and the sensor through a port of the bus system 100 of the controller and the sensor, which is externally connected.

In this embodiment, the machine automation system may be an automation device, such as an automatic driving vehicle, an automatic industrial machine, or an automatic robot, or may form a part of other machine automation applications, and thus, the description thereof is omitted.

It should be understood that the present embodiment is a system embodiment corresponding to the bus system embodiment, and the present embodiment can be implemented in cooperation with the bus system embodiment. The related technical details mentioned in the embodiments of the bus system are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related technical details mentioned in the present embodiment can also be applied in the bus system embodiment.

It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific embodiments for practicing the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.

Claims

1. A bus system for controllers and sensors, comprising: the system comprises a central processor core, a multimedia transmission internal network and a plurality of ports which are configured to be externally connected;

the multimedia internal transmission network comprises at least one optical fiber transmission network directly connected with the central processor core; the optical fiber transmission network comprises at least one sub-network, the sub-network comprises cascade links and gates formed by a plurality of cascade-connected optical network units ONU, and each cascade link is connected with one optical line terminal OLT in the central processor core through the gate; the ONU and/or the door are/is connected with the port;

after receiving an external message through the connected port, the ONUs send the message to the OLT through the cascade link and the gate in a cascade manner, so that the OLT broadcasts the message to each ONU step by step through the gate and the cascade link, and one or more ONUs related to the message send the broadcast received message to the outside through the connected port.

2. The controller and sensor bus system according to claim 1, wherein the ONUs are connected in cascade via a Chip-to-Chip interface and/or a transmission medium.

3. The controller and sensor bus system as set forth in claim 2, wherein said transmission medium comprises a copper cable and/or an optical cable with fiber optic transceivers disposed at both ends.

4. The controller and sensor bus system as set forth in claim 1, wherein said sub-network further comprises a fiber optic transceiver, and wherein a plurality of said ONUs in said sub-network share a fiber optic transceiver.

5. The controller and sensor bus system according to claim 1, wherein the ONU comprises a first serializer-deserializer, a second serializer-deserializer, a first transmit data selector, a second transmit data selector, a receive georbox, a MAC chip, a transmit georbox;

the first serializer-deserializer is configured to receive messages sent by a downstream ONU and send the messages sent by the downstream ONU into the second transmission selector; the second transmission data selector is configured to send the received message transmitted by the downstream ONU to the second serializer-deserializer; the second serializer-deserializer is configured to send a received message sent by the downstream ONU to an upstream ONU or the gate;

the second serializer-deserializer is further configured to receive a message transmitted by the upstream ONU or the gate and to feed the message transmitted by the upstream ONU or the gate to the first transmission data selector and the reception data selector, in case the first serializer-deserializer is configured to receive a message transmitted by a downstream ONU; the first transmission data selector is also configured to send the received message sent by the upstream ONU or the gate to the first serializer-deserializer; the first serializer-deserializer is further configured to send the received message sent by the upstream ONU or the gate to the downstream ONU; the received data selector is configured to send the received message sent by the upstream ONU or the gate to the receiving georbox, the receiving georbox is configured to send the received message sent by the upstream ONU or the gate to the MAC chip, and the local MAC chip is configured to send the received message sent by the upstream ONU or the gate;

the transmission Gearbox is further configured to send local data in the MAC chip as a message to the second serializer-deserializer through the second transmission data selector to be sent to the upstream ONU or the gate through the second serializer-deserializer, in a case where the second serializer-deserializer is configured to receive a message sent by the upstream ONU or the gate;

the upstream ONU is the ONU which is in cascade connection with the ONU currently receiving the message and is closer to the OLT in the process that the message reaches the OLT stage by stage through the cascade link and the gate; the upstream ONU is the ONU which is in cascade connection with the local ONU and relatively far away from the OLT in the process that the message reaches each ONU from the OLT through the cascade link and the gate step by step.

6. The controller and sensor bus system according to claim 5, wherein the ONUs at both ends of the cascade link are connected to the gate,

the gate is configured to re-issue a message to the ONU at the other end of the cascade link when a transmission state of the message issued to the ONU at one end of the cascade link is abnormal in a process of transmitting the message to the ONU at the other end of the cascade link; and receiving a message retransmitted by the ONU in the direction from the ONU positioned at the other end of the cascade link to the ONU positioned at one end of the level link when a transmission state abnormality occurs in the process of transmitting the message sent by the ONU in the direction from the ONU positioned at one end of the cascade link to the ONU positioned at the other end of the level link.

7. The controller and sensor bus system according to claim 6, wherein the first serializer-deserializer is further configured to receive messages sent by the upstream ONU or the gate and send the messages sent by the upstream ONU or the gate to the second transmission selector and the reception data selector; the second transmission data selector is configured to send the received message transmitted by the upstream ONU or the gate into the second serializer-deserializer; the second serializer-deserializer is configured to send a received message sent by the upstream ONU or the gate to the downstream ONU, the reception data selector is configured to send the received message sent by the upstream ONU or the gate into the reception geobox, the reception geobox is configured to send the received message sent by the upstream ONU or the gate into the MAC chip, and the local MAC chip is configured to send the received message sent by the upstream ONU or the gate;

the second serializer-deserializer is further configured to receive a message sent by the downstream ONU and feed the message sent by the downstream ONU to the first transmission data selector in case the first serializer-deserializer is further configured to receive a message sent by the upstream ONU or the gate; the first transmission data selector is further configured to feed the received message transmitted by the downstream ONU into the first serializer-deserializer; the first serializer-deserializer is further configured to send the received message sent by the downstream ONU to the upstream ONU;

the transmission Gearbox is further configured to send local data in the MAC chip as a message to the first serializer-deserializer through the first transmission data selector to be sent to the upstream ONU or the gate through the first serializer-deserializer, in case that the first serializer-deserializer is configured to receive a message sent by the upstream ONU or the gate.

8. The controller and sensor bus system according to claim 7, wherein said ONU further comprises a clock data selector, a first asynchronous FIFO memory and a second asynchronous FIFO memory,

the second serializer-deserializer is further configured to send the received message to the first asynchronous FIFO memory;

the first serializer-deserializer is further configured to send the received message to the second asynchronous FIFO memory;

the clock data selector is configured to acquire a clock signal when the first serializer-deserializer or the second serializer-deserializer receives a message sent by the upstream ONU or the gate and to send the clock signal to the MAC chip;

the MAC chip is further configured to generate a clock control message according to the received clock signal, and to feed the clock control message into the first asynchronous FIFO memory if a message sent by the upstream ONU or the gate is received by the second serializer-deserializer, or to feed the clock control message into the second asynchronous FIFO memory if a message sent by the upstream ONU or the gate is received by the first serializer-deserializer;

the first asynchronous FIFO memory is configured to, upon receipt of the clock control message, adjust the received message in accordance with the clock control message so that a clock of the message transmitted externally coincides with the clock signal, and to feed the adjusted message to the first serializer-deserializer;

the second asynchronous FIFO memory is configured to, in a case where the clock control message is received, adjust the received message so that a clock of the message transmitted to the outside coincides with the clock signal, and to feed the adjusted message to the second serializer-deserializer.

9. The controller and sensor bus system according to claim 8, wherein the MAC chip is further configured to monitor a transmission status, and in case that the transmission status is monitored to be abnormal, generate a link switching control message, and send the link switching control message to the received data selector and the clock data selector;

the receive data selector is further configured to convert a message transmitted by receiving one of the first serializer-deserializer and the second serializer-deserializer into a message transmitted by receiving the other according to the link conversion message;

the clock selector is further configured to convert the clock signal obtained from one of the first serializer-deserializer and the second serializer-deserializer into the clock signal obtained from the other according to the link conversion message.

10. The controller and sensor bus system according to claim 5, wherein the ONU further comprises an upstream burst control logic module configured to generate upstream enable signals to be sent to the first and second transmit data selectors, respectively, according to an enable control signal generated by a MAC chip, and the first and second transmit data selectors are further configured to determine a message burst timing according to the upstream enable signal.

11. A method of operating a controller and sensor bus system, the controller and sensor bus system being as claimed in any one of claims 1 to 10, the method comprising:

the ONU receives external messages through a connected port;

the ONU sends the received message to an OLT in a central processor core step by step through the cascade link and the gate where the ONU is located;

the OLT broadcasts the received message in a bus system of the controller and the sensor;

one or more ONUs associated with the message transmit the received message to the outside through the corresponding ports.

12. A machine automation system, comprising: the controller and sensor bus system of any one of claims 1 to 10, and a plurality of external machine automation devices;

the external machine automation device accesses the bus system of the controller and the sensor through a port configured to be externally connected in the bus system of the controller and the sensor.