WO2021259234A1 - Linear and movable loader can bus network access unit, and related method therefor - Google Patents

Linear and movable loader can bus network access unit, and related method therefor Download PDF

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Publication number
WO2021259234A1
WO2021259234A1 PCT/CN2021/101444 CN2021101444W WO2021259234A1 WO 2021259234 A1 WO2021259234 A1 WO 2021259234A1 CN 2021101444 W CN2021101444 W CN 2021101444W WO 2021259234 A1 WO2021259234 A1 WO 2021259234A1
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WO
WIPO (PCT)
Prior art keywords
port
bus
access unit
network access
bus network
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PCT/CN2021/101444
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French (fr)
Chinese (zh)
Inventor
邓嘉
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阿里巴巴集团控股有限公司
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Publication of WO2021259234A1 publication Critical patent/WO2021259234A1/en

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H04L12/40013—Details regarding a bus controller
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/4026—Bus for use in automation systems

Definitions

  • the present disclosure relates to the field of automatic control, and more specifically, to a linear and transfer machine CAN bus network access unit and related methods.
  • Conveyor line products are commonly used in the sorting and outgoing of logistics in the back-end of modern logistics merchants.
  • the conveying line is the sum of all conveying equipment such as conveyor belts and conveyors that complete the conveying of items.
  • a conveyor chain composed of many belt conveyors, roller conveyors, etc. is set up, which are connected end to end to form a continuous conveyor line. Since the conveying line not only needs the physical equipment used for actual conveying, but also the electric control signal to control the transmission of the conveying line, therefore, the corresponding electric control system is also required in the conveying line.
  • the electrical control system of the conveying line widely used in the market adopts programmable logic controller (PLC) for centralized control.
  • PLC programmable logic controller
  • the main disadvantages are single-point or multi-point control, complicated wiring, and difficult on-site deployment. Each new store requires a large number of sites. Debugging work is not conducive to quick shop opening.
  • Another improved electrical control system of the conveying line uses a single-chip microcomputer, which only solves the problem of high PLC cost. The disadvantage is still the difficulty of on-site deployment, which is not conducive to rapid shop opening. If the electrical control system of the transmission line is unitized, how each unit can switch the connected CAN bus at will becomes a technical obstacle.
  • the present disclosure aims to propose a CAN bus switching technology, so as to clear the obstacles for unitizing the electrical control system of the transmission line.
  • a linear controller area network CAN bus network access unit including a first CAN bus, a second CAN bus, a first port, and a third port, wherein the first port is connected to the The connection direction of the third port is the same as the conveying direction of the transmission section where the linear CAN bus network access unit is located, the first port is connected to the first CAN bus, and the third port is connected to the network through a switch. Said first CAN bus, or connected to said second CAN bus.
  • the switch is a first single-pole double-throw switch, and one end of the first single-pole double-throw switch is connected to the third port, and the other end is switched between connecting to the first CAN bus and connecting to the second CAN bus.
  • the switch includes a first switch connected to the first CAN bus, and a second switch connected to the second CAN bus.
  • the third port is connected to the second CAN bus through the switch.
  • the first port and the third port send a notification message
  • the notification message contains the The identification of the CAN bus network access unit, the port number that sent the notification message, and the bus number connected to the port that sent the notification message.
  • the third port is connected to the second CAN bus through the switch; a second silent period after the fourth scan period , Connecting the third port to the second CAN bus through the switch.
  • the linear CAN bus network access unit further includes a second port, a fourth port and a microcontroller MCU.
  • the first port or the third port receives the identification and bus number of the CAN bus network access unit during the consecutive first scan period, second scan period, third scan period, and fourth scan period. 1. If the notification message of port number 1, the MCU determines that the first port or the third port is connected to a linear CAN bus network access unit, and records the identification of the connected CAN bus network access unit, and the connected linear CAN The connection port of the bus network access unit is the first port, and the first port connected to it is the entrance.
  • the MCU determines that the first port or the third port is connected to a linear CAN bus network access unit, and records the identification of the connected CAN bus network access unit, and the connected linear CAN
  • the connection port of the bus network access unit is the third port, and the third port connected to it is the outlet.
  • the MCU determines the first port or The third port is connected to a transfer machine CAN bus network unit, and records the identification of the connected CAN bus network unit.
  • the connection port of the connected transfer machine CAN bus network unit is the first port and is connected to the first port.
  • the port is the entrance.
  • the MCU determines the The first port or the third port is connected to a CAN bus network access unit of a transfer machine, and after sending a port query request to the CAN bus network access unit that sent the notification message, the received response indicates that the port number is 2, and the connected
  • the identification of the CAN bus network access unit, the connection port of the CAN bus network access unit of the transfer machine connected to is the second port, and in the case of the bus number 1, the second port connected to is the exit.
  • the second port connected to is the entrance; if the first port or the third port receives the identification and bus number of the CAN bus network access unit during the third scan period 1 or 2, a notification message with a specific flag bit, the MCU determines that the first port or the third port is connected to a CAN bus network access unit of a transfer machine, and sends a port query to the CAN bus network access unit that sent the notification message After the request, the received response indicates that the port number is 3, and the identification of the connected CAN bus network unit is recorded.
  • the connection port of the connected transfer machine CAN bus network unit is the third port, and in the case of bus number 1.
  • the third port connected to is the outlet.
  • the third port connected to is the entry; if the first port or the third port receives the identification and the bus number of the CAN bus network access unit in the fourth scan period 1 or 2, a notification message with a specific flag bit, the MCU determines that the first port or the third port is connected to a CAN bus network access unit of a transfer machine, and sends a port query to the CAN bus network access unit that sent the notification message After the request, the received response indicates that the port number is 4, and the identification of the connected CAN bus network unit is recorded.
  • the connection port of the connected transfer machine CAN bus network unit is the fourth port, and in the case of bus number 1. Below, the fourth port is the outlet; in the case of bus number 2, the fourth port is the inlet.
  • the third port is connected to the first CAN bus or the second CAN bus through the switch according to site requirements.
  • a CAN bus network access unit for a transfer machine controller local area network, including a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port,
  • the connection direction of the first port and the third port, and the connection direction of the second port and the fourth port are perpendicular to each other, wherein the first port is connected to the first CAN bus, At least one of the second port, the third port, and the fourth port is connected to the first CAN bus or to the second CAN bus through a respective switch.
  • the switch includes a second, third, and fourth single-pole double-throw switch, wherein one end of the second single-pole double-throw switch is connected to the second port, and the other end is connected to the first CAN bus, or To the second CAN bus; one end of the third single-pole double-throw switch is connected to the third port, and the other end is connected to the first CAN bus or to the second CAN bus; the fourth single-pole double-throw switch One end of the switch is connected to the fourth port, and the other end is connected to the first CAN bus or to the second CAN bus.
  • the switch includes a fifth single-pole double-throw switch, a third, a fourth, and a fifth switch, wherein one ends of the third, fourth, and fifth switches are connected to the second port, the third port, and the The fourth port, 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 to the first CAN bus and connecting to the second CAN bus .
  • the first port is connected to the first CAN bus through the switch, and the second, third, and fourth ports are connected to the second CAN bus ;
  • the first, third, and fourth ports are connected to the first CAN bus, and the second port is connected to the second CAN bus;
  • the third scan period Connect the first, second, and fourth ports to the first CAN bus, and connect the third port to the second CAN bus;
  • in the fourth scan period connect the first, second, and third ports Connect to the first CAN bus, and connect the fourth port to the second CAN bus.
  • each port of the CAN bus network access unit of the transfer machine sends a notification message, and the notification message contains all The identification of the CAN bus network access unit, the bus number connected to the port that sends the notification message, and the specific flag bit.
  • the first port is connected to the first CAN bus, and the second, third, and fourth ports are connected to the second CAN bus;
  • the first, second, and third ports are connected to the first CAN bus, and the fourth port is connected to the second CAN bus.
  • the CAN bus network access unit of the transfer machine further includes a micro-control unit MCU.
  • the port of the CAN bus network access unit of the transfer machine receives a CAN bus network access unit identification
  • the notification message of bus number 1, port number 1 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 unit, and the connected linear CAN bus network access unit
  • the connection port is the first port, and the first port connected to is the entrance.
  • the MCU determines that the port is connected to a linear CAN bus network unit, records the identification of the connected CAN bus network unit, and the connected linear CAN bus network unit
  • the connection port is the third port, and the third port connected to is the outlet.
  • the switch connected to at least one of the second port, the third port, and the fourth port is controlled to be turned on or off according to site requirements.
  • 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, and a first port , The second port, the third port and the fourth port, wherein the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus through a switch, or is connected to all
  • the method includes:
  • the third port is connected to the first CAN bus or the second CAN bus through the switch according to site requirements.
  • a switch control method for a CAN bus network access unit of a transfer machine controller local area network includes a first CAN bus, a second CAN bus, and a first port.
  • the second port, the third port, and the 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 passes through a respective switch , Connected to the first CAN bus or connected to the second CAN bus, the method includes:
  • the first port is connected to the first CAN bus through the switch, and the second, third, and fourth ports are connected to the second CAN bus; in the second In the scan period, the first, third, and fourth ports are connected to the first CAN bus through the switch, and the second port is connected to the second CAN bus; in the third scan period, the switch is connected , Connect the first, second, and fourth ports to the first CAN bus, and connect the third port to the second CAN bus; in the fourth scan period, through the switch, the first, The second and third ports are connected to the first CAN bus, and the fourth port is connected to the second CAN bus;
  • the switch connected to at least one of the second port, the third port, and the fourth port is controlled to be turned on or closed according to site requirements.
  • a method for assembling a remotely visualized CAN bus network access unit including:
  • CAN bus network access unit in the electrical control system of the transmission line, where the CAN bus network access unit includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, a fourth port, and a switch;
  • the remote control of the switch connects 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 , Including: 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.
  • the remote control of the switch connects 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 , Including: for the identified transfer machine CAN bus network access unit, in the first scan period, remotely control the switch of the transfer machine CAN bus network access unit, and connect the first port to the first CAN bus; In the second scan period, remotely control the switch of the transfer machine CAN bus network unit, and connect the second port to the second CAN bus; in the third scan period, remotely control the transfer machine CAN bus The switch of the network access unit connects the third port to the second CAN bus; in the fourth scan period, the fourth port is connected to the fourth port by remotely controlling the switch of the CAN bus network access unit of the transfer machine To the second CAN bus.
  • the method further includes: controlling the CAN bus network access unit to send a notification message during the consecutive first scan period, second scan period, third scan period, and fourth scan period.
  • the controlling the CAN bus network access unit to send notification messages during the consecutive first scan period, second scan period, third scan period, and fourth scan period includes: The network access unit controls the first port and the third port of the linear CAN bus network access unit to send notification messages during the consecutive first scan period, second scan period, third scan period, and fourth scan period
  • the notification message contains the identification of the CAN bus network access unit, the port number for sending the notification message, and the bus number connected to the port for sending the notification message.
  • the controlling the CAN bus network access unit to send a notification message during the consecutive first scan period, second scan period, third scan period, and fourth scan period includes:
  • the bus network access unit controls each port of the CAN bus network access unit of the transfer machine to send notification messages during the consecutive first scan period, second scan period, third scan period, and fourth scan period.
  • the notification message It contains the identification of the CAN bus network access unit, the bus number connected to the port that sends the notification message, and a specific flag bit.
  • the method further includes:
  • connection layout of the CAN bus network access unit of the electrical control system is displayed.
  • the method includes:
  • control the switch of the CAN bus network access unit to connect at least one of the first port, the second port, the third port, and the fourth port to the first CAN At least one of the bus and the second CAN bus.
  • the electrical control system in order to standardize (unitize) the electrical control system used in the transmission line, the electrical control system is divided into two units: a linear CAN bus network unit and a transfer machine CAN bus network unit.
  • a linear CAN bus network unit it is set that the first port is always connected to the first CAN bus, and the third port can be connected to the first CAN bus and connected to the second CAN bus through a switch to switch such a bus
  • the switching mechanism enables the linear bus network access unit to realize that either the two ends are connected to the same CAN bus or different CAN buses through the switching of the above-mentioned switches.
  • the first port is set to be 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 through a respective switch, or connected
  • the transfer machine bus network access unit can realize signal commutation to different directions through the switching of the above-mentioned switches.
  • 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 transmission line.
  • the present disclosure designs such a CAN bus switching mechanism, which clears obstacles for unitizing the electrical control system of the transmission line.
  • Fig. 1A is a diagram of an on-site conveyor line according to an embodiment of the present disclosure.
  • Fig. 1B is a diagram of a linear conveying section according to an embodiment of the present disclosure.
  • Fig. 1C is a diagram of a transfer section of a transfer machine according to an 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 an embodiment of the present disclosure.
  • Fig. 3 is an overall physical structure diagram of a CAN bus network access unit without a switch part according to an embodiment of the present disclosure.
  • Fig. 4A is a physical structure diagram of a linear CAN bus network access unit according to an embodiment of the present disclosure.
  • Fig. 4B is another physical structure diagram of a linear CAN bus network access unit according to an embodiment of the present disclosure.
  • Fig. 4C is a logical structure diagram of a linear CAN bus network access unit according to an embodiment of the present disclosure.
  • Fig. 4D is another logical structure diagram of a linear CAN bus network access unit according to an embodiment of the present disclosure.
  • Fig. 5A is a connection diagram of a network connection stage of a linear CAN bus network access unit according to an embodiment of the present disclosure.
  • Fig. 5B is a connection diagram of a linear CAN bus network access unit in a use phase according to an embodiment of the present disclosure.
  • Fig. 6A is a physical structure diagram of a CAN bus network access unit of a transfer machine according to an embodiment of the present disclosure.
  • Fig. 6B is another physical structure diagram of the CAN bus network access unit of the transfer machine according to an embodiment of the present disclosure.
  • Fig. 6C is a logical structure diagram of a CAN bus network access unit of a transfer machine according to an embodiment of the present disclosure.
  • Fig. 6D is another logical structure diagram of the CAN bus network access unit of the transfer machine according to an embodiment of the present disclosure.
  • Figs. 7A-7D are connection diagrams of the networking stage of the CAN bus network access unit of the transfer machine according to an embodiment of the present disclosure.
  • Fig. 7E is a connection diagram of the use phase of the CAN bus network access unit of the transfer machine according to an embodiment of the present disclosure.
  • Fig. 8 shows a flow chart of a switch control method of a linear CAN bus network access unit according to an embodiment of the present disclosure.
  • Fig. 9 shows a flowchart of a switch control method of a CAN bus network access unit of a transfer machine according to an embodiment of the present disclosure.
  • Fig. 10 shows a flowchart of a method for assembling a remotely visualized CAN bus network access unit according to an embodiment of the present disclosure.
  • FIG. 11 shows an architecture diagram of the environment in which the CAN bus network access unit 110 is applied according to an embodiment of the present disclosure.
  • FIGS. 12A-12F show the interface change diagrams when the remote visualization control device 199 remotely controls the connection between the CAN bus network access units 110 according to an embodiment of the present disclosure.
  • the logistics sorting and outbound of modern logistics merchants generally use the conveyor line 100, as shown in Figure 1A.
  • the conveying line 100 is the sum of all conveying equipment such as conveyor belts and conveyors that complete the conveying of items.
  • a conveyor chain composed of many belt conveyors, roller conveyors, etc. is set up, which are connected end to end to form a continuous conveyor line 100. Since the conveying line 100 not only needs physical equipment for actual conveying, but also electric control signals to control the transmission of the conveying line. Therefore, the conveying line also needs a corresponding electric control system (inside the conveying line of FIG. 1A).
  • the electrical control system of transmission line 100 which is widely used in the market, adopts programmable logic controller (PLC) for centralized control.
  • PLC programmable logic controller
  • the main disadvantages are single-point or multi-point control, complicated wiring, difficult on-site deployment, and easy assembly errors, which is not conducive to Shop quickly.
  • Another improved electrical control system of the conveyor line 100 uses a single-chip microcomputer, which only solves the problem of high PLC cost. The disadvantage is still that it is difficult to deploy on site and prone to assembly errors, which is not conducive to quick shop opening.
  • the transmission line is divided into sections of transmission.
  • the corresponding electrical control system is also divided into units (CAN bus network access unit), that is, within a transmission section.
  • CAN bus network access unit There is a CAN bus access unit.
  • the conveying line and the electrical control system in the conveying line are divided into units in a similar way as building blocks, and each unit adopts a similar structure.
  • Each CAN bus network access unit can communicate with the adjacent CAN bus network access unit to form an electrical control system. In this way, no matter how long the conveying line is, these units can be used to construct the entire electrical control system like building blocks, realizing the standardization of the electrical control part used in the conveying line.
  • control components of each transmission section are connected to the bus through the standard CAN bus network unit, which is a decentralized control structure without centralized polling, ensuring real-time performance, reducing time delay, and There is no need for a centralized structure, and it is very easy to deploy.
  • one obstacle is how to complete the CAN bus switching inside the unit, so that the unit can be connected within the same CAN, and can also complete multiple CAN connections in multiple directions.
  • This disclosure mainly focuses on providing a mechanism for bus switching inside the CAN bus network access unit.
  • Figures 1B-1C respectively show illustrations of two conveying sections 102 (ie, linear conveying section and transfer machine conveying section).
  • the linear conveying section and the transfer machine conveying section are connected according to site requirements, and various conveying lines 100 are built according to site needs like building blocks.
  • the linear conveying section shown in FIG. 1B is characterized in that only the left and right directions can be connected to other conveying sections 102, and it is generally used for conveying without changing the conveying direction.
  • the transfer section 102 of the transfer machine shown in FIG. 1C includes a roller 1021 and a conveyor belt 1023. The rolling of the roller 1021 causes the goods on it to move in a first direction (for example, up and down), and the conveying of the conveyor belt 1023 causes the goods on it to move along the second direction.
  • Directional movement (for example, left-right direction).
  • the first direction is perpendicular to the second direction, so that by controlling the conveyor section 102 of the transfer machine, the roller 1021 is rolled, or the conveyor belt 1023 is transported, so that the goods on it can move in the first direction or move in the second direction.
  • the role of the steering wheel can be realized. If the goods that originally moved in the left and right directions arrive at the transfer section 102 of the transfer machine, they may be changed to move up, down, and up. But the linear conveying section cannot realize turning.
  • the conveying section of the transfer machine can only be connected to the linear conveying section.
  • each transmission section 102 of the transmission line 100 there is a CAN bus network access unit 110 as an electrical control part. It is inside the conveying section 102 and is not shown in FIGS. 1A-1C. Since it is the electrical control part of the conveying section 102, its shape is also consistent with the shape of the conveying section 102 where it is located.
  • the CAN bus network access unit 110 in the linear transport section is a linear CAN bus network access unit, and only the left and right directions can be used to connect with the CAN bus network access unit 110 in the adjacent transport section 102.
  • the CAN bus network access unit 110 in the transfer section of the transfer machine is a CAN bus network access unit of the transfer machine.
  • FIG. 2 shows a schematic diagram of the overall topological structure of a transmission line 100.
  • the transmission line 110 is divided into transmission sections 102.
  • Each transmission section has a CAN bus network access unit 110 as the electrical control part.
  • All CAN bus network access units 110 are connected in the order of the corresponding transmission lines 110 to form an electrical control system 119.
  • the electrical control system 119 is the electrical control part of the entire conveying line 110. It should be understood that although the conveying sections 102 in FIG. 2 are shown to be connected in a straight line, in fact, due to the existence of the conveying section of the transfer machine, it may happen that the conveying section 102 extends in other directions (for example, up and down). The direction extends some conveying section 102).
  • each transmission section 102 there may be some control components 113, which are connected to the CAN bus network access unit 110 of the transmission section 102, and are connected to the entire electrical control system 119 through the CAN bus network access unit 110, and are connected to the control in other transmission sections 102 Component 113 communicates.
  • the CAN bus network access unit 110 actually functions as an interface for the control components 113 of the entire network to communicate with each other, so that these control components 113 can transmit control signals between them, and the transmission line 100 can operate in a coordinated manner.
  • the electrical control system 119 in the conveyor line 100 of FIG. 2 includes a plurality of controller area networks (CAN) 114, and each of the controller area networks (CAN) 114 is an ellipse located in a thick-line grid in FIG.
  • the figure shows the first CAN 1141, the second CAN 1142, and the third CAN 1143, but those skilled in the art understand that the electrical control system 119 may also include other numbers of CANs, such as 2, 4, 5, etc. .
  • CAN Controller Area Network
  • CAN Controller Area Network
  • a node's message is broadcast to all other nodes in the CAN. Therefore, it can be considered that a message in a CAN is sent to all nodes in the CAN through the same CAN bus.
  • Messages in different CANs are sent using different CAN buses. Since the length of the transmission line may be as long as several kilometers, containing thousands or even tens of thousands of CAN bus network access units 110, the coverage distance of one CAN cannot reach such a length. Therefore, in the embodiment of the present disclosure, multiple CAN 114 are connected in series.
  • the routing CAN bus network access unit 112 belongs to two adjacent CAN 114 at the same time, and is responsible for forwarding (broadcasting) a message of one CAN 114 to another CAN 114. Since the CAN buses used by the two CAN 114 to transmit messages are different, it is usually required that the routing CAN bus network access unit 112 can connect to two CAN buses at the same time, and can forward messages on one CAN bus to another CAN bus.
  • the routing CAN bus network access unit 112 shown in FIG. 2 includes C4, C8, and C11, where CX is the identifier of the Xth CAN bus network access unit in the figure.
  • another type of the CAN bus network access unit 110 is an internal CAN bus network access unit 111, that is, a unit inside a CAN 114 that is not a routed CAN bus network access unit 112. Because the same CAN bus is used to transmit messages within a CAN 114, it does not require that a message on one CAN 114 can be forwarded to another CAN 114.
  • the internal CAN bus network access unit 111 shown in FIG. 2 includes C1, C2, C3, C5, C6, C7, C9, and C10.
  • the CAN bus network access unit 110 refers to a component responsible for the connection of the control component 113 to the electrical control system 119 in a conveying section 102 of the conveying line 100.
  • the control component 113 refers to a component that can listen to bus messages in the conveying line area 102 and send out bus messages when appropriate to communicate with the control components 113 in other conveying line areas 102.
  • the electrical control system 119 refers to the electrical control part of the conveying line 100 and is used to transmit control signals to the physical conveying equipment in the conveying line 100.
  • the CAN bus network access 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 second CAN bus A plurality of variable connection ports 130 of the port 132, the third port 133, and the fourth port 134. At least one variable connection port among the plurality of variable connection ports 130 may be connected to any one of the first CAN bus 121 and the second CAN bus 122, or may be connected to neither of the two buses. As mentioned above, when the CAN bus network access unit 110 is used as the routing CAN bus network access unit 112, different CAN buses need to be connected.
  • one of the second port 132, the third port 133, and the fourth port 134 can be connected to the second port 132, the third port 133, and the fourth port 134.
  • the second CAN bus 122 since the first port 131 is always connected to the first CAN bus 121, the purpose of connecting different CAN buses is achieved.
  • the CAN bus network access unit 110 is used as the internal CAN bus network access unit 111, it needs to be connected to the same CAN bus.
  • the second port 132, the third port 133, and the fourth port 134 can be connected to the first CAN bus 121.
  • One port 131 is always connected to the first CAN bus 121 to achieve the purpose of connecting to the same CAN bus.
  • the plurality of variable connection ports 130 include the second port 132, the third port 133, and the fourth port 134, in fact, they may also include other numbers of ports, for example, may also include a fifth port as required. , The sixth port, etc., may also only include the second port 132, the third port 133, and so on.
  • the first CAN bus transceiver 123 is connected to the first CAN bus 121, and is used to communicate with the first CAN bus transceiver 123 of other CAN bus network access units 110 in the electrical control system 119, thereby establishing the first CAN communication.
  • the second CAN bus transceiver 124 is connected to the second CAN bus 122 and is used to communicate with the second CAN bus transceiver 124 of other CAN bus network access units 110 in the electrical control system 119. It should be noted that although FIG. 2 shows that in each CAN, multiple CAN bus network access units 110 are connected in sequence (for example, the CAN bus network access unit C1 is connected to the CAN bus network access unit C2, and the CAN bus network access unit C2 is connected to the CAN bus.
  • Network access unit C3 but actually a CAN bus network access unit 110 sends a message through its first CAN bus transceiver 123 or second CAN bus transceiver 124, and then connects to other CAN buses on the first bus or the second bus to access the network Either the first CAN bus transceiver 123 or the second CAN bus transceiver 124 of the unit 110 can receive the message. As long as it is connected to a bus, sending a message can be regarded as a kind of broadcast.
  • the first port 131 is connected to the first CAN bus 121.
  • At least one 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 through a switch structure, not shown in FIG. 3), or connected to the The first CAN bus 121 and the second CAN bus 122 are not connected, so that the CAN bus network access unit 110 has different types, that is, a linear CAN bus network access unit and a transfer machine CAN bus network access unit.
  • linear CAN bus network access unit and the transfer machine CAN bus network access unit.
  • the CAN bus network access unit 110 if only its first port 131 and third port 133 are used, its second port 132 and fourth port 134 are not used (pass the second port 132 and fourth port 134 through Physical equipment shielding, for example, closed with a cover), is a linear CAN bus network unit.
  • the connection direction of the first port 131 and the third port 133 is consistent with 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 the electrical control part of the transmission section, and its connection shape should be adapted to the overall connection mode of the transmission section.
  • the transmission section where the linear CAN bus network access unit 110 is located is shown in Figure 1B, and the transmission direction is left and right, the connection between the first port 131 and the third port 133 is also left and right, so that it can ensure that it is connected to other CANs in the left and right direction.
  • the bus network access unit 110 is connected.
  • the first port 131 is fixedly connected to the first CAN bus 121, which must be the entrance of the electrical control signal in the electrical control network 119, and the third port 133 can only be connected to the first CAN bus 121 as the exit of the electrical control signal.
  • the signal flowing in from the first port 131 cannot flow out, therefore, it can only be used as an outlet for the incoming signal from the first port 131 and connected to the first CAN bus 121.
  • Any one of the second port 132 and the fourth port 134 is not connected to the first CAN bus 121 and the second CAN bus 122.
  • 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.
  • the switching of the third port 133 between being connected to the first CAN bus 121 and connected to the second CAN bus 122 is realized by a switch.
  • the switch is a first single pole double throw switch D1.
  • One end of the first single-pole double-throw switch D1 is connected to the third port 133, and the other end is connected to the first CAN bus 121 and the second CAN bus 122 to switch.
  • the connection between the third port 133 and the first CAN bus 121 is realized.
  • the connection between the third port 133 and the second CAN bus 122 is realized.
  • the switch includes a first switch K1 connected to the first CAN bus 121 and a second switch connected to the second CAN bus 122. K2.
  • first switch K1 connected to the first CAN bus 121
  • second switch K2 connected to the second CAN bus 122.
  • the connection between the third port 133 and the first CAN bus 121 is realized.
  • the connection between the third port 133 and the second CAN bus 122 is realized.
  • 4C-4D are the logical structure diagrams of the linear CAN bus network access unit 110 of FIGS. 4A-4B, respectively. These logical structure diagrams obscure the internal connection relationship in the CAN bus network access unit 110 of Figures 4A-4B, regard its internal connection relationship as a black box, and only consider the CAN bus network access unit 110 as having four logical ports 131-134 The connection relationship between each logical port 131-134 and the first CAN bus 121 or the second CAN bus 122 is hidden.
  • the logical ports 131-134 can be inlets or outlets. The meaning of the entrance is that if a port is connected to the first CAN bus 121 or the second CAN bus 122 and an input signal is provided to it, the port is an entrance.
  • the meaning of an exit is that if it is connected to the first CAN bus 121 or the second CAN bus 122 from a certain port and outputs a signal from the CAN bus to the port, the port is an exit. Since the first port 131 is fixedly connected to the first CAN bus 121, it can only be an entrance. Since the second port 132, the third port 133, and the fourth port 134 can be connected to either the first CAN bus 121 or the second CAN bus 122, when they are connected to the first CAN bus 121, they are formed with the first port The signal exit of the entrance of 131 is the exit; when it is connected to the second CAN bus 122, it is connected to a new CAN bus at this time, and its input signal is the entrance.
  • the CAN bus network access unit 110 if the first port 131, the second port 132, the third port 133, and the fourth port 134 can all be used, it is a transfer machine CAN bus network access unit.
  • 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.
  • the CAN bus network access unit 110 is the electrical control part of the transmission section, and its connection shape should be adapted to the overall connection mode of the transmission section. Since the transfer section of the transfer machine CAN bus network unit 110 is shown in Figure 1C, it needs to be able to transmit in four directions, up, down, left, and right.
  • the transfer machine CAN bus network unit 110 is required to be able to move in four directions.
  • the connection is realized, wherein the first port 131 and the third port 133 can be connected in the left and right directions, and the second port 132 and the fourth port 134 can be connected in the up and down directions.
  • 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 required to be perpendicular to each other.
  • the first port 131 is fixedly connected to the first CAN bus 121 and must be an entrance.
  • the second port 132, the third port 133, and the fourth port 134 can be connected to the first CAN bus 121 as an exit or can be connected to The second CAN bus 122 serves as an entrance.
  • the second port 132, the third port 133, and the fourth port 134 are also connected to the first CAN bus 121 or the second CAN bus 122 through a switch mechanism. 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 to the second CAN bus 122 through respective switches.
  • the switch includes a second, third, and fourth single-pole double-throw switch D2-4, and one end of the second single-pole double-throw switch D2 is connected to the second port 132. The other end is connected to the first CAN bus 121 or to the second CAN bus 122. In this way, the second port 132 can be switched between the connection with the first CAN bus 121 and the connection with the second CAN bus 122. In the same way, one end of the third single-pole double-throw switch D3 is connected to the third port 133, and the other end is connected to the first CAN bus 121 or to the second CAN bus 122.
  • the third port 133 can be switched between the connection with the first CAN bus 121 and the connection with the second CAN bus 122.
  • One end of the fourth single-pole double-throw switch D4 is connected to the fourth port 134, and the other end is connected to the first CAN bus 121 or to the second CAN bus 122.
  • the fourth port 134 can be switched between the connection with the first CAN bus 121 and the connection with the second CAN bus 122.
  • the switch includes a fifth single-pole double-throw switch D5, a third, fourth, and fifth switch K3-5, wherein the third, One ends of the fourth and fifth switches K3-5 are respectively connected to the second port 132, the third port 133, and the fourth port 134, and the other end is commonly connected to one end of the fifth single-pole double-throw switch D5.
  • the other end of the double-throw switch D5 switches between connecting to the first CAN bus 121 and connecting to the second CAN bus 122.
  • the second port 132 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 When the CAN bus 121 is connected 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 be connected to the second CAN bus 122 and the third switch When K3 is closed, the second port 132 is connected to the second CAN bus 122.
  • the third port 133 is connected to the first CAN bus 121;
  • the other end of the throw switch D5 is switched to be connected to the second CAN bus 122 and the fourth switch K4 is closed, the third port 133 is connected to the second CAN bus 122.
  • the fourth port 134 is connected to the first CAN bus 121;
  • the fourth port 133 is connected to the second CAN bus 122.
  • linear CAN bus network access unit can be connected to the linear CAN bus network access unit, as shown in Figures 5A-5B, each CAN bus network access unit 110, or can be connected to the transfer machine CAN bus network access unit, Figure 7A-7E
  • the four linear CAN bus network access units 110 in the upper, lower, left and right middle are connected to the CAN bus network access unit 110 of the transfer machine in the middle.
  • the CAN bus network access unit 110 of the transfer machine can only be connected to the linear CAN bus network access unit 110, as shown in Figure 7A-7E.
  • a linear CAN bus network access unit 110 is connected.
  • the networking stage is the stage in which the various CAN bus network access units 110 are assembled together to form the electrical control system 119. In the networking stage, the identification and port number (first, second, third or fourth port) of the CAN bus network access unit 110 connected to itself can be found through each CAN bus network access unit 110, and whether the connected port is The entrance or the exit.
  • each scanning period the connection relationship between each port of each CAN bus network access 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, and the message indicates the The port number and the connection relationship between the port and the first CAN bus 121 or the second CAN bus 122.
  • the port of the other CAN bus network access unit 110 connected to the port receives the message, and then it recognizes the connected CAN bus network access unit 110, the connected port number, whether the port is an entry or exit, etc., so as to automatically get the CAN bus entry
  • the connection status of each port of the unit 110 does not need to be manually checked, which improves the efficiency of checking the connection status of each port of the CAN bus network access unit 110.
  • each port of the CAN bus network access unit 110 communicates with the first CAN bus 121 or the second CAN bus 121 or the second CAN bus 121 during multiple sequential scan periods.
  • the CAN bus 122 is connected to the concurrent status notification message, that is, the status notification.
  • it is the processing after receiving the status notification message of the other CAN bus network access unit 110.
  • each port of each CAN bus network access unit 110 performs both the former and the latter. The former is done to allow the adjacent CAN bus network access unit 110 to discover its own state, and the latter is completed to find out the status of the adjacent CAN bus network access unit 110.
  • the following describes the status notification of the above-mentioned linear type and the transfer machine CAN bus network unit and the connection status detection of the CAN bus network unit.
  • the sending status notification and the connection status detection can be started by a unified scanning start sub-type CAN control message.
  • a detection start CAN bus network access unit is specified, which is dedicated to sending the above-mentioned messages.
  • the unified message initiates the status notification and status detection of the entire CAN bus network access unit.
  • the CAN bus network access units 110 it is to coordinate the actions of the CAN bus network access units 110 in the entire electrical control system 119, so that the status notification and status detection can be synchronized (because only One of the two connected CAN bus network access units 110 performs status notification, and the other performs status detection to coordinate work), and the other is to provide for the first, second, third, and fourth scan periods mentioned below A unified time base.
  • the detection and activation of the CAN bus network access unit is a CAN bus network access unit 110 preset in the electrical control system 119, which sends a CAN control message of the scan start subtype throughout the network, so that the CAN bus network access unit 110 of the entire network receives the After the CAN control message, based on the time when the CAN control message is received or the time stamp in the CAN control message is received, the first, second, third, and fourth scan periods mentioned later are set.
  • the second, third, and fourth scan periods set different connection states of each port with the first CAN bus 121 or the second CAN bus 122, and send different messages, which are received by other CAN bus network access units 110 connected to their ports , And identify the connection status of the adjacent CAN bus network access unit 110 and the port based on the message.
  • the CAN control message is a message prescribed in advance (for example, through a protocol) and used to send a network-wide control command in the entire electrical control system 119.
  • This kind of network-wide control command is not limited to scan start, and can also perform other types of control, such as timing control.
  • CAN control messages used for different types of control can be distinguished by subtypes.
  • the CAN control message used for scanning start of the connection state detection of the CAN bus network access unit of the embodiment of the present disclosure is a scanning start subtype
  • the CAN control message used for timing control is a timing control subtype, and so on.
  • the subtype can be embodied as a field of the CAN control message.
  • a CAN bus network access unit 110 When a CAN bus network access unit 110 receives a CAN control message, it looks at the field indicating the subtype. If the field indicates the scan initiation subtype, it will start preparing for the first, second, third, and first In the fourth scan period, different connection states of each port and the first CAN bus 121 or the second CAN bus 122 are set, and different messages are sent.
  • the detection start CAN bus network access unit sends the scan start sub-type CAN control message to all the CAN bus network access units 110 in the entire network, which can be carried out in the following manner: the detection start CAN bus network access unit to the CAN bus where the detection start CAN bus network access unit is located All other detections start the CAN bus network access unit to broadcast the CAN control message.
  • the CAN bus network access unit receives the CAN control message by routing between the CAN and other CANs, it recognizes that the CAN control message is a scanning start sub-type , Broadcast it to all other CAN bus network access units in the other CAN, and so on, until all CAN bus network access units in all CANs in the electrical control system 119 obtain the CAN control message.
  • C2 is to detect and start the CAN bus network access unit. Since C2 is located in the first CAN 1141, it broadcasts CAN control messages to other CAN bus network access units 110 in the first CAN 1141, namely C1, C3, and C4.
  • the subtype field of the CAN control message indicates the scan initiation subtype.
  • the CAN bus network access unit C4 After receiving the CAN control message, the CAN bus network access unit C4 recognizes that the subtype field of the CAN control message indicates the scanning start subtype, and sends it to the second CAN 1142 All other CAN bus access units in the network, namely C5-C8 broadcast.
  • the CAN bus network access unit C8 After receiving the CAN control message, the CAN bus network access unit C8 recognizes that the subtype field of the CAN control message indicates the scanning start subtype, and sends it to the third CAN 1143 All other CAN bus access units in the network, namely C9-C11 broadcast. In this way, C1-C11 all get 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 perform The status notification and status detection described later.
  • the first, second, third, and fourth scan periods are generally The magnitude of about 5s, so the time difference between receiving CAN control messages is negligible compared with 5s. Therefore, the subsequent first, second, third, and fourth scan periods can be set based on the time when the CAN control message is received.
  • a first silent period can be set before the first scanning period; after the fourth scanning period, a second silent period can be set.
  • the length of the first silent period and the second silent period can be set to be basically the same as each of the first, second, third, and fourth scan periods, that is, about 5s.
  • the connection status of each port with the first CAN bus 121 or the second CAN bus 122 is the same as that of the first scan period, and the messages sent are also the same as those of the first scan period (the following will describe each port in the first scan period Connection status with the first CAN bus 121 or the second CAN bus 122 and sent messages).
  • connection status of each port with the first CAN bus 121 or the second CAN bus 122 is the same as that of the fourth scan period, and the messages sent are also the same as the fourth scan period (the following will describe the ports in the fourth scan period Connection status with the first CAN bus 121 or the second CAN bus 122 and sent messages).
  • the function of setting the first quiet period is to change the state and send messages to some CAN buses that are not ready to start according to the change rules of the port and CAN bus connection state in the first, second, third, and fourth scan periods.
  • the network access unit 110 has sufficient time to prepare, because in the subsequent connection state detection, only messages received in the first, second, third, and fourth scan periods are considered (detailed in connection state detection later), The first silent period does not work, therefore, the first silent period acts as a buffer.
  • setting the first silent period makes up for the time difference between the CAN bus network access units 110 receiving the CAN control message of the scan initiation sub-type. In this way, even if there is a time difference, it only affects the length of the first silent period. For the first, second, third, and fourth scan periods, the start and end can still be synchronized.
  • the effect of setting the second silent period is similar to that of the first silent period.
  • the state of the fourth scan period is maintained, which acts as a state buffer.
  • the detection can also be continued in this buffer state.
  • the following describes the switching states of the internal switching mechanisms of the linear CAN bus network access unit and the transplanter CAN bus network access unit during the first, second, third, and fourth scan periods, and the notification messages sent.
  • the third port 133 is connected to the second CAN bus 122 through a switch.
  • the first single-pole double-throw switch D1 is connected to the third port 133, and the other end is switched to be connected to the second CAN bus 122, so that the third port 133 is connected to the second CAN bus 122.
  • the first switch K1 connected to the first CAN bus 121 is opened, and the second switch K2 connected to the second CAN bus 122 is closed.
  • the third port 133 is also connected to the second CAN bus 122 through a switch.
  • one end of the first single-pole double-throw switch D1 is connected to the third port 133, and the other end is switched to be connected to the second CAN bus 122.
  • the first switch K1 connected to the first CAN bus 121 is opened, and the second switch K2 connected to the second CAN bus 122 is closed.
  • the linear CAN bus network access unit has only the first port 131 and the third port 133 working in actual work, so that the first port 131 is connected to the first CAN bus 121, and the third port 133 is connected to the second port.
  • the CAN bus 122 can clearly distinguish from other CAN bus network access units 110 whether the first port 131 is connected or the third port 133 is connected.
  • FIG. 5A shows a schematic diagram of a plurality of linear CAN bus network access units connected to each other in the networking stage to form an electrical control system 119.
  • a CAN network is formed between two adjacent linear CAN bus network access units in FIG. 5A, as shown by the dashed box in FIG. 5A.
  • the first port 131 and the third port 133 of the linear CAN bus network access unit send notification messages, so
  • the notification message contains the identification of the linear CAN bus network access unit, the port number that sends the notification message, and the bus number connected to the port that sends the notification message.
  • the identification of the CAN bus network access unit is the only identification assigned to the CAN bus network access unit, and it can uniquely distinguish the identification "who is" of the CAN bus network access unit.
  • this identifier is used to notify other CAN bus network access units 110 connected to the CAN bus network access unit 110, which CAN bus network access unit 110 has its port connected to the other party.
  • the port number for sending the notification message refers to which of the first port 131, the second port 132, the third port 133, and the fourth port 134 is the port for sending the notification message.
  • the first port 131 can be represented by 1
  • the second port 132 can be represented by 2
  • the third port 133 can be represented by 3
  • the fourth port 134 can be represented by 4.
  • the bus number connected to the port 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.
  • the first CAN bus 121 may be represented by 1
  • the second CAN bus 122 may be represented by 2.
  • the first port is connected to the first CAN bus, and the third port is connected to the second CAN bus. Therefore, the first CAN bus transceiver 123 is used to send messages, and the first CAN bus transceiver 123 is used to send messages.
  • the adjacent CAN bus access unit receives a notification message containing the CAN bus access unit’s identification, bus number 1, port number 1, the adjacent CAN bus access unit determines whether the first port or the third port is connected To a linear CAN bus network access unit, record the identification of the connected CAN bus network access unit. From the port number 1, it can be determined that the connection is the first port 131 of the linear CAN bus network access unit. Since the first port 131 is connected to the first CAN bus 121 and functions as an entrance, it is determined that the connected first port is an entrance.
  • the received message contains the identification of the linear CAN bus network access unit, the bus number 2, and the port number 3, it can be determined from the port number 3 that the third port 133 of the linear CAN bus network access unit is connected. Since the third port 133 is connected to the second CAN bus 122 and functions as an outlet, the third port 133 is an outlet. In this way, through the conversion of the internal switch mechanism during the first scan period, the second scan period, the third scan period, and the fourth scan period and the notification message sent out, the adjacent CAN bus network access unit is notified to the CAN bus network access unit The connection status.
  • the first port 131 is connected to the first CAN bus 121; in the second scan period, the second port 132 is connected to the second CAN bus 122 through a switch In the third scan period, the third port 133 is connected to the second CAN bus 122 through a switch; in the fourth scan period, the fourth port 134 is connected to the second CAN bus 122.
  • the first port 131 is connected to the first CAN bus 121.
  • the second, third, and fourth single-pole double-throw switches D2-4 are respectively switched to be connected to the second CAN bus 122; in the second scan period, the third and fourth single-pole double-throw switches D3 -4 Switch to the connection with the first CAN bus 121, and switch the second SPDT switch D2 to connect with the second CAN bus 122; in the third scan period, switch the second and fourth SPDT switches D2, D4 Switch to the first CAN bus 121 respectively, switch the third SPDT switch D3 to connect to the second CAN bus 122; in the fourth scan period, switch the second and third SPDT switches D2-3 respectively To connect with the first CAN bus 121, switch the fourth single-pole double-throw switch D4 to connect with the second CAN bus 122.
  • the fifth single-pole double-throw switch D5 in the first scan period, is switched to be connected to the first CAN bus 121, and the third, fourth, and fifth switches K3-5 are turned off;
  • the fifth SPDT switch D5 is switched to be connected to the second CAN bus 122, the third switch K3 is closed, and the fourth and fifth switches K4-5 are open; in the third scanning period, the fifth single-pole double-throw switch D5 is switched off.
  • the throw switch D5 is switched to connect 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 the second CAN bus 122.
  • the CAN bus 122 is connected, the fifth switch K5 is closed, and the third and fourth switches K3-4 are opened.
  • Figures 7A-7D show the switch state diagrams of the first, second, third, and fourth scan periods of the CAN bus network access unit of the transfer machine during the networking phase.
  • Fig. 7A shows the first scan period, in which the second, third, and fourth single-pole double-throw switches D2-4 are respectively switched to be connected to the second CAN bus 122;
  • Fig. 7A shows the first scan period, in which the second, third, and fourth single-pole double-throw switches D2-4 are respectively switched to be connected to the second CAN bus 122;
  • Fig. 7A shows the first scan period, in which the second, third, and fourth single-pole double-throw switches D2-4 are respectively switched to be connected to the second CAN bus 122;
  • FIG. 7B shows the second scan period, in which the third , The fourth single-pole double-throw switch D3-4 is respectively switched to be connected to the first CAN bus 121, and the second single-pole double-throw switch D2 is switched to be connected to the second CAN bus 122;
  • Figure 7C shows the third scan period, where The second and fourth single-pole double-throw switches D2 and D4 are respectively switched to be connected to the first CAN bus 121, and the third single-pole double-throw switch D3 is switched to be connected to the second CAN bus 122; Fig.
  • FIG. 7D shows the fourth scan period, where , The second and third single-pole double-throw switches D2-3 are respectively 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.
  • the meaning of connecting the first port 131 to the first CAN bus 121 is that for the CAN bus network access unit of the transfer machine, 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, it is to clearly distinguish whether the first port 131 is connected to the first CAN bus 121, then in the second scan period, the second port The meaning of 132 being connected to the second CAN bus 122 is to clearly distinguish whether the second port 132 is connected to the second CAN bus 122 or not.
  • the second scan period only the second port 132 is connected to the second CAN bus 122, and other ports are either connected to the first CAN bus 121 or not connected to any CAN bus. Therefore, if in the second scan period If a certain CAN bus network access unit 110 receives a notification message, and the notification message indicates that the bus number is 2, it can be clearly known that the second port 132 of another CAN bus network access unit 110 is connected to it.
  • the third port 133 is connected to the second CAN bus 122 to clearly distinguish whether the third port 133 is connected to the second CAN bus 122.
  • the fourth port 134 is connected to the second CAN bus 122 to clearly distinguish whether the fourth port 134 is connected to the second CAN bus 122, which will not be repeated.
  • each port of the transfer machine CAN bus network unit sends notifications A message, the notification message contains the identification of the CAN bus network access unit, the bus number connected to the port that sends the notification message, and a specific flag bit, but does not contain the port number.
  • the CAN bus network access unit 110 that received the message sends a port query request to the current CAN bus network access unit 110, and the current CAN bus network access unit 110 responds to this request.
  • the response indicates the port number to which the bus is connected.
  • the message contains the identification of the CAN bus network 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 specific flag bit indicates that it is a message sent by the CAN bus network access unit of the transfer machine, for example, 0.
  • the message contains the identification of the CAN bus network access unit, the bus number 2, and the specific flag bit, where the bus number 2 indicates that the bus connected to the port sending the notification message is the second CAN bus 122.
  • CAN bus network access unit After the above-mentioned linear and transplanting machine CAN bus network access unit sends a notification message, it also receives notification messages from other connected CAN bus network access units at the same time, and determines the connection status of the other CAN bus network access unit based on the notification message.
  • the CAN bus network access unit contains a micro control unit (MCU, not shown), which is used to complete the logic judgment and processing in the CAN bus network access unit.
  • MCU micro control unit
  • linear CAN bus network access unit For the linear CAN bus network access unit, it may be connected to the linear CAN bus network access unit, or it may be the transplanter CAN bus network access unit, so it follows the following process to determine the connection status of the adjacent CAN bus network access unit .
  • the notification message has a specific flag bit. Therefore, it depends on whether there is a specific flag bit. It can be determined whether the adjacent CAN bus access unit is a linear CAN bus access unit or a shifter CAN bus access unit.
  • the port to be detected is connected to a linear CAN bus network access unit, and it can be further determined which port of the linear CAN bus network access unit is connected, and whether the port is an entrance or an exit. Specifically, if the received message contains the identification of the linear CAN bus network access unit, the bus number 1, and the port number 1, 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 and functions as an entrance, it is an entrance.
  • the received message contains the identification of the linear CAN bus network access unit, the bus number 2, and the port number 3, it can be determined from the port number 3 that the third port 133 of the linear CAN bus network access unit is connected. Since the third port 133 is connected to the second CAN bus 122 and functions as an outlet, it is an outlet.
  • the connection status of the port and CAN bus in the first scan period, second scan period, third scan period, and fourth scan period are the same, so it can be used in the first scan period.
  • the second scanning period, the third scanning period, the fourth scanning period, the above process is performed at any time, but in one embodiment, it can be specified to perform the above process only in the first scanning period, or it can be specified to be performed in any other scanning period. process.
  • the MCU of the linear CAN bus network access unit determines that the first port 131 or the third port 133 is connected to a linear CAN bus network access unit, and records the connection to the The identification of the CAN bus network access unit, it is determined that the connection port of the linear CAN bus network access unit is the first port 131, and the first port 131 connected to it is the entrance; if the first port 131 of the linear CAN bus network access unit Or the third port 133 receives a notification message containing the identification of the CAN bus network access unit, bus number 2, and port number 3 during the consecutive first scan period, second scan period, third scan period, and fourth scan period, Then the MCU of the linear CAN bus network access unit determines that the first port 131 or the third port 133 is connected to a linear CAN bus network access unit, records
  • the port to be detected is connected to a transfer machine CAN bus network unit, and the four scan periods can be combined to determine which port of the transfer machine CAN bus network unit is connected.
  • This port is the entrance Still export.
  • the first scan period connect the first port 131 to the first CAN bus 121, connect the second, third, and fourth ports 132-134 to the second CAN bus 122 or not connect any CAN bus,
  • the connection of the first port 131 is set differently from other ports, mainly to identify whether the first port 131 is connected, and the first port 131 functions as an inlet or an outlet;
  • the first port 131 is A port 131, a third port 133, and a 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 The other ports are different, mainly to identify whether the second port 132 is connected, and
  • the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message notifying the CAN bus network access unit’s identification, bus number 1, specific flag bit during the first scan period, the specific flag bit indicates that the notification message is sent
  • the CAN bus access unit is the CAN bus access unit of the transfer machine. Therefore, the identification of the CAN bus network access unit can be recorded.
  • the first CAN bus 121 is fixedly connected to the first port 131. Therefore, it can be directly determined that the connection is the first port 131 of the CAN bus network access unit of the transfer machine without sending a query request. Moreover, since the first port 131 is connected to the first CAN bus 121 and functions as an entrance, it is an entrance.
  • the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message notifying the CAN bus network access unit’s identification, bus number 1 or 2, a specific flag bit in the second scan period, the specific flag bit indicates that it is sent
  • the CAN bus network access unit of the notification message is the CAN bus network access unit of the transfer machine. Therefore, the identification of the CAN bus network access unit can be recorded.
  • the received port number is 2.
  • it can be determined that the port is connected to the second port 132 of the CAN bus network access unit of the transfer machine. In the case of bus number 1, the second port 132 is connected to the first CAN bus 121, indicating that the second port 132 is an outlet. In the case of bus number 2, the second port 132 is an entrance.
  • the notification message notifying the CAN bus network access unit receives in the third scan period the notification message notifying the CAN bus network access unit’s identification, bus number 1 or 2, specific flag bit, the specific flag bit indicates that it is sent
  • the CAN bus network access unit of the notification message is the CAN bus network access unit of the transfer machine. Therefore, the identification of the CAN bus network access unit can be recorded.
  • the received port number is 3.
  • it can be determined that the port is connected to the third port 133 of the CAN bus network access unit of the transfer machine.
  • bus number 1 the third port 133 is connected to the first CAN bus 121, indicating that the third port is an outlet.
  • the third port is an entrance.
  • the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message notifying the CAN bus network access unit’s identification, bus number 1 or 2, a specific flag bit in the fourth scan period, the specific flag bit indicates that it is sent
  • the CAN bus network access unit of the notification message is the CAN bus network access unit of the transfer machine. Therefore, the identification of the CAN bus network access unit can be recorded.
  • the received port number is 4.
  • it can be determined that the port is connected to the fourth port 134 of the CAN bus network access unit of the transfer machine. In the case of bus number 1, the fourth port 134 is connected to the first CAN bus 121, indicating that the fourth port is an outlet. In the case of bus number 2, the fourth port is an entrance.
  • the CAN bus network access unit of the transfer machine can only be connected to the linear CAN bus network access unit, so its MCU determines the connection status of the adjacent CAN bus network access unit according to the following process.
  • the port of the CAN bus network access unit of the transfer machine receives the identification of the CAN bus network access unit, bus number 1, during the consecutive first scan period, second scan period, third scan period, and fourth scan period. If the notification message of the port number is 1, the MCU determines that the port is connected to a linear CAN bus network unit, and records the identification of the connected CAN bus network unit. 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 and functions as an entrance, it is an entrance.
  • the MCU determines that the port is connected to a linear CAN bus network unit, and records the identification of the connected CAN bus network unit. From the port number 3, it can be determined that the connected unit is a linear CAN bus network unit.
  • the third port 133 Since the third port 133 is connected to the second CAN bus 122 and functions as an outlet, it is an outlet.
  • the use stage of the CAN bus access unit refers to the stage when the CAN bus access unit is actually put into use after networking. At this time, its internal switch status does not need to be shown in Figure 5A (linear CAN bus access unit) or Figure 7A-7D (Transfer machine CAN bus network access unit), but can be set according to site requirements.
  • the third port 133 is connected to the first CAN bus 121 or the second CAN bus 122 through a switch according to site requirements.
  • the third port 133 is connected to the first CAN bus 121 according to site requirements.
  • the two CAN bus network access units on the left are connected to the same CAN, such as This is shown in the dashed box on the left side of Figure 5B.
  • the third port 133 of the third CAN bus network access unit is connected to the second CAN bus 122 according to site requirements. In this way, the third CAN bus network access unit and the fourth CAN bus network access unit are connected to the same CAN, as shown in Figure 5B Shown in the dashed box on the right.
  • the switch connected to at least one of the second port 132, the third port 133, and the fourth port 134 is controlled to be turned on or off according to site requirements.
  • the second port 132, the third port 133, and the fourth port 134 of the CAN bus network access unit of the transfer machine in the middle are all connected to the first CAN bus 121.
  • the CAN bus network access unit of the transfer carrier in the middle and the four linear CAN bus network access units up, down, left and right are all located in the same CAN.
  • a switch control method of a linear controller area network CAN bus network access unit 110 wherein the linear CAN bus network access unit 110 includes a first CAN The bus 121, the second CAN bus 122, the first port 131, the second port 132, the third port 133, and the fourth port 134, wherein the first port 131 is connected to the first CAN bus 121, and the third port 133 is connected through a switch, Connecting to the first CAN bus 121 or to the second CAN bus 122, the method includes:
  • Step 210 In the networking stage, connect the third port 133 to the second CAN bus 122 through the switch;
  • Step 220 In the use phase, connect the third port 133 to the first CAN bus 121 or the second CAN bus 122 through the switch according to site requirements.
  • the transfer machine CAN bus network access unit includes a first CAN bus 121 , The second CAN bus 122, the first port 131, the second port 132, the third port 133 and the fourth port 134, wherein the first port 131 is connected to the first CAN bus 121, the second port 132, the third port At least one of the port 133 and the fourth port 134 is connected to the first CAN bus 121 or to the second CAN bus 122 through respective switches, and the method includes:
  • Step 310 In the first scan period of the networking stage, the first port 131 is connected to the first CAN bus 121 through the switch, and the second, third, and fourth ports 132-134 are connected to The second CAN bus 122; in the second scan period, the first, third, and fourth ports 131, 133, 134 are connected to the first CAN bus 121 through the switch, and the second port 132 is connected to the second CAN Bus 122; in the third scan period, through the switch, the first, second, and fourth ports 131, 132, 134 are connected to the first CAN bus 121, and the third port 133 is connected to the second CAN bus 122; In the fourth scan period, through the switch, the first, second, and third ports 131-133 are connected to the first CAN bus 121, and the fourth port 134 is connected to the second CAN bus 122 ;
  • Step 320 In the use phase, according to site requirements, the switches connected to at least one of the second port 132, the third port 133, and the fourth port 134 are respectively controlled to be turned on or off.
  • FIG. 11 shows an architecture diagram of the environment in which the CAN bus network access unit 110 is applied according to an embodiment of the present disclosure.
  • the architecture includes a remote visualization control device 199 on the remote control end and multiple CAN bus network access units 110 on the field end.
  • the administrator at the remote end remotely controls the CAN bus network access unit 110 and the adjacent CAN bus network access unit 110 to perform port connection through the remote visualization control device 199, thereby connecting the electrical control system of the entire transmission line.
  • the remote visualization control device 199 may be embodied as a remote server, may also be a part of a remote server (such as a virtual machine), or may be embodied as a cloud server or a server cluster composed of multiple remote servers.
  • the remote visualization control device 199 communicates with the CAN bus network access unit 110 through wireless communication.
  • a prompt to guide the administrator user to complete the port connection of the CAN bus network access unit 110 can be displayed step by step.
  • a method for assembling a remote visualization CAN bus network access unit is provided, which is executed by the remote visualization control device 199. As shown in Figure 10, the method includes:
  • Step 410 Receive a user's networking request on the remote visualization interface
  • Step 420 Identify the CAN bus network access unit in the electrical control system of the transmission line.
  • the CAN bus network access unit includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, a fourth port, and a switch ;
  • Step 430 Remotely control 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.
  • a remote visualization interface is displayed on the display screen of the remote visualization control device 199. Users can initiate networking requests on this interface. As shown in Figure 12A, the "Start Networking" option is displayed on the display screen. The user selects this option on the display screen to initiate a networking request. Networking means starting to detect which other CAN bus network access units are connected around each CAN bus network access unit, what are the connection ports, etc., so as to form the connection layout of the entire electrical control system.
  • the CAN bus network access unit in the electrical control system of the transmission line is identified. Specifically, it is identified which CAN bus access units in the electrical control system are, whether it is a linear CAN bus access unit or a transfer machine CAN bus access unit. This can be achieved by broadcasting a query signal from the remote visualization control device 199 to the CAN bus network access unit within a certain range, and the CAN bus network access unit within the range sends a response after receiving the query signal. The response may carry an indication of whether the CAN bus network access unit that issued the response is a linear CAN bus network access unit or a transfer machine CAN bus network access unit.
  • Fig. 12B shows the interface of identifying the CAN bus networked unit after the user selects "start networking".
  • the remote visualization control device 199 remotely controls the switch to connect at least one of the first port, the second port, the third port, and the fourth port to the first CAN bus and the second CAN bus. At least one of them.
  • the remote visualization control device 199 remotely controls the switch of the linear CAN bus network access unit to connect the third port to the second CAN bus.
  • the remote visualization control device 199 remotely controls the switch of the transfer machine CAN bus network unit, and connects the first port to the first CAN Bus; in the second scan period, remotely control the switch of the transfer machine CAN bus network unit, and connect the second port to the second CAN bus; in the third scan period, remotely control the transfer machine
  • the switch of the CAN bus network access unit connects the third port to the second CAN bus; in the fourth scan period, by remotely controlling the switch of the CAN bus network access unit of the transfer machine, the fourth The port is connected to the second CAN bus.
  • the connection rules are consistent with the aforementioned step 210 in FIG. 8 and step 310 in FIG.
  • the method may further include: controlling the CAN bus network access unit to send a notification message during the consecutive first scan period, second scan period, third scan period, and fourth scan period.
  • controlling the CAN bus network access unit to send a notification message during the consecutive first scan period, second scan period, third scan period, and fourth scan period.
  • all the linear CAN bus network access units are controlled.
  • the first port and the third port send notification messages, and the notification message contains the identification of the CAN bus network access unit, the port number that sends the notification message, and the bus number connected to the port that sends the notification message.
  • the identified transfer machine CAN bus network access unit in the consecutive first scan period, second scan period, third scan period, and fourth scan period, control each port of the transfer machine CAN bus network access unit A notification message is sent, and the notification message contains the identification of the CAN bus network access unit, the bus number connected to the port that sends the notification message, and a specific flag bit.
  • the rules for sending notification messages in each scanning period are consistent with the previously described rules for sending notification messages during the networking phase of the linear CAN bus access unit and the transfer machine CAN bus access unit, except that in this embodiment, it is controlled by remote visualization.
  • the device 199 remotely controls the sending, so it will not be described in detail.
  • Figure 12C shows the interface where the identified CAN bus network access unit is being remotely controlled to perform port bus connection and send notification messages after the CAN bus network access unit is identified.
  • the method further includes: receiving all the information sent by the CAN bus network access unit.
  • the detected identification of the connected CAN bus network access unit, the connection port number, and the nature of the connection port generate the connection layout of the CAN bus network access unit of the electrical control system; display the connection layout of the CAN bus network access unit of the electrical control system picture.
  • the CAN bus network access unit can identify the identity of the connected CAN bus network access unit, the connection port number, and the nature of the connection port. This process is in the previous linear CAN bus network access The detailed description of the networking stage of the unit and the CAN bus of the transfer machine has been discussed in the detailed description, and will not be repeated.
  • the CAN bus network access unit After the CAN bus network access unit recognizes the identification, connection port number, and connection port nature of the connected CAN bus network access unit, it can send this information to the remote visualization control device 199, and the remote visualization control device 199 will collect the information according to the information. Generate and display the connection layout of the CAN bus network access unit of the electrical control system.
  • connection layout of the CAN bus access unit of the electrical control system refers to the display of which CAN bus access units are included in the electrical system system and the port connection relationship between them (that is, which port of a CAN bus access unit is connected to the adjacent CAN bus access Which port of the unit) layout.
  • FIG. 12D shows an example of displaying on the display screen of the remote visualization control device 199 the connection layout generated according to the parameters detected by the received CAN bus network access unit.
  • the remote visualization interface on the display screen of the remote visualization control device 199 can also receive the user's input of the CAN bus network access unit's field connection request instruction.
  • a prompt box can be displayed on the remote visualization interface to prompt the user to input on-site connection requirements.
  • the foregoing networking stage is only to detect the connection structure of each CAN bus networked unit in the electrical control system. In actual use, how the port and the bus are connected is determined according to the field connection requirements.
  • the switch of the CAN bus network access unit can be controlled to connect at least one of the first port, the second port, the third port, and the fourth port to the At least one of the first CAN bus and the second CAN bus.
  • the third port is connected to the first CAN bus or the second CAN bus through the switch according to site requirements.
  • the switch connected to at least one of the second port, the third port, and the fourth port is controlled to be turned on or off according to site requirements.
  • the foregoing embodiment provides a remote control mode, by which the connection between the port and the bus in the CAN bus network access unit can be quickly controlled, and the efficiency of networking and use can be improved.
  • modules or elements described or shown as separate herein may be combined into a single module or element, and modules or elements described or shown herein as a single module or element may be split into multiple modules or elements.

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Abstract

The present disclosure provides a linear and movable loader CAN bus network access unit, and a related method thereof. The linear CAN bus network access unit comprises a first CAN bus, a second CAN bus, a first port, and a third port. A direction of a connecting line between the first port and the third port is consistent with a conveying direction of a conveyor section where the linear CAN bus network access unit is located. The first port is connected to the first CAN bus. The third port is connected to the first CAN bus or the second CAN bus by means of a switch. An embodiment of the present disclosure provides a CAN bus switching technique, allowing for unitization of an electrical control system of a conveyor line.

Description

直线型和移载机CAN总线入网单元及其相关方法CAN bus network access unit of linear and transfer machine and related methods
本申请要求2020年06月24日递交的申请号为202010591207.6、发明名称为“直线型和移载机CAN总线入网单元及其相关方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of a Chinese patent application filed on June 24, 2020, with the application number 202010591207.6 and the invention title "Linear and transfer machine CAN bus network access unit and related methods", the entire content of which is incorporated by reference In this application.
技术领域Technical field
本公开涉及自动控制领域，更具体而言，涉及一种直线型和移载机CAN总线入网单元及其相关方法。The present disclosure relates to the field of automatic control, and more specifically, to a linear and transfer machine CAN bus network access unit and related methods.
背景技术Background technique
现代的物流商家后台的物流分拣和出库，普遍采用输送线产品。输送线是完成物品的输送的传送带、输送机等所有输送设备的总和。在环绕库房、生产车间和包装车间的场地，设置有由许多皮带输送机、滚筒输送机等组成的一条条输送链，经首尾连接形成连续的输送线。由于输送线不仅需要有实际输送所用的物理设备，还要有电控制信号控制输送线的传输，因此，输送线中还要有相应的电气控制***。Conveyor line products are commonly used in the sorting and outgoing of logistics in the back-end of modern logistics merchants. The conveying line is the sum of all conveying equipment such as conveyor belts and conveyors that complete the conveying of items. In the site surrounding the warehouse, production workshop and packaging workshop, a conveyor chain composed of many belt conveyors, roller conveyors, etc. is set up, which are connected end to end to form a continuous conveyor line. Since the conveying line not only needs the physical equipment used for actual conveying, but also the electric control signal to control the transmission of the conveying line, therefore, the corresponding electric control system is also required in the conveying line.
目前市场上大量使用的输送线的电气控制***，采用可编程逻辑控制器(PLC)集中控制，主要缺点是单点或者多点控制，布线复杂，现场部署困难，每一家新店都需要大量的现场调试工作，不利于快速开店。另一种改良的输送线的电气控制***采用单片机，只是解决了PLC成本高的问题，缺点仍然是现场部署困难，不利于快速开店。如果将输送线的电气控制***单元化，每个单元如何随意切换连接的CAN总线成为一个技术障碍。At present, the electrical control system of the conveying line widely used in the market adopts programmable logic controller (PLC) for centralized control. The main disadvantages are single-point or multi-point control, complicated wiring, and difficult on-site deployment. Each new store requires a large number of sites. Debugging work is not conducive to quick shop opening. Another improved electrical control system of the conveying line uses a single-chip microcomputer, which only solves the problem of high PLC cost. The disadvantage is still the difficulty of on-site deployment, which is not conducive to rapid shop opening. If the electrical control system of the transmission line is unitized, how each unit can switch the connected CAN bus at will becomes a technical obstacle.
发明内容Summary of the invention
有鉴于此，本公开旨在提出一种CAN总线切换技术，从而为将输送线的电气控制***单元化扫清障碍。In view of this, the present disclosure aims to propose a CAN bus switching technology, so as to clear the obstacles for unitizing the electrical control system of the transmission line.
根据本公开的一方面，提供了一种直线型控制器局域网CAN总线入网单元，包括第一CAN总线、第二CAN总线、第一端口、和第三端口，其中，所述第一端口与所述第三端口的连线方向与所述直线型CAN总线入网单元所在的输送段输送方向一致，所述第一端口连接到所述第一CAN总线，所述第三端口通过开关，连接到所述第一CAN总线，或连接到所述第二CAN总线。According to an aspect of the present disclosure, there is provided a linear controller area network CAN bus network access unit, including a first CAN bus, a second CAN bus, a first port, and a third port, wherein the first port is connected to the The connection direction of the third port is the same as the conveying direction of the transmission section where the linear CAN bus network access unit is located, the first port is connected to the first CAN bus, and the third port is connected to the network through a switch. Said first CAN bus, or connected to said second CAN bus.
可选地，所述开关为第一单刀双掷开关，所述第一单刀双掷开关一端连接第三端口，另一端在连接第一CAN总线和连接第二CAN总线之间切换。Optionally, the switch is a first single-pole double-throw switch, and one end of the first single-pole double-throw switch is connected to the third port, and the other end is switched between connecting to the first CAN bus and connecting to the second CAN bus.
可选地，所述开关包括连接到所述第一CAN总线的第一开关、和连接到所述第二CAN总线的第二开关。Optionally, the switch includes a first switch connected to the first CAN bus, and a second switch connected to the second CAN bus.
可选地，在组网阶段的连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，通过所述开关将所述第三端口连接到所述第二CAN总线。Optionally, in the consecutive first scan period, second scan period, third scan period, and fourth scan period in the networking phase, the third port is connected to the second CAN bus through the switch.
可选地，在所述连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，所述第一端口和第三端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标识、发送该通知消息的端口号、发送该通知消息的端口连接的总线号。Optionally, in the consecutive first scan period, second scan period, third scan period, and fourth scan period, the first port and the third port send a notification message, and the notification message contains the The identification of the CAN bus network access unit, the port number that sent the notification message, and the bus number connected to the port that sent the notification message.
可选地，在所述第一扫描期之前的第一静默期，通过所述开关将所述第三端口连接到所述第二CAN总线；在所述第四扫描期之后的第二静默期，通过所述开关将所述第三端口连接到所述第二CAN总线。Optionally, in a first silent period before the first scan period, the third port is connected to the second CAN bus through the switch; a second silent period after the fourth scan period , Connecting the third port to the second CAN bus through the switch.
可选地，该直线型CAN总线入网单元还包括第二端口、第四端口和微控制器MCU。Optionally, the linear CAN bus network access unit further includes a second port, a fourth port and a microcontroller MCU.
可选地，如果所述第一端口或第三端口在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号1、端口号1的通知消息，则所述MCU确定该第一端口或第三端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的直线型CAN总线入网单元的连接端口为第一端口，且连接到的第一端口为入口。Optionally, if the first port or the third port receives the identification and bus number of the CAN bus network access unit during the consecutive first scan period, second scan period, third scan period, and fourth scan period. 1. If the notification message of port number 1, the MCU determines that the first port or the third port is connected to a linear CAN bus network access unit, and records the identification of the connected CAN bus network access unit, and the connected linear CAN The connection port of the bus network access unit is the first port, and the first port connected to it is the entrance.
可选地，如果所述第一端口或第三端口在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号2、端口号3的通知消息，则所述MCU确定该第一端口或第三端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的直线型CAN总线入网单元的连接端口为第三端口，且连接到的第三端口为出口。Optionally, if the first port or the third port receives the identification and bus number of the CAN bus network access unit during the consecutive first scan period, second scan period, third scan period, and fourth scan period. 2. The notification message of port number 3, the MCU determines that the first port or the third port is connected to a linear CAN bus network access unit, and records the identification of the connected CAN bus network access unit, and the connected linear CAN The connection port of the bus network access unit is the third port, and the third port connected to it is the outlet.
可选地，如果所述第一端口或第三端口在第一扫描期接收到含有CAN总线入网单元的标识、总线号1、特定标志位的通知消息，则所述MCU确定该第一端口或第三端口连接到一个移载机CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的移载机CAN总线入网单元的连接端口为第一端口，且连接到的第一端口为入口。Optionally, if the first port or the third port receives a notification message containing the identification of the CAN bus network access unit, the bus number, and the specific flag bit during the first scan period, the MCU determines the first port or The third port is connected to a transfer machine CAN bus network unit, and records the identification of the connected CAN bus network unit. The connection port of the connected transfer machine CAN bus network unit is the first port and is connected to the first port. The port is the entrance.
可选地，如果所述第一端口或第三端口在所述第二扫描期接收到含有CAN总线入网单元的标识、总线号1或2、特定标志位的通知消息，则所述MCU确定该第一端口或第三端口连接到一个移载机CAN总线入网单元，且向发出所述通知消息的CAN总线入网单元发送端口查询请求后，接收到的应答指示端口号为2，记录连接到的CAN总线入网单元的标识，该连接到的移载机CAN总线入网单元的连接端口为第二端口，且在总线号1的情况下，连接到的第二端口为出口。Optionally, if the first port or the third port receives a notification message containing the identification of the CAN bus network access unit, the bus number 1 or 2, and a specific flag bit during the second scan period, the MCU determines the The first port or the third port is connected to a CAN bus network access unit of a transfer machine, and after sending a port query request to the CAN bus network access unit that sent the notification message, the received response indicates that the port number is 2, and the connected The identification of the CAN bus network access unit, the connection port of the CAN bus network access unit of the transfer machine connected to is the second port, and in the case of the bus number 1, the second port connected to is the exit.
可选地，在总线号2的情况下，连接到的第二端口为入口；如果所述第一端口或第三端口在所述第三扫描期接收到含有CAN总线入网单元的标识、总线号1或2、特定标志位的通知消息，则所述MCU确定该第一端口或第三端口连接到一个移载机CAN总线入网单元，且向发出所述通知消息的CAN总线入网单元发送端口查询请求后，接收到的应答指示端口号为3，记录连接到的CAN总线入网单元的标识，该连接到的移载机CAN 总线入网单元的连接端口为第三端口，且在总线号1的情况下，连接到的第三端口为出口。Optionally, in the case of bus number 2, the second port connected to is the entrance; if the first port or the third port receives the identification and bus number of the CAN bus network access unit during the third scan period 1 or 2, a notification message with a specific flag bit, the MCU determines that the first port or the third port is connected to a CAN bus network access unit of a transfer machine, and sends a port query to the CAN bus network access unit that sent the notification message After the request, the received response indicates that the port number is 3, and the identification of the connected CAN bus network unit is recorded. The connection port of the connected transfer machine CAN bus network unit is the third port, and in the case of bus number 1. Next, the third port connected to is the outlet.
可选地，在总线号2的情况下，连接到的第三端口为入口；如果所述第一端口或第三端口在所述第四扫描期接收到含有CAN总线入网单元的标识、总线号1或2、特定标志位的通知消息，则所述MCU确定该第一端口或第三端口连接到一个移载机CAN总线入网单元，且向发出所述通知消息的CAN总线入网单元发送端口查询请求后，接收到的应答指示端口号为4，记录连接到的CAN总线入网单元的标识，该连接到的移载机CAN总线入网单元的连接端口为第四端口，且在总线号1的情况下，该第四端口为出口；在总线号2的情况下，该第四端口为入口。Optionally, in the case of the bus number 2, the third port connected to is the entry; if the first port or the third port receives the identification and the bus number of the CAN bus network access unit in the fourth scan period 1 or 2, a notification message with a specific flag bit, the MCU determines that the first port or the third port is connected to a CAN bus network access unit of a transfer machine, and sends a port query to the CAN bus network access unit that sent the notification message After the request, the received response indicates that the port number is 4, and the identification of the connected CAN bus network unit is recorded. The connection port of the connected transfer machine CAN bus network unit is the fourth port, and in the case of bus number 1. Below, the fourth port is the outlet; in the case of bus number 2, the fourth port is the inlet.
可选地，在使用阶段，通过所述开关根据现场要求将所述第三端口连接到所述第一CAN总线或所述第二CAN总线。Optionally, in the use phase, the third port is connected to the first CAN bus or the second CAN bus through the switch according to site requirements.
根据本公开的一方面，还提供了一种移载机控制器局域网CAN总线入网单元，包括第一CAN总线、第二CAN总线、第一端口、第二端口、第三端口和第四端口，所述第一端口与所述第三端口的连线方向、所述第二端口与所述第四端口的连线方向相互垂直，其中，所述第一端口连接到所述第一CAN总线，所述第二端口、第三端口、第四端口中的至少一个通过各自的开关，连接到所述第一CAN总线，或连接到所述第二CAN总线。According to an aspect of the present disclosure, there is also provided a CAN bus network access unit for a transfer machine controller local area network, including a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port, The connection direction of the first port and the third port, and the connection direction of the second port and the fourth port are perpendicular to each other, wherein the first port is connected to the first CAN bus, At least one of the second port, the third port, and the fourth port is connected to the first CAN bus or to the second CAN bus through a respective switch.
可选地，所述开关包括第二、第三、第四单刀双掷开关，其中，所述第二单刀双掷开关一端连接第二端口，另一端连接到所述第一CAN总线，或连接到所述第二CAN总线；所述第三单刀双掷开关一端连接第三端口，另一端连接到所述第一CAN总线，或连接到所述第二CAN总线；所述第四单刀双掷开关一端连接第四端口，另一端连接到所述第一CAN总线，或连接到所述第二CAN总线。Optionally, the switch includes a second, third, and fourth single-pole double-throw switch, wherein one end of the second single-pole double-throw switch is connected to the second port, and the other end is connected to the first CAN bus, or To the second CAN bus; one end of the third single-pole double-throw switch is connected to the third port, and the other end is connected to the first CAN bus or to the second CAN bus; the fourth single-pole double-throw switch One end of the switch is connected to the fourth port, and the other end is connected to the first CAN bus or to the second CAN bus.
可选地，所述开关包括第五单刀双掷开关、第三、第四、第五开关，其中，所述第三、第四、第五开关的一端分别连接第二端口、第三端口、第四端口，另一端共同连接到所述第五单刀双掷开关的一端，所述第五单刀双掷开关的另一端在连接所述第一CAN总线和连接所述第二CAN总线之间切换。Optionally, the switch includes a fifth single-pole double-throw switch, a third, a fourth, and a fifth switch, wherein one ends of the third, fourth, and fifth switches are connected to the second port, the third port, and the The fourth port, 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 to the first CAN bus and connecting to the second CAN bus .
可选地，在组网阶段的第一扫描期，通过所述开关，将所述第一端口连接到第一CAN总线，将所述第二、第三、第四端口连接到第二CAN总线；在第二扫描期，通过所述开关，将所述第一、第三、第四端口连接到第一CAN总线，将所述第二端口连接到第二CAN总线；在第三扫描期，将所述第一、第二、第四端口连接到第一CAN总线，将所述第三端口连接到第二CAN总线；在第四扫描期，将所述第一、第二、第三端口连接到第一CAN总线，将所述第四端口连接到第二CAN总线。Optionally, in the first scan period of the networking phase, the first port is connected to the first CAN bus through the switch, and the second, third, and fourth ports are connected to the second CAN bus ; In the second scan period, through the switch, the first, third, and fourth ports are connected to the first CAN bus, and the second port is connected to the second CAN bus; in the third scan period, Connect the first, second, and fourth ports to the first CAN bus, and connect the third port to the second CAN bus; in the fourth scan period, connect the first, second, and third ports Connect to the first CAN bus, and connect the fourth port to the second CAN bus.
可选地，在所述第一扫描期、第二扫描期、第三扫描期、第四扫描期，所述移载机CAN总线入网单元的各端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标识、发送该通知消息的端口连接的总线号、特定标志位。Optionally, in the first scan period, the second scan period, the third scan period, and the fourth scan period, each port of the CAN bus network access unit of the transfer machine sends a notification message, and the notification message contains all The identification of the CAN bus network access unit, the bus number connected to the port that sends the notification message, and the specific flag bit.
可选地，在所述第一扫描期之前的第一静默期，将第一端口连接到第一CAN总线，将第二、第三、第四端口连接到第二CAN总线；在所述第四扫描期之后的第二静默期，将第一、第二、第三端口连接到第一CAN总线，将第四端口连接到第二CAN总线。Optionally, in the first silent period before the first scan period, the first port is connected to the first CAN bus, and the second, third, and fourth ports are connected to the second CAN bus; In the second silent period after the four scan periods, the first, second, and third ports are connected to the first CAN bus, and the fourth port is connected to the second CAN bus.
可选地，该移载机CAN总线入网单元还包括微控制单元MCU。Optionally, the CAN bus network access unit of the transfer machine further includes a micro-control unit MCU.
可选地，如果所述移载机CAN总线入网单元的端口在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号1、端口号1的通知消息，则所述MCU确定该端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的直线型CAN总线入网单元的连接端口为第一端口，且连接到的第一端口为入口。Optionally, if the port of the CAN bus network access unit of the transfer machine receives a CAN bus network access unit identification, If the notification message of bus number 1, port number 1, 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 unit, and the connected linear CAN bus network access unit The connection port is the first port, and the first port connected to is the entrance.
可选地，如果所述移载机CAN总线入网单元的端口在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号2、端口号3的通知消息，则所述MCU确定该端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的直线型CAN总线入网单元的连接端口为第三端口，且连接到的第三端口为出口。Optionally, if the port of the CAN bus network access unit of the transfer machine receives a CAN bus network access unit identification, If the notification message of bus number 2 and port number 3, the MCU determines that the port is connected to a linear CAN bus network unit, records the identification of the connected CAN bus network unit, and the connected linear CAN bus network unit The connection port is the third port, and the third port connected to is the outlet.
可选地，在使用阶段，根据现场要求分别控制与所述第二端口、第三端口、第四端口中的至少一个连接的开关的接通或闭合。Optionally, in the use phase, the switch connected to at least one of the second port, the third port, and the fourth port is controlled to be turned on or off according to site requirements.
根据本公开的一方面，还提供了一种直线型控制器局域网CAN总线入网单元的开关控制方法，其中，所述直线型CAN总线入网单元包括第一CAN总线、第二CAN总线、第一端口、第二端口、第三端口和第四端口，其中，所述第一端口连接到所述第一CAN总线，所述第三端口通过开关，连接到所述第一CAN总线，或连接到所述第二CAN总线，所述方法包括：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, and a first port , The second port, the third port and the fourth port, wherein the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus through a switch, or is connected to all For the second CAN bus, the method includes:
在组网阶段，通过所述开关将所述第三端口连接到所述第二CAN总线；In the networking stage, connect the third port to the second CAN bus through the switch;
在使用阶段，通过所述开关根据现场要求将所述第三端口连接到所述第一CAN总线或所述第二CAN总线。In the use phase, the third port is connected to the first CAN bus or the second CAN bus through the switch according to site requirements.
根据本公开的一方面，还提供了一种移载机控制器局域网CAN总线入网单元的开关控制方法，所述移载机CAN总线入网单元包括第一CAN总线、第二CAN总线、第一端口、第二端口、第三端口和第四端口，其中，所述第一端口连接到所述第一CAN总线，所述第二端口、第三端口、第四端口中的至少一个通过各自的开关，连接到所述第一CAN总线，或连接到所述第二CAN总线，所述方法包括：According to one aspect of the present disclosure, there is also provided a switch control method for a CAN bus network access unit of a transfer machine controller local area network. The transfer machine CAN bus network access unit includes a first CAN bus, a second CAN bus, and a first port. , The second port, the third port, and the 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 passes through a respective switch , Connected to the first CAN bus or connected to the second CAN bus, the method includes:
在组网阶段的第一扫描期，通过所述开关，将所述第一端口连接到第一CAN总线，将所述第二、第三、第四端口连接到第二CAN总线；在第二扫描期，通过所述开关，将所述第一、第三、第四端口连接到第一CAN总线，将所述第二端口连接到第二CAN总线；在第三扫描期，通过所述开关，将所述第一、第二、第四端口连接到第一CAN总线，将所述第三端口连接到第二CAN总线；在第四扫描期，通过所述开关，将所述第一、第 二、第三端口连接到第一CAN总线，将所述第四端口连接到第二CAN总线；In the first scan period of the networking stage, the first port is connected to the first CAN bus through the switch, and the second, third, and fourth ports are connected to the second CAN bus; in the second In the scan period, the first, third, and fourth ports are connected to the first CAN bus through the switch, and the second port is connected to the second CAN bus; in the third scan period, the switch is connected , Connect the first, second, and fourth ports to the first CAN bus, and connect the third port to the second CAN bus; in the fourth scan period, through the switch, the first, The second and third ports are connected to the first CAN bus, and the fourth port is connected to the second CAN bus;
在使用阶段，根据现场要求分别控制与所述第二端口、第三端口、第四端口中的至少一个连接的开关的接通或闭合。In the use phase, the switch connected to at least one of the second port, the third port, and the fourth port is controlled to be turned on or closed according to site requirements.
根据本公开的一方面，提供了一种远程可视化CAN总线入网单元组装方法，包括：According to one aspect of the present disclosure, there is provided a method for assembling a remotely visualized CAN bus network access unit, including:
在远程可视化界面接收用户的组网请求；Receive the user's networking request on the remote visualization interface;
识别输送线的电气控制***中的CAN总线入网单元，所述CAN总线入网单元包括第一CAN总线、第二CAN总线、第一端口、第二端口、第三端口第四端口和开关；Identify the CAN bus network access unit in the electrical control system of the transmission line, where the CAN bus network access unit includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, a fourth port, and a switch;
远程控制所述开关将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个。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.
可选地，所述远程控制所述开关将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个，包括：对于识别出的直线型CAN总线入网单元，远程控制所述直线型CAN总线入网单元的所述开关将所述第三端口连接到所述第二CAN总线。Optionally, the remote control of the switch connects 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 , Including: 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.
可选地，所述远程控制所述开关将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个，包括：对于识别出的移载机CAN总线入网单元，在第一扫描期，远程控制所述移载机CAN总线入网单元的所述开关，将所述第一端口连接到第一CAN总线；在第二扫描期，远程控制所述移载机CAN总线入网单元的所述开关，将所述第二端口连接到第二CAN总线；在第三扫描期，远程控制所述移载机CAN总线入网单元的所述开关，将所述第三端口连接到第二CAN总线；在第四扫描期，通过远程控制所述移载机CAN总线入网单元的所述开关，将所述第四端口连接到第二CAN总线。Optionally, the remote control of the switch connects 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 , Including: for the identified transfer machine CAN bus network access unit, in the first scan period, remotely control the switch of the transfer machine CAN bus network access unit, and connect the first port to the first CAN bus; In the second scan period, remotely control the switch of the transfer machine CAN bus network unit, and connect the second port to the second CAN bus; in the third scan period, remotely control the transfer machine CAN bus The switch of the network access unit connects the third port to the second CAN bus; in the fourth scan period, the fourth port is connected to the fourth port by remotely controlling the switch of the CAN bus network access unit of the transfer machine To the second CAN bus.
可选地，在远程控制所述开关将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个之后，所述方法还包括：在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述CAN总线入网单元发送通知消息。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 includes: controlling the CAN bus network access unit to send a notification message during the consecutive first scan period, second scan period, third scan period, and fourth scan period.
可选地，所述在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述CAN总线入网单元发送通知消息，包括：对于识别出的直线型CAN总线入网单元，在所述连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述直线型CAN总线入网单元的所述第一端口和第三端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标识、发送该通知消息的端口号、发送该通知消息的端口连接的总线号。Optionally, the controlling the CAN bus network access unit to send notification messages during the consecutive first scan period, second scan period, third scan period, and fourth scan period includes: The network access unit controls the first port and the third port of the linear CAN bus network access unit to send notification messages during the consecutive first scan period, second scan period, third scan period, and fourth scan period The notification message contains the identification of the CAN bus network access unit, the port number for sending the notification message, and the bus number connected to the port for sending the notification message.
可选地，所述在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述CAN总线入网单元发送通知消息，包括：对于识别出的移载机CAN总线入网单元，在所述连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述移载机CAN总线入网单元的各端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标 识、发送该通知消息的端口连接的总线号、特定标志位。Optionally, the controlling the CAN bus network access unit to send a notification message during the consecutive first scan period, second scan period, third scan period, and fourth scan period includes: The bus network access unit controls each port of the CAN bus network access unit of the transfer machine to send notification messages during the consecutive first scan period, second scan period, third scan period, and fourth scan period. The notification message It contains the identification of the CAN bus network access unit, the bus number connected to the port that sends the notification message, and a specific flag bit.
可选地，在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述CAN总线入网单元发送通知消息之后，所述方法还包括：Optionally, after controlling the CAN bus network access unit to send the notification message in the consecutive first scan period, second scan period, third scan period, and fourth scan period, the method further includes:
接收所述CAN总线入网单元发送的所检测的相连接的CAN总线入网单元的标识、连接端口号、连接端口性质，生成所述电气控制***的CAN总线入网单元连接布图；Receiving the detected identification, connection port number, and nature of the connection port of the detected connected CAN bus network access unit sent by the CAN bus network access unit, and generate the connection layout of the CAN bus network access unit of the electrical control system;
显示所述所述电气控制***的CAN总线入网单元连接布图。The connection layout of the CAN bus network access unit of the electrical control system is displayed.
可选地，在显示所述所述电气控制***的CAN总线入网单元连接布图之后，所述方法包括：Optionally, after displaying the connection layout of the CAN bus network access unit of the electrical control system, the method includes:
在远程可视化界面，接收用户输入的CAN总线入网单元的现场连接要求指示；On the remote visualization interface, receive the user's input of the CAN bus network unit's on-site connection requirements instructions;
根据所述现场连接要求指示，控制所述CAN总线入网单元的所述开关，以将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个。According to the on-site connection requirement instruction, control the switch of the CAN bus network access unit to connect at least one of the first port, the second port, the third port, and the fourth port to the first CAN At least one of the bus and the second CAN bus.
本公开实施例中，为了将输送线中用到的电气控制***标准化(单元化)，将电气控制***分成直线型CAN总线入网单元和移载机CAN总线入网单元两种单元。对于直线型CAN总线入网单元，设置成第一端口始终连接到第一CAN总线，而所述第三端口通过开关能够在连接到第一CAN总线、和连接到第二CAN总线切换这样一种总线切换机制，使得直线型总线入网单元能够通过上述开关的切换，实现要么两端连接同一CAN总线，要么连接不同CAN总线。对于移载机CAN总线入网单元，设置成第一端口连接到第一CAN总线，第二端口、第三端口、第四端口中的至少一个通过各自的开关，连接到第一CAN总线，或连接到第二CAN总线，使得移载机总线入网单元能够通过上述开关的切换，实现信号换向到不同方向。而直线型CAN总线入网单元和移载机CAN总线入网单元可以灵活组合，组成输送线中的电气控制***。本公开设计出这样一种CAN总线切换机制，为将输送线的电气控制***单元化扫清障碍。In the embodiments of the present disclosure, in order to standardize (unitize) the electrical control system used in the transmission line, the electrical control system is divided into two units: a linear CAN bus network unit and a transfer machine CAN bus network unit. For the linear CAN bus network unit, it is set that the first port is always connected to the first CAN bus, and the third port can be connected to the first CAN bus and connected to the second CAN bus through a switch to switch such a bus The switching mechanism enables the linear bus network access unit to realize that either the two ends are connected to the same CAN bus or different CAN buses through the switching of the above-mentioned switches. For the CAN bus network access unit of the transfer machine, the first port is set to be 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 through a respective switch, or connected To the second CAN bus, the transfer machine bus network access unit can realize signal commutation to different directions through the switching of the above-mentioned switches. 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 transmission line. The present disclosure designs such a CAN bus switching mechanism, which clears obstacles for unitizing the electrical control system of the transmission line.
附图说明Description of the drawings
通过参考以下附图对本公开实施例的描述，本公开的上述以及其它目的、特征和优点将更为清楚，在附图中：The above and other objectives, features, and advantages of the present disclosure will be more clearly described by referring to the following drawings to describe the embodiments of the present disclosure. In the accompanying drawings:
图1A是根据本公开一个实施例的现场的输送线图例。Fig. 1A is a diagram of an on-site conveyor line according to an embodiment of the present disclosure.
图1B是根据本公开一个实施例的直线型输送段的图例。Fig. 1B is a diagram of a linear conveying section according to an embodiment of the present disclosure.
图1C是根据本公开一个实施例的移载机输送段的图例。Fig. 1C is a diagram of a transfer section of a transfer machine according to an embodiment of the present disclosure.
图2是根据本公开一个实施例的输送线及其电气控制***整体结构示意图。Fig. 2 is a schematic diagram of the overall structure of a transmission line and its electrical control system according to an embodiment of the present disclosure.
图3是根据本公开一个实施例的不带开关部分的CAN总线入网单元的总体物理结构图。Fig. 3 is an overall physical structure diagram of a CAN bus network access unit without a switch part according to an embodiment of the present disclosure.
图4A是根据本公开一个实施例的直线型CAN总线入网单元的一种物理结构图。Fig. 4A is a physical structure diagram of a linear CAN bus network access unit according to an embodiment of the present disclosure.
图4B是根据本公开一个实施例的直线型CAN总线入网单元的另一种物理结构图。Fig. 4B is another physical structure diagram of a linear CAN bus network access unit according to an embodiment of the present disclosure.
图4C是根据本公开一个实施例的直线型CAN总线入网单元的一种逻辑结构图。Fig. 4C is a logical structure diagram of a linear CAN bus network access unit according to an embodiment of the present disclosure.
图4D是根据本公开一个实施例的直线型CAN总线入网单元的另一种逻辑结构图。Fig. 4D is another logical structure diagram of a linear CAN bus network access unit according to an embodiment of the present disclosure.
图5A是根据本公开一个实施例的直线型CAN总线入网单元的组网阶段的连接图。Fig. 5A is a connection diagram of a network connection stage of a linear CAN bus network access unit according to an embodiment of the present disclosure.
图5B是根据本公开一个实施例的直线型CAN总线入网单元的使用阶段的连接图。Fig. 5B is a connection diagram of a linear CAN bus network access unit in a use phase according to an embodiment of the present disclosure.
图6A是根据本公开一个实施例的移载机CAN总线入网单元的一种物理结构图。Fig. 6A is a physical structure diagram of a CAN bus network access unit of a transfer machine according to an embodiment of the present disclosure.
图6B是根据本公开一个实施例的移载机CAN总线入网单元的另一种物理结构图。Fig. 6B is another physical structure diagram of the CAN bus network access unit of the transfer machine according to an embodiment of the present disclosure.
图6C是根据本公开一个实施例的移载机CAN总线入网单元的一种逻辑结构图。Fig. 6C is a logical structure diagram of a CAN bus network access unit of a transfer machine according to an embodiment of the present disclosure.
图6D是根据本公开一个实施例的移载机CAN总线入网单元的另一种逻辑结构图。Fig. 6D is another logical structure diagram of the CAN bus network access unit of the transfer machine according to an embodiment of the present disclosure.
图7A-图7D是根据本公开一个实施例的移载机CAN总线入网单元的组网阶段的连接图。Figs. 7A-7D are connection diagrams of the networking stage of the CAN bus network access unit of the transfer machine according to an embodiment of the present disclosure.
图7E是根据本公开一个实施例的移载机CAN总线入网单元的使用阶段的连接图。Fig. 7E is a connection diagram of the use phase of the CAN bus network access unit of the transfer machine according to an embodiment of the present disclosure.
图8示出了根据本公开一个实施例的直线型CAN总线入网单元的开关控制方法的流程图。Fig. 8 shows a flow chart of a switch control method of a linear CAN bus network access unit according to an embodiment of the present disclosure.
图9示出了根据本公开一个实施例的移载机CAN总线入网单元的开关控制方法的流程图。Fig. 9 shows a flowchart of a switch control method of a CAN bus network access unit of a transfer machine according to an embodiment of the present disclosure.
图10示出了根据本公开一个实施例的远程可视化CAN总线入网单元组装方法的流程图。Fig. 10 shows a flowchart of a method for assembling a remotely visualized CAN bus network access unit according to an embodiment of the present disclosure.
图11示出根据本公开一个实施例的CAN总线入网单元110所应用的环境的体系构架图。FIG. 11 shows an architecture diagram of the environment in which the CAN bus network access unit 110 is applied according to an embodiment of the present disclosure.
图12A-图12F示出根据本公开一个实施例的远程可视化控制装置199远程控制CAN总线入网单元110之间的连接时的界面变化图。12A-12F show the interface change diagrams when the remote visualization control device 199 remotely controls the connection between the CAN bus network access units 110 according to an embodiment of the present disclosure.
具体实施方式detailed description
以下基于实施例对本公开进行描述，但是本公开并不仅仅限于这些实施例。在下文对本公开的细节描述中，详尽描述了一些特定的细节部分。对本领域技术人员来说没有这些细节部分的描述也可以完全理解本公开。为了避免混淆本公开的实质，公知的方法、过程、流程没有详细叙述。另外附图不一定是按比例绘制的。The present disclosure is described below based on embodiments, but the present disclosure is not limited to these embodiments. In the following detailed description of the present disclosure, some specific details are described in detail. Those skilled in the art can fully understand the present disclosure without the description of these details. In order to avoid obscuring the essence of the present disclosure, the well-known methods, processes, and procedures are not described in detail. In addition, the drawings are not necessarily drawn to scale.
现代的物流商家后台的物流分拣和出库，普遍采用输送线100，如图1A所示。输送线100是完成物品的输送的传送带、输送机等所有输送设备的总和。在环绕库房、生产车间和包装车间的场地，设置有由许多皮带输送机、滚筒输送机等组成的一条条输送链，经首尾连接形成连续的输送线100。由于输送线100不仅需要有实际输送所用的物理设备，还要有电控制信号控制输送线的传输，因此，输送线中还要有相应的电气控制***(在图1A的输送线内部)。The logistics sorting and outbound of modern logistics merchants generally use the conveyor line 100, as shown in Figure 1A. The conveying line 100 is the sum of all conveying equipment such as conveyor belts and conveyors that complete the conveying of items. In the site surrounding the warehouse, production workshop and packaging workshop, a conveyor chain composed of many belt conveyors, roller conveyors, etc. is set up, which are connected end to end to form a continuous conveyor line 100. Since the conveying line 100 not only needs physical equipment for actual conveying, but also electric control signals to control the transmission of the conveying line. Therefore, the conveying line also needs a corresponding electric control system (inside the conveying line of FIG. 1A).
目前市场上大量使用的输送线100的电气控制***，采用可编程逻辑控制器(PLC)集中控制，主要缺点是单点或者多点控制，布线复杂，现场部署困难，容易出现组装错误，不利于快速开店。另一种改良的输送线100的电气控制***采用单片机，只是解决了PLC成本高的问题，缺点仍然是现场部署困难，容易出现组装错误，不利于快速开店。At present, the electrical control system of transmission line 100, which is widely used in the market, adopts programmable logic controller (PLC) for centralized control. The main disadvantages are single-point or multi-point control, complicated wiring, difficult on-site deployment, and easy assembly errors, which is not conducive to Shop quickly. Another improved electrical control system of the conveyor line 100 uses a single-chip microcomputer, which only solves the problem of high PLC cost. The disadvantage is still that it is difficult to deploy on site and prone to assembly errors, which is not conducive to quick shop opening.
为了便于现场部署，一个解决思路是将输送线的电气控制***单元化，输送线分成一段段的输送段，对应的电气控制***也分成一个个单元(CAN总线入网单元)，即一个输送段内有一个CAN总线入网单元。这样，就将输送线和输送线中的电气控制***采用类似搭积木的方式分成了单元，每个单元都采用类似的结构。每个CAN总线入网单元能够与相邻的CAN总线入网单元通讯连接，从而连成电气控制***。这样，无论输送线多长，都能通过这些单元，像搭积木一样构造出整个电气控制***，实现了输送线中用到的电气控制部分标准化。In order to facilitate on-site deployment, one solution is to unitize the electrical control system of the transmission line. The transmission line is divided into sections of transmission. The corresponding electrical control system is also divided into units (CAN bus network access unit), that is, within a transmission section. There is a CAN bus access unit. In this way, the conveying line and the electrical control system in the conveying line are divided into units in a similar way as building blocks, and each unit adopts a similar structure. Each CAN bus network access unit can communicate with the adjacent CAN bus network access unit to form an electrical control system. In this way, no matter how long the conveying line is, these units can be used to construct the entire electrical control system like building blocks, realizing the standardization of the electrical control part used in the conveying line.
由于这种标准化的方法中，各输送段的控制部件通过标准的CAN总线入网单元接入总线，是一个分散的控制结构，不用中心化的轮询，保证了实时性，减少了时延，而且不需要中心化的结构，部署起来非常容易。Because of this standardized method, the control components of each transmission section are connected to the bus through the standard CAN bus network unit, which is a decentralized control structure without centralized polling, ensuring real-time performance, reducing time delay, and There is no need for a centralized structure, and it is very easy to deploy.
将输送线的电气控制***单元化，一个障碍是如何在单元内部完成CAN总线的切换，使得该单元能够在同一CAN内进行接续，也能完成多种CAN的在多个方向上的接续。本公开主要着眼于提供一种在CAN总线入网单元内部进行总线切换的机制。To unitize the electrical control system of the transmission line, one obstacle is how to complete the CAN bus switching inside the unit, so that the unit can be connected within the same CAN, and can also complete multiple CAN connections in multiple directions. This disclosure mainly focuses on providing a mechanism for bus switching inside the CAN bus network access unit.
图1B-图1C分别示出了两种输送段102(即直线型输送段和移载机输送段)的图例。将直线型输送段和移载机输送段按现场要求接续，就象搭积木一样随现场需要搭成了各种输送线100。图1B所示的直线型输送段的特点是只有左右两个方向能够连接其他输送段102，一般用于不需改变传输方向的输送。图1C所示的移载机输送段102包括滚筒1021和传送带1023，滚筒1021的滚动使得其上的货物沿第一方向移动(例如上下方向)，传送带1023的传送使得其上的货物沿第二方向移动(例如左右方向)。第一方向与第二方向垂直，从而通过控制移载机输送段102，让其滚筒1021滚动，还是让其传送带1023传送，达到让其上的货物向第一方向前进，或者向第二方向前进的作用，即可以实现转向。如果原本在左右方向上移动的货物到达该移载机输送段102后可能改成向上下方向上移动。而直线型输送段不能实现转向。移载机输送段只能连接直线型输送段。Figures 1B-1C respectively show illustrations of two conveying sections 102 (ie, linear conveying section and transfer machine conveying section). The linear conveying section and the transfer machine conveying section are connected according to site requirements, and various conveying lines 100 are built according to site needs like building blocks. The linear conveying section shown in FIG. 1B is characterized in that only the left and right directions can be connected to other conveying sections 102, and it is generally used for conveying without changing the conveying direction. The transfer section 102 of the transfer machine shown in FIG. 1C includes a roller 1021 and a conveyor belt 1023. The rolling of the roller 1021 causes the goods on it to move in a first direction (for example, up and down), and the conveying of the conveyor belt 1023 causes the goods on it to move along the second direction. Directional movement (for example, left-right direction). The first direction is perpendicular to the second direction, so that by controlling the conveyor section 102 of the transfer machine, the roller 1021 is rolled, or the conveyor belt 1023 is transported, so that the goods on it can move in the first direction or move in the second direction. The role of the steering wheel can be realized. If the goods that originally moved in the left and right directions arrive at the transfer section 102 of the transfer machine, they may be changed to move up, down, and up. But the linear conveying section cannot realize turning. The conveying section of the transfer machine can only be connected to the linear conveying section.
在输送线100的每个输送段102中，有一个CAN总线入网单元110作为电气控制部分。它在输送段102的内部，在图1A-图1C中未示。由于它是输送段102中的电气控制部分，它的形状也与其所在的输送段102的形状一致。直线型输送段中的CAN总线入网单元110是直线型CAN总线入网单元，也只有左右两个方向可以用来与相邻的输送段102中的CAN总线入网单元110接续。移载机输送段中的CAN总线入网单元110是移载机CAN总线入网单元，有前后左右四个方向可以用来与相邻的输送段102中的CAN总线入网单元110接续。图2示出了一个输送线100的整体拓扑结构示意图。图2中， 输送线110分成各输送段102，每个输送段中有一个CAN总线入网单元110作为电气控制部分，所有的CAN总线入网单元110按照对应的输送线110的顺序连接成电气控制***119。电气控制***119是整个输送线110的电气控制部分。应当理解，虽然图2中输送段102都被示出是依次直线连接的，但实际上由于有移载机输送段的存在，也可能发生有输送段102在其他方向上伸出(例如，上下方向伸出一些输送段102)的情况。In each transmission section 102 of the transmission line 100, there is a CAN bus network access unit 110 as an electrical control part. It is inside the conveying section 102 and is not shown in FIGS. 1A-1C. Since it is the electrical control part of the conveying section 102, its shape is also consistent with the shape of the conveying section 102 where it is located. The CAN bus network access unit 110 in the linear transport section is a linear CAN bus network access unit, and only the left and right directions can be used to connect with the CAN bus network access unit 110 in the adjacent transport section 102. The CAN bus network access unit 110 in the transfer section of the transfer machine is a CAN bus network access unit of the transfer machine. FIG. 2 shows a schematic diagram of the overall topological structure of a transmission line 100. In Figure 2, the transmission line 110 is divided into transmission sections 102. Each transmission section has a CAN bus network access unit 110 as the electrical control part. All CAN bus network access units 110 are connected in the order of the corresponding transmission lines 110 to form an electrical control system 119. The electrical control system 119 is the electrical control part of the entire conveying line 110. It should be understood that although the conveying sections 102 in FIG. 2 are shown to be connected in a straight line, in fact, due to the existence of the conveying section of the transfer machine, it may happen that the conveying section 102 extends in other directions (for example, up and down). The direction extends some conveying section 102).
每个输送段102中，可能有一些控制部件113，其连接到该输送段102的CAN总线入网单元110，通过CAN总线入网单元110连接到整个电气控制***119，与其它输送段102中的控制部件113通信。CAN总线入网单元110实际上起到全网的控制部件113相互通信的接口的作用，使得这些控制部件113之间传递控制信号，使输送线100协调运行。In each transmission section 102, there may be some control components 113, which are connected to the CAN bus network access unit 110 of the transmission section 102, and are connected to the entire electrical control system 119 through the CAN bus network access unit 110, and are connected to the control in other transmission sections 102 Component 113 communicates. The CAN bus network access unit 110 actually functions as an interface for the control components 113 of the entire network to communicate with each other, so that these control components 113 can transmit control signals between them, and the transmission line 100 can operate in a coordinated manner.
图2的输送线100中的电气控制***119包括多个控制器局域网(CAN)114，每个控制器局域网(CAN)114是位于图2的一个粗线格中的椭圆部分。图中画出了第一CAN 1141、第二CAN 1142、第三CAN 1143，但本领域技术人员理解，电气控制***119也可能包含其它数目的CAN，例如2个、4个、5个等等。The electrical control system 119 in the conveyor line 100 of FIG. 2 includes a plurality of controller area networks (CAN) 114, and each of the controller area networks (CAN) 114 is an ellipse located in a thick-line grid in FIG. The figure shows the first CAN 1141, the second CAN 1142, and the third CAN 1143, but those skilled in the art understand that the electrical control system 119 may also include other numbers of CANs, such as 2, 4, 5, etc. .
CAN是控制器局域网络(Controller Area Network,CAN)的简称，是国际上应用较为广泛的现场总线之一。在一个CAN内，一个节点的消息广播到CAN中所有的其它节点。因此，可以认为，一个CAN内的消息都通过同一CAN总线发送到该CAN内的所有节点。不同的CAN内的消息采用不同的CAN总线发送。由于输送线的长度可能长达几公里，含有几千个甚至几万个CAN总线入网单元110，一个CAN的覆盖距离无法达到覆盖这样的长度，因此，本公开实施例中采用多个CAN 114串联的形式，其中在两个相邻的CAN 114之间由一个路由CAN总线入网单元112连接。该路由CAN总线入网单元112同时属于两个相邻的CAN 114，负责将一个CAN 114的消息向另一个CAN 114转发(广播)。由于两个CAN 114传输消息所用的CAN总线不同，因此，通常要求路由CAN总线入网单元112能够同时连接两条CAN总线，并且能够将一条CAN总线上的消息转发到另一条CAN总线上。图2中示出的路由CAN总线入网单元112包括C4、C8、C11，其中CX是图中第X个CAN总线入网单元的标识。CAN is the abbreviation of Controller Area Network (CAN), and it is one of the most widely used field buses in the world. Within a CAN, a node's message is broadcast to all other nodes in the CAN. Therefore, it can be considered that a message in a CAN is sent to all nodes in the CAN through the same CAN bus. Messages in different CANs are sent using different CAN buses. Since the length of the transmission line may be as long as several kilometers, containing thousands or even tens of thousands of CAN bus network access units 110, the coverage distance of one CAN cannot reach such a length. Therefore, in the embodiment of the present disclosure, multiple CAN 114 are connected in series. In the form of, two adjacent CAN 114 are connected by a routing CAN bus network access unit 112. The routing CAN bus network access unit 112 belongs to two adjacent CAN 114 at the same time, and is responsible for forwarding (broadcasting) a message of one CAN 114 to another CAN 114. Since the CAN buses used by the two CAN 114 to transmit messages are different, it is usually required that the routing CAN bus network access unit 112 can connect to two CAN buses at the same time, and can forward messages on one CAN bus to another CAN bus. The routing CAN bus network access unit 112 shown in FIG. 2 includes C4, C8, and C11, where CX is the identifier of the Xth CAN bus network access unit in the figure.
除了路由CAN总线入网单元112之外，CAN总线入网单元110的另一种类型是内部CAN总线入网单元111，即在一个CAN 114内部的、非路由CAN总线入网单元112的单元。由于在一个CAN 114内部传输消息采用同一条CAN总线，因此，它不要求能将一条CAN 114上的消息转发到另一条CAN 114。图2示出的内部CAN总线入网单元111包括C1、C2、C3、C5、C6、C7、C9、C10。In addition to the routed CAN bus network access unit 112, another type of the CAN bus network access unit 110 is an internal CAN bus network access unit 111, that is, a unit inside a CAN 114 that is not a routed CAN bus network access unit 112. Because the same CAN bus is used to transmit messages within a CAN 114, it does not require that a message on one CAN 114 can be forwarded to another CAN 114. The internal CAN bus network access unit 111 shown in FIG. 2 includes C1, C2, C3, C5, C6, C7, C9, and C10.
下面结合图3，详细描述根据本公开一个实施例的CAN总线入网单元110的详细结构(除开关控制部分)。The detailed structure (except the switch control part) of the CAN bus network access unit 110 according to an embodiment of the present disclosure will be described in detail below with reference to FIG. 3.
如上所述，CAN总线入网单元110是指负责输送线100的一个输送段102内控制部 件113向电气控制***119的连接的部件。控制部件113是指输送线区域102内可以监听总线消息，并在适当的时候发出总线消息，与其它输送线区域102内的控制部件113进行通信的部件。电气控制***119是指输送线100的电气控制部分，用来输送对该输送线100内的物理输送设备的控制信号。As described above, the CAN bus network access unit 110 refers to a component responsible for the connection of the control component 113 to the electrical control system 119 in a conveying section 102 of the conveying line 100. The control component 113 refers to a component that can listen to bus messages in the conveying line area 102 and send out bus messages when appropriate to communicate with the control components 113 in other conveying line areas 102. The electrical control system 119 refers to the electrical control part of the conveying line 100 and is used to transmit control signals to the physical conveying equipment in the conveying line 100.
如图3所示，CAN总线入网单元110包括：第一CAN总线121、第二CAN总线122、第一CAN总线收发器123、第二CAN总线收发器124、第一端口131、和包括第二端口132、第三端口133、第四端口134的多个可变连接端口130。多个可变连接端口130中的至少一个可变连接端口可以连接到第一CAN总线121、第二CAN总线122中的任一总线，也可以与这两条总线都不连接。如上所述，当CAN总线入网单元110作为路由CAN总线入网单元112时，需要接续不同的CAN总线，这时就可以让第二端口132、第三端口133、第四端口134之一连接到第二CAN总线122，由于第一端口131始终连接第一CAN总线121，就达到了接续不同CAN总线的目的。当CAN总线入网单元110作为内部CAN总线入网单元111时，需要接续同一CAN总线，这时就可以让第二端口132、第三端口133、第四端口134连接到第一CAN总线121，由于第一端口131始终连接第一CAN总线121，就达到了接续同一CAN总线的目的。As shown in FIG. 3, the CAN bus network access 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 second CAN bus A plurality of variable connection ports 130 of the port 132, the third port 133, and the fourth port 134. At least one variable connection port among the plurality of variable connection ports 130 may be connected to any one of the first CAN bus 121 and the second CAN bus 122, or may be connected to neither of the two buses. As mentioned above, when the CAN bus network access unit 110 is used as the routing CAN bus network access unit 112, different CAN buses need to be connected. At this time, one of the second port 132, the third port 133, and the fourth port 134 can be connected to the second port 132, the third port 133, and the fourth port 134. The second CAN bus 122, 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 access unit 110 is used as the internal CAN bus network access unit 111, it needs to be connected to the same CAN bus. 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. One port 131 is always connected to the first CAN bus 121 to achieve the purpose of connecting to the same CAN bus.
虽然上面示例性地描述了多个可变连接端口130包括第二端口132、第三端口133、第四端口134，实际上，其也可以包括其它数量的端口，例如还可以根据需要包括第五、第六端口等，也可以仅包括第二端口132、第三端口133等。Although it is exemplarily described above that the plurality of variable connection ports 130 include the second port 132, the third port 133, and the fourth port 134, in fact, they may also include other numbers of ports, for example, may also include a fifth port as required. , The sixth port, etc., may also only include the second port 132, the third port 133, and so on.
第一CAN总线收发器123连接第一CAN总线121，用于与电气控制***119中其它CAN总线入网单元110的第一CAN总线收发器123通信，从而建立第一CAN通信。第二CAN总线收发器124连接第二CAN总线122，用于与电气控制***119中其它CAN总线入网单元110的第二CAN总线收发器124通信。应当注意，虽然在图2中示出在每个CAN中多个CAN总线入网单元110是依次连接的(例如CAN总线入网单元C1连接到CAN总线入网单元C2，CAN总线入网单元C2连接到CAN总线入网单元C3)，但实际上一个CAN总线入网单元110通过其第一CAN总线收发器123或第二CAN总线收发器124发送消息后，连接到第一总线或第二总线上的其它CAN总线入网单元110的第一CAN总线收发器123或第二CAN总线收发器124都可以接收到该消息。只要连接在一条总线上，发送消息可以认为是一种广播。因此，图2中，如果CAN总线入网单元C2发送一个消息，由于CAN总线入网单元C1、C3、C4都连接到第一CAN总线121，它们都接收到该消息，即消息广播到CAN总线入网单元C1、C3、C4。The first CAN bus transceiver 123 is connected to the first CAN bus 121, and is used to communicate with the first CAN bus transceiver 123 of other CAN bus network access units 110 in the electrical control system 119, thereby establishing the first CAN communication. The second CAN bus transceiver 124 is connected to the second CAN bus 122 and is used to communicate with the second CAN bus transceiver 124 of other CAN bus network access units 110 in the electrical control system 119. It should be noted that although FIG. 2 shows that in each CAN, multiple CAN bus network access units 110 are connected in sequence (for example, the CAN bus network access unit C1 is connected to the CAN bus network access unit C2, and the CAN bus network access unit C2 is connected to the CAN bus. Network access unit C3), but actually a CAN bus network access unit 110 sends a message through its first CAN bus transceiver 123 or second CAN bus transceiver 124, and then connects to other CAN buses on the first bus or the second bus to access the network Either the first CAN bus transceiver 123 or the second CAN bus transceiver 124 of the unit 110 can receive the message. As long as it is connected to a bus, sending a message can be regarded as a kind of broadcast. Therefore, in Figure 2, if the CAN bus access unit C2 sends a message, since the CAN bus access units C1, C3, C4 are all connected to the first CAN bus 121, they all receive the message, that is, the message is broadcast to the CAN bus access unit C1, C3, C4.
如图3所示，第一端口131连接到第一CAN总线121。多个可变连接端口130中的至少一个可变连接端口130连接到所述第一CAN总线121、第二CAN总线122中的一个(通过开关结构连接，图3未示)，或与所述第一CAN总线121、第二CAN总线122都不相连，从而使CAN总线入网单元110具有不同的类型，即直线型CAN总线入网单 元和移载机CAN总线入网单元。As shown in FIG. 3, the first port 131 is connected to the first CAN bus 121. At least one 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 through a switch structure, not shown in FIG. 3), or connected to the The first CAN bus 121 and the second CAN bus 122 are not connected, so that the CAN bus network access unit 110 has different types, that is, a linear CAN bus network access unit and a transfer machine CAN bus network access unit.
下面详细描述直线型CAN总线入网单元和移载机CAN总线入网单元。The following is a detailed description of the linear CAN bus network access unit and the transfer machine CAN bus network access unit.
如图3所示的CAN总线入网单元110，如果只使用其第一端口131、第三端口133，不使用其第二端口132、第四端口134(将第二端口132、第四端口134通过物理设备屏蔽，例如用盖板封闭)，则为直线型CAN总线入网单元。第一端口131与第三端口133的连线方向与所述直线型CAN总线入网单元110所在的输送段输送方向一致。CAN总线入网单元110是输送段的电气控制部分，其接续形状应与输送段整体连接方式相适应。如果直线型CAN总线入网单元110所在的输送段如图1B所示，输送方向是左右方向，则第一端口131与第三端口133的连线也是左右方向，这样可以确保在左右方向与其它CAN总线入网单元110接续。As shown in Figure 3, the CAN bus network access unit 110, if only its first port 131 and third port 133 are used, its second port 132 and fourth port 134 are not used (pass the second port 132 and fourth port 134 through Physical equipment shielding, for example, closed with a cover), is a linear CAN bus network unit. The connection direction of the first port 131 and the third port 133 is consistent with 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 the electrical control part of the transmission section, and its connection shape should be adapted to the overall connection mode of the transmission section. If the transmission section where the linear CAN bus network access unit 110 is located is shown in Figure 1B, and the transmission direction is left and right, the connection between the first port 131 and the third port 133 is also left and right, so that it can ensure that it is connected to other CANs in the left and right direction. The bus network access unit 110 is connected.
这时，第一端口131固定连接到第一CAN总线121，一定是电气控制网络119中电控制信号的入口，第三端口133也只能连接到第一CAN总线121，作为电控制信号的出口，因为如果其连接到第二CAN总线122，从第一端口131流入的信号就无法流出，因此，其只能作为第一端口131流入信号的出口，连接到第一CAN总线121。第二端口132、第四端口134中的任一个与所述第一CAN总线121、第二CAN总线122都不相连。At this time, the first port 131 is fixedly connected to the first CAN bus 121, which must be the entrance of the electrical control signal in the electrical control network 119, and the third port 133 can only be connected to the first CAN bus 121 as the exit of the electrical control signal. , Because if it is connected to the second CAN bus 122, the signal flowing in from the first port 131 cannot flow out, therefore, it can only be used as an outlet for the incoming signal from the first port 131 and connected to the first CAN bus 121. Any one of the second port 132 and the fourth port 134 is not connected to the first CAN bus 121 and the second CAN bus 122.
在上述直线型CAN总线入网单元中，第一端口131连接到所述第一CAN总线121，第三端口133可以连接到第一CAN总线121，也可以连接到第二CAN总线122。本公开实施例中，第三端口133在连接到第一CAN总线121和连接到第二CAN总线122之间切换是通过开关实现的。In the aforementioned linear CAN bus network access 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 embodiment of the present disclosure, the switching of the third port 133 between being connected to the first CAN bus 121 and connected to the second CAN bus 122 is realized by a switch.
在一个实施例中，如图4A所示，所述开关为第一单刀双掷开关D1。第一单刀双掷开关D1一端连接第三端口133，另一端在连接第一CAN总线121和连接第二CAN总线122之间切换。当该另一端连接第一CAN总线121时，实现第三端口133与第一CAN总线121的连接。当该另一端连接第二CAN总线122时，实现第三端口133与第二CAN总线122的连接。In one embodiment, as shown in FIG. 4A, the switch is a first single pole double throw switch D1. One end of the first single-pole double-throw switch D1 is connected to the third port 133, and the other end is connected to the first CAN bus 121 and the second CAN bus 122 to switch. When the other end is connected to the first CAN bus 121, the connection between the third port 133 and the first CAN bus 121 is realized. When the other end is connected to the second CAN bus 122, the connection between the third port 133 and the second CAN bus 122 is realized.
在另一个实施例中，如图4B所示，所述开关包括连接到所述第一CAN总线121的第一开关K1、和连接到所述第二CAN总线122的第二开关。K2。这样，当第一开关K1闭合，而第二开关K2断开时，实现第三端口133与第一CAN总线121的连接。当第一开关K1断开，而第二开关K2闭合时，实现第三端口133与第二CAN总线122的连接。In another embodiment, as shown in FIG. 4B, the switch includes 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 opened, the connection between the third port 133 and the first CAN bus 121 is realized. When the first switch K1 is opened and the second switch K2 is closed, the connection between the third port 133 and the second CAN bus 122 is realized.
通过以上，实现了直线型CAN总线入网单元的CAN总线切换机制，为将输送线的电气控制***单元化扫清障碍。Through the above, the CAN bus switching mechanism of the linear CAN bus network unit is realized, and the obstacle is cleared for the unitization of the electrical control system of the transmission line.
图4C-图4D是分别是图4A-图4B的直线型CAN总线入网单元110的逻辑结构图。这些逻辑结构图模糊了图4A-图4B的CAN总线入网单元110中的内部连接关系，将其内部连接关系视为黑盒子，仅将CAN总线入网单元110看作具有四个逻辑端口131-134， 每个逻辑端口131-134与第一CAN总线121或第二CAN总线122的连接关系被隐藏。逻辑端口131-134可以是入口，也可以是出口。入口的含义是，如果从某个端口连接到第一CAN总线121或第二CAN总线122，并向其提供输入信号，则该端口为入口。出口的含义是，如果从某个端口连接到第一CAN总线121或第二CAN总线122，并从该CAN总线输出信号到该端口，则该端口为出口。由于第一端口131固定连接第一CAN总线121，其只能为入口。由于第二端口132、第三端口133、第四端口134都是既可以连接第一CAN总线121，也可以连接第二CAN总线122，其连接第一CAN总线121时，正好形成与第一端口131的入口的信号的出口，即为出口；其连接第二CAN总线122时，此时是连接到一条新的CAN总线上，为其输入信号，即为入口。4C-4D are the logical structure diagrams of the linear CAN bus network access unit 110 of FIGS. 4A-4B, respectively. These logical structure diagrams obscure the internal connection relationship in the CAN bus network access unit 110 of Figures 4A-4B, regard its internal connection relationship as a black box, and only consider the CAN bus network access unit 110 as having four logical ports 131-134 The connection relationship between each logical port 131-134 and the first CAN bus 121 or the second CAN bus 122 is hidden. The logical ports 131-134 can be inlets or outlets. The meaning of the entrance is that if a port is connected to the first CAN bus 121 or the second CAN bus 122 and an input signal is provided to it, the port is an entrance. The meaning of an exit is that if it is connected to the first CAN bus 121 or the second CAN bus 122 from a certain port and outputs a signal from the CAN bus to the port, the port is an exit. Since the first port 131 is fixedly connected to the first CAN bus 121, it can only be an entrance. Since the second port 132, the third port 133, and the fourth port 134 can be connected to either the first CAN bus 121 or the second CAN bus 122, when they are connected to the first CAN bus 121, they are formed with the first port The signal exit of the entrance of 131 is the exit; when it is connected to the second CAN bus 122, it is connected to a new CAN bus at this time, and its input signal is the entrance.
如图3所示的CAN总线入网单元110，如果其第一端口131、第二端口132、第三端口133、第四端口134都可以使用，则其为移载机CAN总线入网单元。移载机CAN总线入网单元110中，第一端口131与第三端口133的连线方向、第二端口132与第四端口134的连线方向相互垂直。CAN总线入网单元110是输送段的电气控制部分，其接续形状应与输送段整体连接方式相适应。由于移载机CAN总线入网单元110所在的输送段如图1C所示，需要在上下左右四个方向都能传输，相对应地，就要求其移载机CAN总线入网单元110能在四个方向实现接续，其中，第一端口131与第三端口133能在左右方向实现接续，第二端口132与第四端口134能在上下方向实现接续。这样，就要求第一端口131与第三端口133的连线方向、第二端口132与第四端口134的连线方向相互垂直。As shown in FIG. 3, the CAN bus network access unit 110, if the first port 131, the second port 132, the third port 133, and the fourth port 134 can all be used, it is a transfer machine CAN bus network access unit. In the CAN bus network access unit 110 of the transfer machine, 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. The CAN bus network access unit 110 is the electrical control part of the transmission section, and its connection shape should be adapted to the overall connection mode of the transmission section. Since the transfer section of the transfer machine CAN bus network unit 110 is shown in Figure 1C, it needs to be able to transmit in four directions, up, down, left, and right. Correspondingly, the transfer machine CAN bus network unit 110 is required to be able to move in four directions. The connection is realized, wherein the first port 131 and the third port 133 can be connected in the left and right directions, and the second port 132 and the fourth port 134 can be connected in the up and down directions. In this way, 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 required to be perpendicular to each other.
这时，第一端口131固定连接到第一CAN总线121，一定是入口，第二端口132、第三端口133、第四端口134可以连接到第一CAN总线121，作为出口，也可以连接到第二CAN总线122，作为入口。第二端口132、第三端口133、第四端口134连接到第一CAN总线121或第二CAN总线122也是通过开关机制。第二端口132、第三端口133、第四端口134中的至少一个通过各自的开关，连接到第一CAN总线121，或连接到第二CAN总线122。At this time, the first port 131 is fixedly connected to the first CAN bus 121 and must be an entrance. The second port 132, the third port 133, and the fourth port 134 can be connected to the first CAN bus 121 as an exit or can be connected to The second CAN bus 122 serves as an entrance. The second port 132, the third port 133, and the fourth port 134 are also connected to the first CAN bus 121 or the second CAN bus 122 through a switch mechanism. 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 to the second CAN bus 122 through respective switches.
在上述开关机制的一种实现方式中，如图6A和图6C所示，开关包括第二、第三、第四单刀双掷开关D2-4，第二单刀双掷开关D2一端连接第二端口132，另一端连接到第一CAN总线121，或连接到所述第二CAN总线122。这样第二端口132就可以在与第一CAN总线121连接和与第二CAN总线122连接之间切换。同理，第三单刀双掷开关D3一端连接第三端口133，另一端连接到第一CAN总线121，或连接到第二CAN总线122。这样第三端口133就可以在与第一CAN总线121连接和与第二CAN总线122连接之间切换。第四单刀双掷开关D4一端连接第四端口134，另一端连接到第一CAN总线121，或连接到第二CAN总线122。这样第四端口134就可以在与第一CAN总线121连接和与第二CAN总线122连接之间切换。In an implementation of the above-mentioned switch mechanism, as shown in FIGS. 6A and 6C, the switch includes a second, third, and fourth single-pole double-throw switch D2-4, and one end of the second single-pole double-throw switch D2 is connected to the second port 132. The other end is connected to the first CAN bus 121 or to the second CAN bus 122. In this way, the second port 132 can be switched between the connection with the first CAN bus 121 and the connection with the second CAN bus 122. In the same way, one end of the third single-pole double-throw switch D3 is connected to the third port 133, and the other end is connected to the first CAN bus 121 or to the second CAN bus 122. In this way, the third port 133 can be switched between the connection with the first CAN bus 121 and the connection with the second CAN bus 122. One end of the fourth single-pole double-throw switch D4 is connected to the fourth port 134, and the other end is connected to the first CAN bus 121 or to the second CAN bus 122. In this way, the fourth port 134 can be switched between the connection with the first CAN bus 121 and the connection with the second CAN bus 122.
在上述开关机制的一种实现方式中，如图6B和图6D所示，开关包括第五单刀双掷开关D5、第三、第四、第五开关K3-5，其中，所述第三、第四、第五开关K3-5的一端分别连接第二端口132、第三端口133、第四端口134，另一端共同连接到所述第五单刀双掷开关D5的一端，所述第五单刀双掷开关D5的另一端在连接所述第一CAN总线121和连接所述第二CAN总线122之间切换。In an implementation of the above switching mechanism, as shown in FIG. 6B and FIG. 6D, the switch includes a fifth single-pole double-throw switch D5, a third, fourth, and fifth switch K3-5, wherein the third, One ends of the fourth and fifth switches K3-5 are respectively connected to the second port 132, the third port 133, and the fourth port 134, and the other end is commonly connected to one end of the fifth single-pole double-throw switch D5. The other end of the double-throw switch D5 switches between connecting to the first CAN bus 121 and connecting to the second CAN bus 122.
由于第二端口132通过第三开关K3和第五单刀双掷开关D5与第一CAN总线121或第二CAN总线122连接，当第五单刀双掷开关D5的所述另一端切换到与第一CAN总线121连接且第三开关K3闭合时，第二端口132连接到第一CAN总线121；当第五单刀双掷开关D5的所述另一端切换到与第二CAN总线122连接且第三开关K3闭合时，第二端口132连接到第二CAN总线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 When the CAN bus 121 is connected 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 be connected to the second CAN bus 122 and the third switch When K3 is closed, the second port 132 is connected to the second CAN bus 122.
同理，当第五单刀双掷开关D5的所述另一端切换到与第一CAN总线121连接且第四开关K4闭合时，第三端口133连接到第一CAN总线121；当第五单刀双掷开关D5的所述另一端切换到与第二CAN总线122连接且第四开关K4闭合时，第三端口133连接到第二CAN总线122。Similarly, 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 fourth switch K4 is closed, the third port 133 is connected to the first CAN bus 121; When the other end of the throw switch D5 is switched to be connected to the second CAN bus 122 and the fourth switch K4 is closed, the third port 133 is connected to the second CAN bus 122.
同理，当第五单刀双掷开关D5的所述另一端切换到与第一CAN总线121连接且第五开关K5闭合时，第四端口134连接到第一CAN总线121；当第五单刀双掷开关D5的所述另一端切换到与第二CAN总线122连接且第五开关K5闭合时，第四端口133连接到第二CAN总线122。Similarly, 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 fifth switch K5 is closed, the fourth port 134 is connected to the first CAN bus 121; When the other end of the throw switch D5 is switched to be connected to the second CAN bus 122 and the fifth switch K5 is closed, the fourth port 133 is connected to the second CAN bus 122.
另外，直线型CAN总线入网单元可以与直线型CAN总线入网单元相连，如图5A-图5B中的各CAN总线入网单元110，也可以与移载机CAN总线入网单元相连，图7A-图7E中上、下、左、右的4个直线型CAN总线入网单元110与中间的移载机CAN总线入网单元110相连。但是，移载机CAN总线入网单元110只能与直线型CAN总线入网单元110相连，如图7A-图7E中间的移载机CAN总线入网单元110只能与上、下、左、右的4个直线型CAN总线入网单元110相连。In addition, the linear CAN bus network access unit can be connected to the linear CAN bus network access unit, as shown in Figures 5A-5B, each CAN bus network access unit 110, or can be connected to the transfer machine CAN bus network access unit, Figure 7A-7E The four linear CAN bus network access units 110 in the upper, lower, left and right middle are connected to the CAN bus network access unit 110 of the transfer machine in the middle. However, the CAN bus network access unit 110 of the transfer machine can only be connected to the linear CAN bus network access unit 110, as shown in Figure 7A-7E. A linear CAN bus network access unit 110 is connected.
以上描述了直线型CAN总线入网单元110和移载机CAN总线入网单元110内部的开关结构。下面，结合上述开关结构描述其在组网和使用阶段的工作过程。The above describes the switch structure inside the linear CAN bus network access unit 110 and the transfer machine CAN bus network access unit 110. Below, combined with the above-mentioned switch structure to describe its working process in the networking and use phase.
一个大型的输送线100上面有成千上万的控制部件113和成千上万的CAN总线入网单元110，从而完成整个大型输送线100上各设备的电气控制。这些CAN总线入网单元110有直线型CAN总线入网单元，也有移载机CAN总线入网单元。而且，端口的连接方式多种多样，尤其是移载机，端口的连接方式非常灵活。如果人工排查整个电气控制***119的连接结构，需要大量人工成本。组网阶段就是各个CAN总线入网单元110组装在一起成为电气控制***119的阶段。在组网阶段，可以通过各CAN总线入网单元110互相发现与自己连接的CAN总线入网单元110的标识、端口号(第一、第二、第三还是第四端口)、以及该连接的端口是入口还是出口。There are thousands of control components 113 and thousands of CAN bus network access units 110 on a large-scale transmission line 100, so as to complete the electrical control of each device on the entire large-scale transmission line 100. These CAN bus network access units 110 have a linear CAN bus network access unit and also a transfer machine CAN bus network access unit. Moreover, there are many ways to connect the ports, especially for transfer machines, the connection methods of the ports are very flexible. If the connection structure of the entire electrical control system 119 is manually checked, a lot of labor costs are required. The networking stage is the stage in which the various CAN bus network access units 110 are assembled together to form the electrical control system 119. In the networking stage, the identification and port number (first, second, third or fourth port) of the CAN bus network access unit 110 connected to itself can be found through each CAN bus network access unit 110, and whether the connected port is The entrance or the exit.
在本公开实施例中，在组网阶段，设置多个有顺序的扫描期。在每个扫描期中，各CAN总线入网单元110中各端口与第一CAN总线121或第二CAN总线122的连接关系是设置好的，各端口按照预定的规则发送消息，该消息就表明了该端口号以及端口与第一CAN总线121或第二CAN总线122的连接关系。与该端口连接的其它CAN总线入网单元110的端口接收到该消息，就识别出了连接的CAN总线入网单元110、连接的端口号、该端口是入口还是出口等信息，从而自动得到CAN总线入网单元110的各端口的连接情况，无需人工排查，提高了检查CAN总线入网单元110的各端口的连接情况的效率。In the embodiment of the present disclosure, in the networking phase, multiple sequential scan periods are set. In each scanning period, the connection relationship between each port of each CAN bus network access 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, and the message indicates the The port number and the connection relationship between the port and the first CAN bus 121 or the second CAN bus 122. The port of the other CAN bus network access unit 110 connected to the port receives the message, and then it recognizes the connected CAN bus network access unit 110, the connected port number, whether the port is an entry or exit, etc., so as to automatically get the CAN bus entry The connection status of each port of the unit 110 does not need to be manually checked, which improves the efficiency of checking the connection status of each port of the CAN bus network access unit 110.
从上可知，检查CAN总线入网单元110的各端口的连接情况，一方面是通过CAN总线入网单元110的每个端口在多个有顺序的扫描期按照预定规则与第一CAN总线121或第二CAN总线122连接并发状态通知消息，即状态通知，另一方面是接收到其它CAN总线入网单元110的状态通知消息后的处理。实际上，每个CAN总线入网单元110的每个端口既完成前者，又完成后者。完成前者是为了让相邻的CAN总线入网单元110发现自己的状态，完成后者是为了查明相邻的CAN总线入网单元110的状态。两者相辅相成。下面就针对如上所述的直线型和移载机CAN总线入网单元的状态通知和CAN总线入网单元的连接状态检测分别进行描述。It can be seen from the above that checking the connection of each port of the CAN bus network access unit 110, on the one hand, is that each port of the CAN bus network access unit 110 communicates with the first CAN bus 121 or the second CAN bus 121 or the second CAN bus 121 during multiple sequential scan periods. The CAN bus 122 is connected to the concurrent status notification message, that is, the status notification. On the other hand, it is the processing after receiving the status notification message of the other CAN bus network access unit 110. In fact, each port of each CAN bus network access unit 110 performs both the former and the latter. The former is done to allow the adjacent CAN bus network access unit 110 to discover its own state, and the latter is completed to find out the status of the adjacent CAN bus network access unit 110. The two complement each other. The following describes the status notification of the above-mentioned linear type and the transfer machine CAN bus network unit and the connection status detection of the CAN bus network unit.
为了使各局域网CAN总线入网单元能够同步地进行上述状态通知和连接状态检测，发送状态通知和连接状态检测可以由一个统一的扫描启动子类型的CAN控制消息来启动。在各局域网CAN总线入网单元规定一个检测启动CAN总线入网单元，专用于发出上述消息。由该统一的消息来启动整个CAN总线入网单元的状态通知和状态检测，一方面是为了协调整个电气控制***119中各CAN总线入网单元110的动作，使状态通知和状态检测能够同步(因为只有相连接的两个CAN总线入网单元110中一个进行状态通知，另一个进行状态检测，才能协调工作)，另一方面是为下文提到的第一、第二、第三、第四扫描期提供一个统一的时间基准。In order to enable each LAN CAN bus network access unit to perform the above-mentioned status notification and connection status detection synchronously, the sending status notification and the connection status detection can be started by a unified scanning start sub-type CAN control message. In each local area network CAN bus network access unit, a detection start CAN bus network access unit is specified, which is dedicated to sending the above-mentioned messages. The unified message initiates the status notification and status detection of the entire CAN bus network access unit. On the one hand, it is to coordinate the actions of the CAN bus network access units 110 in the entire electrical control system 119, so that the status notification and status detection can be synchronized (because only One of the two connected CAN bus network access units 110 performs status notification, and the other performs status detection to coordinate work), and the other is to provide for the first, second, third, and fourth scan periods mentioned below A unified time base.
检测启动CAN总线入网单元是电气控制***119中预先设定的一个CAN总线入网单元110，由它全网发送一个扫描启动子类型的CAN控制消息，从而全网的CAN总线入网单元110接收到该CAN控制消息后，基于该接收到该CAN控制消息的时间或接收到该CAN控制消息中的时间戳开始设置后面提到的第一、第二、第三、第四扫描期，在第一、第二、第三、第四扫描期设置不同的各端口与第一CAN总线121或第二CAN总线122的连接状态，发送不同的消息，由其端口连接的其它CAN总线入网单元110接收该消息，并基于该消息识别相邻CAN总线入网单元110和端口连接状态。The detection and activation of the CAN bus network access unit is a CAN bus network access unit 110 preset in the electrical control system 119, which sends a CAN control message of the scan start subtype throughout the network, so that the CAN bus network access unit 110 of the entire network receives the After the CAN control message, based on the time when the CAN control message is received or the time stamp in the CAN control message is received, the first, second, third, and fourth scan periods mentioned later are set. In the second, third, and fourth scan periods, set different connection states of each port with the first CAN bus 121 or the second CAN bus 122, and send different messages, which are received by other CAN bus network access units 110 connected to their ports , And identify the connection status of the adjacent CAN bus network access unit 110 and the port based on the message.
CAN控制消息是事先规定(例如通过协议规定)的用于在整个电气控制***119中发送全网控制指令的消息。这种全网控制指令不限于扫描启动，还可以进行其他类型的控制，例如定时控制。用于不同类型的控制的CAN控制消息可以用子类型来区分。用于 本公开实施例的CAN总线入网单元的连接状态检测的扫描启动的CAN控制消息为扫描启动子类型，用于定时控制的CAN控制消息为定时控制子类型，等等。子类型可以体现为CAN控制消息的一个字段。当一个CAN总线入网单元110接收到一个CAN控制消息后，查看该表示子类型的字段，如果该字段表明扫描启动子类型，则开始准备在后面提到的第一、第二、第三、第四扫描期，设置不同的各端口与第一CAN总线121或第二CAN总线122的连接状态，发送不同的消息。The CAN control message is a message prescribed in advance (for example, through a protocol) and used to send a network-wide control command in the entire electrical control system 119. This kind of network-wide control command is not limited to scan start, and can also perform other types of control, such as timing control. CAN control messages used for different types of control can be distinguished by subtypes. The CAN control message used for scanning start of the connection state detection of the CAN bus network access unit of the embodiment of the present disclosure is a scanning start subtype, and the CAN control message used for timing control is a timing control subtype, and so on. The subtype can be embodied as a field of the CAN control message. When a CAN bus network access unit 110 receives a CAN control message, it looks at the field indicating the subtype. If the field indicates the scan initiation subtype, it will start preparing for the first, second, third, and first In the fourth scan period, different connection states of each port and the first CAN bus 121 or the second CAN bus 122 are set, and different messages are sent.
检测启动CAN总线入网单元向全网的所有CAN总线入网单元110发送扫描启动子类型的CAN控制消息，可以通过以下方式进行：检测启动CAN总线入网单元向所述检测启动CAN总线入网单元所在的CAN内的其它所有检测启动CAN总线入网单元广播所述CAN控制消息，所述CAN与其它CAN之间路由CAN总线入网单元收到所述CAN控制消息后，识别出该CAN控制消息为扫描启动子类型，将其向该其它CAN中的其它所有CAN总线入网单元广播，以此类推，直至该电气控制***119中的所有CAN中的所有CAN总线入网单元都得到该CAN控制消息。The detection start CAN bus network access unit sends the scan start sub-type CAN control message to all the CAN bus network access units 110 in the entire network, which can be carried out in the following manner: the detection start CAN bus network access unit to the CAN bus where the detection start CAN bus network access unit is located All other detections start the CAN bus network access unit to broadcast the CAN control message. After the CAN bus network access unit receives the CAN control message by routing between the CAN and other CANs, it recognizes that the CAN control message is a scanning start sub-type , Broadcast it to all other CAN bus network access units in the other CAN, and so on, until all CAN bus network access units in all CANs in the electrical control system 119 obtain the CAN control message.
以图2的电气控制***119为例。假设C2是检测启动CAN总线入网单元。由于C2位于第一CAN 1141，其向第一CAN 1141内的其它CAN总线入网单元110，即C1、C3、C4，广播CAN控制消息，该CAN控制消息的子类型字段指示扫描启动子类型。第一CAN 1141和第二CAN 1142之间的路由CAN总线入网单元C4接收到所述CAN控制消息后，识别出该CAN控制消息的子类型字段指示扫描启动子类型，将其向第二CAN 1142中的其它所有CAN总线入网单元，即C5-C8广播。第二CAN 1142和第二CAN 1143之间的路由CAN总线入网单元C8接收到所述CAN控制消息后，识别出该CAN控制消息的子类型字段指示扫描启动子类型，将其向第三CAN 1143中的其它所有CAN总线入网单元，即C9-C11广播。这样，C1-C11就都得到了该CAN控制消息，从而可以基于接收该CAN控制消息的时间或该CAN控制消息的时间戳设置后续的第一、第二、第三、第四扫描期，进行后文所述的状态通知和状态检测。Take the electrical control system 119 of FIG. 2 as an example. Assume that C2 is to detect and start the CAN bus network access unit. Since C2 is located in the first CAN 1141, it broadcasts CAN control messages to other CAN bus network access units 110 in the first CAN 1141, namely C1, C3, and C4. The subtype field of the CAN control message indicates the scan initiation subtype. The routing between the first CAN 1141 and the second CAN 1142. After receiving the CAN control message, the CAN bus network access unit C4 recognizes that the subtype field of the CAN control message indicates the scanning start subtype, and sends it to the second CAN 1142 All other CAN bus access units in the network, namely C5-C8 broadcast. The route between the second CAN 1142 and the second CAN 1143 After receiving the CAN control message, the CAN bus network access unit C8 recognizes that the subtype field of the CAN control message indicates the scanning start subtype, and sends it to the third CAN 1143 All other CAN bus access units in the network, namely C9-C11 broadcast. In this way, C1-C11 all get 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 perform The status notification and status detection described later.
虽然在上述过程中，电气控制***119中的各CAN总线入网单元接收到CAN控制消息的时间不是同步的，而是略有差别，但第一、第二、第三、第四扫描期一般是5s左右的量级，因此接收到CAN控制消息的时间差与5s相比，可以忽略不计。因此，可以基于接收该CAN控制消息的时间设置后续的第一、第二、第三、第四扫描期。另外，还可以在CAN控制消息中设置时间戳。该时间戳在生成CAN控制消息时就已经加上，不随各CAN总线入网单元接收到CAN控制消息的时间不同而改变，因此，如果基于该时间戳来设置后续的第一、第二、第三、第四扫描期，更能提高扫描期设置的准确性，提高检测效果。Although in the above process, the time when each CAN bus access unit in the electrical control system 119 receives the CAN control message is not synchronized, but slightly different, the first, second, third, and fourth scan periods are generally The magnitude of about 5s, so the time difference between receiving CAN control messages is negligible compared with 5s. Therefore, the subsequent first, second, third, and fourth scan periods can be set based on the time when the CAN control message is received. In addition, you can also set a time stamp in the CAN control message. The time stamp is added when the CAN control message is generated, and does not change with the time when each CAN bus access unit receives the CAN control message. Therefore, if you set the subsequent first, second, and third based on the time stamp, , The fourth scanning period can improve the accuracy of the scanning period setting and improve the detection effect.
另外，在第一扫描期之前，可以设置第一静默期；在第四扫描期之后，可以设置第二静默期。第一静默期和第二静默期的长度可以设置得与第一、第二、第三、第四扫描 期的每一个基本相同，即5s左右。在第一静默期各端口与第一CAN总线121或第二CAN总线122的连接状态与第一扫描期相同，发的消息也与第一扫描期相同(后文会描述第一扫描期中各端口与第一CAN总线121或第二CAN总线122的连接状态和发送的消息)。在第二静默期各端口与第一CAN总线121或第二CAN总线122的连接状态与第四扫描期相同，发的消息也与第四扫描期相同(后文会描述第四扫描期中各端口与第一CAN总线121或第二CAN总线122的连接状态和发送的消息)。In addition, before the first scanning period, a first silent period can be set; after the fourth scanning period, a second silent period can be set. The length of the first silent period and the second silent period can be set to be basically the same as each of the first, second, third, and fourth scan periods, that is, about 5s. In the first silent period, the connection status of each port with the first CAN bus 121 or the second CAN bus 122 is the same as that of the first scan period, and the messages sent are also the same as those of the first scan period (the following will describe each port in the first scan period Connection status with the first CAN bus 121 or the second CAN bus 122 and sent messages). During the second silent period, the connection status of each port with the first CAN bus 121 or the second CAN bus 122 is the same as that of the fourth scan period, and the messages sent are also the same as the fourth scan period (the following will describe the ports in the fourth scan period Connection status with the first CAN bus 121 or the second CAN bus 122 and sent messages).
设置第一静默期的作用一方面是给某些尚未准备好开始按照第一、第二、第三、第四扫描期的端口与CAN总线连接状态改变规则来改变状态、和发消息的CAN总线入网单元110有充足时间进行准备，因为在后续连接状态检测中，只考虑在第一、第二、第三、第四扫描期接收到的消息(在后文的连接状态检测中详述)，第一静默期不起作用，因此，第一静默期起到了缓冲作用。另一方面，设置第一静默期，弥补了各CAN总线入网单元110接收到上述扫描启动子类型的CAN控制消息的时间差。这样，即使有时间差，也只影响到第一静默期的长短，对于第一、第二、第三、第四扫描期，仍然能同步开始和结束。The function of setting the first quiet period is to change the state and send messages to some CAN buses that are not ready to start according to the change rules of the port and CAN bus connection state in the first, second, third, and fourth scan periods. The network access unit 110 has sufficient time to prepare, because in the subsequent connection state detection, only messages received in the first, second, third, and fourth scan periods are considered (detailed in connection state detection later), The first silent period does not work, therefore, the first silent period acts as a buffer. On the other hand, setting the first silent period makes up for the time difference between the CAN bus network access units 110 receiving the CAN control message of the scan initiation sub-type. In this way, even if there is a time difference, it only affects the length of the first silent period. For the first, second, third, and fourth scan periods, the start and end can still be synchronized.
设置第二静默期的作用与第一静默期类似，在第二静默期保持的是第四扫描期的状态，起到了状态缓冲作用。同时，如果在第四扫描期检测失败的CAN总线入网单元110也可以在这段缓冲状态下继续检测。The effect of setting the second silent period is similar to that of the first silent period. In the second silent period, the state of the fourth scan period is maintained, which acts as a state buffer. At the same time, if the CAN bus network access unit 110 fails the detection in the fourth scan period, the detection can also be continued in this buffer state.
下面分别对直线型CAN总线入网单元和移栽机CAN总线入网单元在第一、第二、第三、第四扫描期内部开关机制的开关状态、以及发送的通知消息进行描述。The following describes the switching states of the internal switching mechanisms of the linear CAN bus network access unit and the transplanter CAN bus network access unit during the first, second, third, and fourth scan periods, and the notification messages sent.
对于直线型CAN总线入网单元，在组网阶段的连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，通过开关将第三端口133连接到第二CAN总线122。具体地，在图4A的实施例中，第一单刀双掷开关D1一端连接第三端口133，另一端切换到连接第二CAN总线122，从而第三端口133连接到第二CAN总线122。在图4B的实施例中，连接到第一CAN总线121的第一开关K1断开，连接到第二CAN总线122的第二开关K2闭合。For the linear CAN bus network access unit, in the consecutive first scan period, second scan period, third scan period, and fourth scan period of the networking stage, the third port 133 is connected to the second CAN bus 122 through a switch. Specifically, in the embodiment of FIG. 4A, one end of the first single-pole double-throw switch D1 is connected to the third port 133, and the other end is switched to be connected 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 opened, and the second switch K2 connected to the second CAN bus 122 is closed.
另外，在第一扫描期之前的第一静默期、以及第四扫描期之后的第二静默期，也通过开关将第三端口133连接到第二CAN总线122。具体地，在图4A的实施例中，第一单刀双掷开关D1一端连接第三端口133，另一端切换到连接第二CAN总线122。在图4B的实施例中，连接到第一CAN总线121的第一开关K1断开，连接到第二CAN总线122的第二开关K2闭合。In addition, during the first silent period before the first scan period and the second silent period after the fourth scan period, the third port 133 is also connected to the second CAN bus 122 through a switch. Specifically, in the embodiment of FIG. 4A, one end of the first single-pole double-throw switch D1 is connected to the third port 133, and the other end is switched to be 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 opened, and the second switch K2 connected to the second CAN bus 122 is closed.
这样做是因为，直线型CAN总线入网单元在实际工作时就只有第一端口131和第三端口133在工作，让第一端口131连接到第一CAN总线121，第三端口133连接到第二CAN总线122，就能清楚向其它CAN总线入网单元110区分是第一端口131在连接，还是第三端口133在连接。This is because the linear CAN bus network access unit has only the first port 131 and the third port 133 working in actual work, so that the first port 131 is connected to the first CAN bus 121, and the third port 133 is connected to the second port. The CAN bus 122 can clearly distinguish from other CAN bus network access units 110 whether the first port 131 is connected or the third port 133 is connected.
图5A示出了多个直线型CAN总线入网单元在组网阶段相互连接构成电气控制***119的示意图。图5A中相邻两个直线型CAN总线入网单元之间形成一个CAN网络，如图5A中的虚线框所示。FIG. 5A shows a schematic diagram of a plurality of linear CAN bus network access units connected to each other in the networking stage to form an electrical control system 119. A CAN network is formed between two adjacent linear CAN bus network access units in FIG. 5A, as shown by the dashed box in FIG. 5A.
在一个实施例中，在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，直线型CAN总线入网单元的第一端口131和第三端口133发送通知消息，所述通知消息中含有直线型CAN总线入网单元的标识、发送该通知消息的端口号、发送该通知消息的端口连接的总线号。In one embodiment, in the consecutive first scan period, second scan period, third scan period, and fourth scan period, the first port 131 and the third port 133 of the linear CAN bus network access unit send notification messages, so The notification message contains the identification of the linear CAN bus network access unit, the port number that sends the notification message, and the bus number connected to the port that sends the notification message.
CAN总线入网单元的标识是分配给该CAN总线入网单元的唯一标志，它能唯一地区分该CAN总线入网单元的标识“是谁”。在该通知消息中，这个标识用来通知与该CAN总线入网单元110连接的其它CAN总线入网单元110，是哪个CAN总线入网单元110的端口在连接对方。The identification of the CAN bus network access unit is the only identification assigned to the CAN bus network access unit, and it can uniquely distinguish the identification "who is" of the CAN bus network access unit. In the notification message, this identifier is used to notify other CAN bus network access units 110 connected to the CAN bus network access unit 110, which CAN bus network access unit 110 has its port connected to the other party.
发送该通知消息的端口号是指发送该通知消息的端口是第一端口131、第二端口132、第三端口133、第四端口134中的哪个端口。例如，第一端口131可以用1表示，第二端口132可以用2表示，第三端口133可以用3表示，第四端口134可以用4表示。The port number for sending the notification message refers to which of the first port 131, the second port 132, the third port 133, and the fourth port 134 is the port for sending the notification message. For example, the first port 131 can be represented by 1, the second port 132 can be represented by 2, the third port 133 can be represented by 3, and the fourth port 134 can be represented by 4.
发送该通知消息的端口连接的总线号是指发送该通知消息的端口连接的是第一CAN总线121，还是第二CAN总线122。例如，第一CAN总线121可以用1表示，第二CAN总线122可以用2表示。The bus number connected to the port 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 represented by 1, and the second CAN bus 122 may be represented by 2.
对于直线型CAN总线入网单元，在组网阶段，第一端口连接到第一CAN总线，将第三端口连接到第二CAN总线，因此，利用第一CAN总线收发器123发消息，通过与第一CAN总线收发器123连接的第一端口131，通知所述CAN总线入网单元的标识、总线号1(因为与第一CAN总线收发器123连接的是第一CAN总线121)、端口号1(因为与第一CAN总线121连接的是第一端口131)；利用第二CAN总线收发器124发消息，通过与第二CAN总线收发器124连接的第三端口133，通知所述CAN总线入网单元的标识、总线号2(因为与第二CAN总线收发器124连接的是第二CAN总线122)、端口号3(因为与第二CAN总线122连接的是第三端口133)。For the linear CAN bus network unit, in the networking phase, the first port is connected to the first CAN bus, and the third port is connected to the second CAN bus. Therefore, the first CAN bus transceiver 123 is used to send messages, and the first CAN bus transceiver 123 is used to send messages. A first port 131 connected to a CAN bus transceiver 123, notifying the identification of the CAN bus network access unit, bus number 1 (because the first CAN bus 121 is connected to the first CAN bus transceiver 123), port number 1 ( Because the first port 131 is connected to the first CAN bus 121); the second CAN bus transceiver 124 is used to send a message, and the CAN bus network access unit is notified through the third port 133 connected to the second CAN bus transceiver 124 , The bus number 2 (because the second CAN bus 122 is connected to the second CAN bus transceiver 124), and the port number 3 (because the third port 133 is connected to the second CAN bus 122).
这样，只要相邻的CAN总线入网单元接收到一个含有CAN总线入网单元的标识、总线号1、端口号1的通知消息，则相邻的CAN总线入网单元确定该第一端口或第三端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，从端口号1可以确定连接的是直线型CAN总线入网单元的第一端口131。由于第一端口131连接的是第一CAN总线121，起到的是入口的作用，因此是判定连接的第一端口是入口。如果接收到的是包含直线型CAN总线入网单元的标识、总线号2、端口号3的消息，从端口号3可以确定连接的是直线型CAN总线入网单元的第三端口133。由于第三端口133连接的是第二CAN总线122，起到的是出口的作用，因此该第三端口133是出口。这样，就通过第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间内部开关机制的转换 和发出的通知消息，向相邻的CAN总线入网单元通知本CAN总线入网单元的连接状态。In this way, as long as the adjacent CAN bus access unit receives a notification message containing the CAN bus access unit’s identification, bus number 1, port number 1, the adjacent CAN bus access unit determines whether the first port or the third port is connected To a linear CAN bus network access unit, record the identification of the connected CAN bus network access unit. From the port number 1, it can be determined that the connection is the first port 131 of the linear CAN bus network access unit. Since the first port 131 is connected to the first CAN bus 121 and functions as an entrance, it is determined that the connected first port is an entrance. If the received message contains the identification of the linear CAN bus network access unit, the bus number 2, and the port number 3, it can be determined from the port number 3 that the third port 133 of the linear CAN bus network access unit is connected. Since the third port 133 is connected to the second CAN bus 122 and functions as an outlet, the third port 133 is an outlet. In this way, through the conversion of the internal switch mechanism during the first scan period, the second scan period, the third scan period, and the fourth scan period and the notification message sent out, the adjacent CAN bus network access unit is notified to the CAN bus network access unit The connection status.
对于移载机CAN总线入网单元，则在第一扫描期，将第一端口131连接到第一CAN总线121；在第二扫描期，通过开关，将第二端口132连接到第二CAN总线122；在所述第三扫描期，通过开关，将第三端口133连接到第二CAN总线122；在所述第四扫描期，将第四端口134连接到第二CAN总线122。For the transfer machine CAN bus network unit, in the first scan period, the first port 131 is connected to the first CAN bus 121; in the second scan period, the second port 132 is connected to the second CAN bus 122 through a switch In the third scan period, the third port 133 is connected to the second CAN bus 122 through a switch; in the fourth scan period, the fourth port 134 is connected to the second CAN bus 122.
在图6A的实施例中，第一端口131连接到第一CAN总线121。在第一扫描期，将第二、第三、第四单刀双掷开关D2-4分别切换到与第二CAN总线122连接；在第二扫描期，将第三、第四单刀双掷开关D3-4分别切换到与第一CAN总线121连接，将第二单刀双掷开关D2切换到与第二CAN总线122连接；在第三扫描期，将第二、第四单刀双掷开关D2、D4分别切换到与第一CAN总线121连接，将第三单刀双掷开关D3切换到与第二CAN总线122连接；在第四扫描期，将第二、第三单刀双掷开关D2-3分别切换到与第一CAN总线121连接，将第四单刀双掷开关D4切换到与第二CAN总线122连接。In the embodiment of FIG. 6A, the first port 131 is connected to the first CAN bus 121. In the first scan period, the second, third, and fourth single-pole double-throw switches D2-4 are respectively switched to be connected to the second CAN bus 122; in the second scan period, the third and fourth single-pole double-throw switches D3 -4 Switch to the connection with the first CAN bus 121, and switch the second SPDT switch D2 to connect with the second CAN bus 122; in the third scan period, switch the second and fourth SPDT switches D2, D4 Switch to the first CAN bus 121 respectively, switch the third SPDT switch D3 to connect to the second CAN bus 122; in the fourth scan period, switch the second and third SPDT switches D2-3 respectively To connect with the first CAN bus 121, switch the fourth single-pole double-throw switch D4 to connect with the second CAN bus 122.
在图6B的实施例中，在第一扫描期，将第五单刀双掷开关D5切换到与第一CAN总线121连接，第三、第四、第五开关K3-5断开；在第二扫描期，将第五单刀双掷开关D5切换到与第二CAN总线122连接，第三开关K3闭合，第四、第五开关K4-5断开；在第三扫描期，将第五单刀双掷开关D5切换到与第二CAN总线122连接，第四开关K4闭合，第三、第五开关K3、K5断开；在第四扫描期，将第五单刀双掷开关D5切换到与第二CAN总线122连接，第五开关K5闭合，第三、第四开关K3-4断开。In the embodiment of FIG. 6B, in the first scan period, the fifth single-pole double-throw switch D5 is switched to be connected to the first CAN bus 121, and the third, fourth, and fifth switches K3-5 are turned off; During the scanning period, the fifth SPDT switch D5 is switched to be connected to the second CAN bus 122, the third switch K3 is closed, and the fourth and fifth switches K4-5 are open; in the third scanning period, the fifth single-pole double-throw switch D5 is switched off. The throw switch D5 is switched to connect 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 the second CAN bus 122. The CAN bus 122 is connected, the fifth switch K5 is closed, and the third and fourth switches K3-4 are opened.
图7A-图7D示出了移载机CAN总线入网单元在组网阶段的第一、第二、第三、第四扫描期开关状态图。图7A表示第一扫描期，其中，将第二、第三、第四单刀双掷开关D2-4分别切换到与第二CAN总线122连接；图7B表示第二扫描期，其中，将第三、第四单刀双掷开关D3-4分别切换到与第一CAN总线121连接，将第二单刀双掷开关D2切换到与第二CAN总线122连接；图7C表示第三扫描期，其中，将第二、第四单刀双掷开关D2、D4分别切换到与第一CAN总线121连接，将第三单刀双掷开关D3切换到与第二CAN总线122连接；图7D表示第四扫描期，其中，将第二、第三单刀双掷开关D2-3分别切换到与第一CAN总线121连接，将第四单刀双掷开关D4切换到与第二CAN总线122连接。Figures 7A-7D show the switch state diagrams of the first, second, third, and fourth scan periods of the CAN bus network access unit of the transfer machine during the networking phase. Fig. 7A shows the first scan period, in which the second, third, and fourth single-pole double-throw switches D2-4 are respectively switched to be connected to the second CAN bus 122; Fig. 7B shows the second scan period, in which the third , The fourth single-pole double-throw switch D3-4 is respectively switched to be connected to the first CAN bus 121, and the second single-pole double-throw switch D2 is switched to be connected to the second CAN bus 122; Figure 7C shows the third scan period, where The second and fourth single-pole double-throw switches D2 and D4 are respectively switched to be connected to the first CAN bus 121, and the third single-pole double-throw switch D3 is switched to be connected to the second CAN bus 122; Fig. 7D shows the fourth scan period, where , The second and third single-pole double-throw switches D2-3 are respectively 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.
在第一扫描期，将第一端口131连接到第一CAN总线121的意义是，对于移载机CAN总线入网单元，正常使用时，第一端口131就应该连接到第一CAN总线121。将第一端口131连接到第一CAN总线121，通过开关，将第二、第三、第四端口132-134连接到第二CAN总线122，这样，如果在第一扫描期，通知的消息中所述收发器对应的总线号为1，就一定是第一端口131发出的，从而清楚地向端口连接的其它CAN总线入网单元110表明是第一端口131在连接对方。In the first scan period, the meaning of connecting the first port 131 to the first CAN bus 121 is that for the CAN bus network access unit of the transfer machine, the first port 131 should be connected to the first CAN bus 121 during normal use. Connect the first port 131 to the first CAN bus 121, and connect the second, third, and fourth ports 132-134 to the second CAN bus 122 through a switch, so that if in the first scan period, the notification message If the bus number corresponding to the transceiver is 1, it must be sent by the first port 131, thereby clearly indicating to other CAN bus network access units 110 connected to the port that the first port 131 is connected to the other party.
如果说在第一扫描期，将第一端口131连接到第一CAN总线121，是为了清楚地区别第一端口131是否连接到第一CAN总线121，则在第二扫描期，将第二端口132连接到第二CAN总线122的意义是为了清楚地区别第二端口132是否连接到第二CAN总线122。由于此时在第二扫描期，只有第二端口132连接到第二CAN总线122，其它端口要么连接到第一CAN总线121，要么不连接到任一个CAN总线，因此，如果在第二扫描期，某一CAN总线入网单元110接收到通知消息，该通知消息指示总线号为2，则可以清楚地知道是另一CAN总线入网单元110的第二端口132在连接它。If in the first scan period, the first port 131 is connected to the first CAN bus 121, it is to clearly distinguish whether the first port 131 is connected to the first CAN bus 121, then in the second scan period, the second port The meaning of 132 being connected to the second CAN bus 122 is to clearly distinguish whether the second port 132 is connected to the second CAN bus 122 or not. At this time, in the second scan period, only the second port 132 is connected to the second CAN bus 122, and other ports are either connected to the first CAN bus 121 or not connected to any CAN bus. Therefore, if in the second scan period If a certain CAN bus network access unit 110 receives a notification message, and the notification message indicates that the bus number is 2, it can be clearly known that the second port 132 of another CAN bus network access unit 110 is connected to it.
同理，在第三扫描期，将第三端口133连接到第二CAN总线122，是为了清楚地区别第三端口133是否连接到第二CAN总线122。在第四扫描期，将第四端口134连接到第二CAN总线122，是为了清楚地区别第四端口134是否连接到第二CAN总线122，不再赘述。Similarly, in the third scan period, the third port 133 is connected to the second CAN bus 122 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 to clearly distinguish whether the fourth port 134 is connected to the second CAN bus 122, which will not be repeated.
对于移载机CAN总线入网单元，在第一扫描期、第二扫描期、第三扫描期、第四扫描期，各端口与第一CAN总线121或第二CAN总线122的连接关系都有不同的设置方式，此时在消息中通知端口号比较困难，因此，在第一扫描期、第二扫描期、第三扫描期、第四扫描期，移载机CAN总线入网单元的各端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标识、发送该通知消息的端口连接的总线号、特定标志位，不含有端口号。然后，由收到该消息的CAN总线入网单元110向当前CAN总线入网单元110发送一个端口查询请求，由当前CAN总线入网单元110对这个请求进行应答，应答中表明该总线连接的端口号。这样，如果是第一CAN总线收发器123发送的消息，该消息含有所述CAN总线入网单元的标识、总线号1、特定标志位，其中总线号1表示发送该通知消息的端口连接的总线是第一CAN总线121，特定标志位表明是移载机CAN总线入网单元发送的消息，例如为0。如果是第二CAN总线收发器124发送的消息，该消息含有所述CAN总线入网单元的标识、总线号2、特定标志位，其中总线号2表示发送该通知消息的端口连接的总线是第二CAN总线122。For the CAN bus of the transfer machine, the connection relationship between each port and the first CAN bus 121 or the second CAN bus 122 is different in the first scan period, second scan period, third scan period, and fourth scan period. At this time, it is difficult to notify the port number in the message. Therefore, in the first scan period, second scan period, third scan period, and fourth scan period, each port of the transfer machine CAN bus network unit sends notifications A message, the notification message contains the identification of the CAN bus network access unit, the bus number connected to the port that sends the notification message, and a specific flag bit, but does not contain the port number. Then, the CAN bus network access unit 110 that received the message sends a port query request to the current CAN bus network access unit 110, and the current CAN bus network access unit 110 responds to this request. The response indicates the port number to which the bus is connected. In this way, if it is a message sent by the first CAN bus transceiver 123, the message contains the identification of the CAN bus network 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 For the first CAN bus 121, the specific flag bit indicates that it is a message sent by the CAN bus network access unit of the transfer machine, for example, 0. If it is a message sent by the second CAN bus transceiver 124, the message contains the identification of the CAN bus network access unit, the bus number 2, and the specific flag bit, where the bus number 2 indicates that the bus connected to the port sending the notification message is the second CAN bus 122.
上述直线型和移栽机CAN总线入网单元发送通知消息后，也同时接到相连接的其它CAN总线入网单元的通知消息，基于该通知消息确定该其它CAN总线入网单元的连接状态。After the above-mentioned linear and transplanting machine CAN bus network access unit sends a notification message, it also receives notification messages from other connected CAN bus network access units at the same time, and determines the connection status of the other CAN bus network access unit based on the notification message.
CAN总线入网单元内部含有微控制单元(MCU，未示)，用于完成CAN总线入网单元中的逻辑判断和处理。The CAN bus network access unit contains a micro control unit (MCU, not shown), which is used to complete the logic judgment and processing in the CAN bus network access unit.
对于直线型CAN总线入网单元来说，与其连接的可能是直线型CAN总线入网单元，也可能是移栽机CAN总线入网单元，因此其按照以下过程来确定相邻的CAN总线入网单元的连接状态。For the linear CAN bus network access unit, it may be connected to the linear CAN bus network access unit, or it may be the transplanter CAN bus network access unit, so it follows the following process to determine the connection status of the adjacent CAN bus network access unit .
如上所述，对于直线型CAN总线入网单元，其通知消息中没有特定标志位，而对于移载机CAN总线入网单元，其通知的消息中具有特定标志位，因此，从是否有特定标志 位就能确定出该相邻的CAN总线入网单元是一个直线型CAN总线入网单元，还是一个移载机CAN总线入网单元。As mentioned above, for the linear CAN bus network access unit, there is no specific flag in the notification message, while for the transfer machine CAN bus network access unit, the notification message has a specific flag bit. Therefore, it depends on whether there is a specific flag bit. It can be determined whether the adjacent CAN bus access unit is a linear CAN bus access unit or a shifter CAN bus access unit.
如果没有特定标志位，则该待检测端口连接的是一个直线型CAN总线入网单元，可以进一步确定连接的是直线型CAN总线入网单元的哪个端口，该端口是入口还是出口。具体地，如果接收到的是包含直线型CAN总线入网单元的标识、总线号1、端口号1的消息，从端口号1可以确定连接的是直线型CAN总线入网单元的第一端口131。由于第一端口131连接的是第一CAN总线121，起到的是入口的作用，因此是入口。如果接收到的是包含直线型CAN总线入网单元的标识、总线号2、端口号3的消息，从端口号3可以确定连接的是直线型CAN总线入网单元的第三端口133。由于第三端口133连接的是第二CAN总线122，起到的是出口的作用，因此是出口。If there is no specific flag bit, the port to be detected is connected to a linear CAN bus network access unit, and it can be further determined which port of the linear CAN bus network access unit is connected, and whether the port is an entrance or an exit. Specifically, if the received message contains the identification of the linear CAN bus network access unit, the bus number 1, and the port number 1, 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 and functions as an entrance, it is an entrance. If the received message contains the identification of the linear CAN bus network access unit, the bus number 2, and the port number 3, it can be determined from the port number 3 that the third port 133 of the linear CAN bus network access unit is connected. Since the third port 133 is connected to the second CAN bus 122 and functions as an outlet, it is an outlet.
由于对于直线型CAN总线入网单元，其在第一扫描期、第二扫描期、第三扫描期、第四扫描期的端口与CAN总线的连接状态都是一样的，因此可以在第一扫描期、第二扫描期、第三扫描期、第四扫描期中任意时间进行上述过程，但在一个实施例中，可以规定仅在第一扫描期进行上述过程，或规定在其它任意一个扫描期进行上述过程。As for the linear CAN bus network access unit, the connection status of the port and CAN bus in the first scan period, second scan period, third scan period, and fourth scan period are the same, so it can be used in the first scan period. , The second scanning period, the third scanning period, the fourth scanning period, the above process is performed at any time, but in one embodiment, it can be specified to perform the above process only in the first scanning period, or it can be specified to be performed in any other scanning period. process.
因此，如果直线型CAN总线入网单元的第一端口131或第三端口133在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号1、端口号1的通知消息，则该直线型CAN总线入网单元的的MCU确定该第一端口131或第三端口133连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，确定该连接到的直线型CAN总线入网单元的连接端口为第一端口131，且连接到的第一端口131为入口；如果直线型CAN总线入网单元的第一端口131或第三端口133在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号2、端口号3的通知消息，则该直线型CAN总线入网单元的MCU确定该第一端口131或第三端口133连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的直线型CAN总线入网单元的连接端口为第三端口133，且连接到的第三端口133为出口。Therefore, if the first port 131 or the third port 133 of the linear CAN bus network access unit receives the CAN bus network access unit during the consecutive first scan period, second scan period, third scan period, and fourth scan period. The MCU of the linear CAN bus network access unit determines that the first port 131 or the third port 133 is connected to a linear CAN bus network access unit, and records the connection to the The identification of the CAN bus network access unit, it is determined that the connection port of the linear CAN bus network access unit is the first port 131, and the first port 131 connected to it is the entrance; if the first port 131 of the linear CAN bus network access unit Or the third port 133 receives a notification message containing the identification of the CAN bus network access unit, bus number 2, and port number 3 during the consecutive first scan period, second scan period, third scan period, and fourth scan period, Then the MCU of the linear CAN bus network access unit determines that the first port 131 or the third port 133 is connected to a linear CAN bus network access unit, records the identification of the connected CAN bus network access unit, and the connected linear CAN bus The connection port of the network access unit is the third port 133, and the third port 133 connected to it is the outlet.
如果有特定标志位，则该待检测端口连接的是一个移载机CAN总线入网单元，就可以分别结合四个扫描期确定连接的是移载机CAN总线入网单元的哪个端口，该端口是入口还是出口。如上所述，在第一扫描期，将第一端口131连接到第一CAN总线121，将第二、第三、第四端口132-134连接到第二CAN总线122或不连接任何CAN总线，其中将第一端口131的连接设置得与其它端口不同，主要是为了识别是否连接了第一端口131、和第一端口131起到入口还是出口作用的；在所述第二扫描期，将第一端口131、第三端口133、第四端口134连接到第一CAN总线121或不连接CAN总线，将第二端口132连接到第二CAN总线122，其中将第二端口132的连接设置得与其它端口不同，主要是为了识别是否连接了第二端口132、和第二端口132起到入口还是出口作用的； 在所述第三扫描期，将第一端口131、第二端口132、第四端口134连接到第一CAN总线121或不连接CAN总线，将第三端口133连接到第二CAN总线122，主要是为了识别是否连接了第三端口133、和第三端口133起到入口还是出口作用的；在所述第四扫描期，将第一、第二、第三端口131-133连接到第一CAN总线121或不连接到CAN总线，将第四端口134连接到第二CAN总线122，其中将第四端口134的连接设置得与其它端口不同，主要是为了识别是否连接了第四端口134、和第四端口134起到入口还是出口作用的。因此，在第一、二、三、四扫描期，分别确定是否连接第一端口131、第二端口132、第三端口133、第四端口134、以及这些端口的性质。If there is a specific flag bit, the port to be detected is connected to a transfer machine CAN bus network unit, and the four scan periods can be combined to determine which port of the transfer machine CAN bus network unit is connected. This port is the entrance Still export. As mentioned above, in the first scan period, connect the first port 131 to the first CAN bus 121, connect the second, third, and fourth ports 132-134 to the second CAN bus 122 or not connect any CAN bus, The connection of the first port 131 is set differently from other ports, mainly to identify whether the first port 131 is connected, and the first port 131 functions as an inlet or an outlet; in the second scanning period, the first port 131 is A port 131, a third port 133, and a 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 The other ports are different, mainly to identify whether the second port 132 is connected, and the second port 132 functions as an inlet or an outlet; in the third scan period, the first port 131, the second port 132, and the fourth port The port 134 is 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 the third port 133 is used as an entrance or an exit Effective; in the fourth scan period, the first, second, and third ports 131-133 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 , Where the connection of the fourth port 134 is set differently from other ports, mainly for identifying whether the fourth port 134 is connected, and the fourth port 134 functions as an inlet or an outlet. Therefore, in the first, second, third, and fourth scan periods, it is determined whether to connect the first port 131, the second port 132, the third port 133, the fourth port 134, and the properties of these ports, respectively.
如果直线型CAN总线入网单元的第一端口131或第三端口133在第一扫描期接收到通知CAN总线入网单元的标识、总线号1、特定标志位的通知消息，特定标志位表明发出通知消息的CAN总线入网单元是移载机CAN总线入网单元。因此，可以记录该CAN总线入网单元的标识。第一CAN总线121是固定连接到第一端口131的，因此，可以不用发送查询请求而直接确定连接的是移载机CAN总线入网单元的第一端口131。而且，由于第一端口131连接的是第一CAN总线121，起到的是入口的作用，因此是入口。If the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message notifying the CAN bus network access unit’s identification, bus number 1, specific flag bit during the first scan period, the specific flag bit indicates that the notification message is sent The CAN bus access unit is the CAN bus access unit of the transfer machine. Therefore, the identification of the CAN bus network access unit can be recorded. The first CAN bus 121 is fixedly connected to the first port 131. Therefore, it can be directly determined that the connection is the first port 131 of the CAN bus network access unit of the transfer machine without sending a query request. Moreover, since the first port 131 is connected to the first CAN bus 121 and functions as an entrance, it is an entrance.
如果直线型CAN总线入网单元的第一端口131或第三端口133在第二扫描期接收到通知CAN总线入网单元的标识、总线号1或2、特定标志位的通知消息，特定标志位表明发出通知消息的CAN总线入网单元是移载机CAN总线入网单元。因此，可以记录该CAN总线入网单元的标识。向发出该通知消息的CAN总线入网单元发送端口查询请求后，接收到的端口号为2，这时可以确定该端口连接到该移载机CAN总线入网单元的第二端口132。在总线号1的情况下，第二端口132连接的是第一CAN总线121，说明该第二端口132为出口。在总线号2的情况下，该第二端口132为入口。If the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message notifying the CAN bus network access unit’s identification, bus number 1 or 2, a specific flag bit in the second scan period, the specific flag bit indicates that it is sent The CAN bus network access unit of the notification message is the CAN bus network access unit of the transfer machine. Therefore, the identification of the CAN bus network access 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. At this time, it can be determined that the port is connected to the second port 132 of the CAN bus network access unit of the transfer machine. In the case of bus number 1, the second port 132 is connected to the first CAN bus 121, indicating that the second port 132 is an outlet. In the case of bus number 2, the second port 132 is an entrance.
如果直线型CAN总线入网单元的第一端口131或第三端口133在第三扫描期接收到通知CAN总线入网单元的标识、总线号1或2、特定标志位的通知消息，特定标志位表明发出通知消息的CAN总线入网单元是移载机CAN总线入网单元。因此，可以记录该CAN总线入网单元的标识。向发出该通知消息的CAN总线入网单元发送端口查询请求后，接收到的端口号为3，这时可以确定该端口连接到该移载机CAN总线入网单元的第三端口133。在总线号1的情况下，第三端口133连接的是第一CAN总线121，说明该第三端口为出口。在总线号2的情况下，该第三端口为入口。If the first port 131 or the third port 133 of the linear CAN bus network access unit receives in the third scan period the notification message notifying the CAN bus network access unit’s identification, bus number 1 or 2, specific flag bit, the specific flag bit indicates that it is sent The CAN bus network access unit of the notification message is the CAN bus network access unit of the transfer machine. Therefore, the identification of the CAN bus network access unit can be recorded. After sending a port query request to the CAN bus network access unit that sent the notification message, the received port number is 3. At this time, it can be determined that the port is connected to the third port 133 of the CAN bus network access unit of the transfer machine. In the case of bus number 1, the third port 133 is connected to the first CAN bus 121, indicating that the third port is an outlet. In the case of bus number 2, the third port is an entrance.
如果直线型CAN总线入网单元的第一端口131或第三端口133在第四扫描期接收到通知CAN总线入网单元的标识、总线号1或2、特定标志位的通知消息，特定标志位表明发出通知消息的CAN总线入网单元是移载机CAN总线入网单元。因此，可以记录该CAN总线入网单元的标识。向发出该通知消息的CAN总线入网单元发送端口查询请求后，接收到的端口号为4，这时可以确定该端口连接到该移载机CAN总线入网单元的第四端口134。在总线号1的情况下，第四端口134连接的是第一CAN总线121，说明该 第四端口为出口。在总线号2的情况下，该第四端口为入口。If the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message notifying the CAN bus network access unit’s identification, bus number 1 or 2, a specific flag bit in the fourth scan period, the specific flag bit indicates that it is sent The CAN bus network access unit of the notification message is the CAN bus network access unit of the transfer machine. Therefore, the identification of the CAN bus network access unit can be recorded. After sending a port query request to the CAN bus network access unit that sent the notification message, the received port number is 4. At this time, it can be determined that the port is connected to the fourth port 134 of the CAN bus network access unit of the transfer machine. In the case of bus number 1, the fourth port 134 is connected to the first CAN bus 121, indicating that the fourth port is an outlet. In the case of bus number 2, the fourth port is an entrance.
对于移载机CAN总线入网单元来说，与其连接的只能是直线型CAN总线入网单元，因此其MCU按照以下过程来确定相邻的CAN总线入网单元的连接状态。For the CAN bus network access unit of the transfer machine, it can only be connected to the linear CAN bus network access unit, so its MCU determines the connection status of the adjacent CAN bus network access unit according to the following process.
如果所述移载机CAN总线入网单元的端口在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号1、端口号1的通知消息，则所述MCU确定该端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识。从端口号1可以确定连接的是直线型CAN总线入网单元的第一端口131。由于第一端口131连接的是第一CAN总线121，起到的是入口的作用，因此是入口。If the port of the CAN bus network access unit of the transfer machine receives the identification of the CAN bus network access unit, bus number 1, during the consecutive first scan period, second scan period, third scan period, and fourth scan period. If the notification message of the port number is 1, the MCU determines that the port is connected to a linear CAN bus network unit, and records the identification of the connected CAN bus network unit. 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 and functions as an entrance, it is an entrance.
如果所述移载机CAN总线入网单元的端口在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号2、端口号3的通知消息，则所述MCU确定该端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，从端口号3可以确定连接的是直线型CAN总线入网单元的第三端口133。由于第三端口133连接的是第二CAN总线122，起到的是出口的作用，因此是出口。If the port of the CAN bus network access unit of the transfer machine receives the identification of the CAN bus network access unit during the consecutive first scan period, second scan period, third scan period, and fourth scan period. For the notification message of port number 3, the MCU determines that the port is connected to a linear CAN bus network unit, and records the identification of the connected CAN bus network unit. From the port number 3, it can be determined that the connected unit is a linear CAN bus network unit. The third port 133. Since the third port 133 is connected to the second CAN bus 122 and functions as an outlet, it is an outlet.
CAN总线入网单元的使用阶段是指在组网之后CAN总线入网单元实际投入使用的阶段，此时其内部开关状态不需要如图5A所示(直线型CAN总线入网单元)或图7A-图7D(移载机CAN总线入网单元)那样设置，而是可以根据现场要求设置。The use stage of the CAN bus access unit refers to the stage when the CAN bus access unit is actually put into use after networking. At this time, its internal switch status does not need to be shown in Figure 5A (linear CAN bus access unit) or Figure 7A-7D (Transfer machine CAN bus network access unit), but can be set according to site requirements.
在直线型CAN总线入网单元中，在使用阶段，通过开关根据现场要求将第三端口133连接到第一CAN总线121或第二CAN总线122。如图5B所示，对于左边的两个CAN总线入网单元，根据现场要求将第三端口133连接到第一CAN总线121，这样，左边的两个CAN总线入网单元就连接到同一CAN中，如图5B左边的虚线框所示。第三个CAN总线入网单元的第三端口133根据现场要求连接到第二CAN总线122，这样，第三个CAN总线入网单元就与第四个CAN总线入网单元连接成同一CAN中，如图5B右边的虚线框所示。In the linear CAN bus network access unit, in the use phase, the third port 133 is connected to the first CAN bus 121 or the second CAN bus 122 through a switch according to site requirements. As shown in Figure 5B, for the two CAN bus network access units on the left, the third port 133 is connected to the first CAN bus 121 according to site requirements. In this way, the two CAN bus network access units on the left are connected to the same CAN, such as This is shown in the dashed box on the left side of Figure 5B. The third port 133 of the third CAN bus network access unit is connected to the second CAN bus 122 according to site requirements. In this way, the third CAN bus network access unit and the fourth CAN bus network access unit are connected to the same CAN, as shown in Figure 5B Shown in the dashed box on the right.
在移载机CAN总线入网单元中，在使用阶段，根据现场要求分别控制与所述第二端口132、第三端口133、第四端口134中的至少一个连接的开关的接通或闭合。如图7E所示，通过开关D2-D4，让中间的移载机CAN总线入网单元的第二端口132、第三端口133、第四端口134都连接到第一CAN总线121。这样，中间的移载机CAN总线入网单元与上、下、左、右4个直线型CAN总线入网单元都位于同一CAN内。In the CAN bus network access unit of the transfer machine, during the use phase, the switch connected to at least one of the second port 132, the third port 133, and the fourth port 134 is controlled to be turned on or off according to site requirements. As shown in FIG. 7E, through switches D2-D4, the second port 132, the third port 133, and the fourth port 134 of the CAN bus network access unit of the transfer machine in the middle are all connected to the first CAN bus 121. In this way, the CAN bus network access unit of the transfer carrier in the middle and the four linear CAN bus network access units up, down, left and right are all located in the same CAN.
另外，根据本公开的一个实施例，如图8所示，提供了一种直线型控制器局域网CAN总线入网单元110的开关控制方法，其中，所述直线型CAN总线入网单元110包括第一CAN总线121、第二CAN总线122、第一端口131、第二端口132、第三端口133和第四端口134，其中，第一端口131连接到第一CAN总线121，第三端口133通过开关， 连接到第一CAN总线121，或连接到第二CAN总线122，所述方法包括：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 access unit 110, wherein the linear CAN bus network access unit 110 includes a first CAN The bus 121, the second CAN bus 122, the first port 131, the second port 132, the third port 133, and the fourth port 134, wherein the first port 131 is connected to the first CAN bus 121, and the third port 133 is connected through a switch, Connecting to the first CAN bus 121 or to the second CAN bus 122, the method includes:
步骤210、在组网阶段，通过所述开关将第三端口133连接到第二CAN总线122；Step 210: In the networking stage, connect the third port 133 to the second CAN bus 122 through the switch;
步骤220、在使用阶段，通过所述开关根据现场要求将所述第三端口133连接到所述第一CAN总线121或所述第二CAN总线122。Step 220: In the use phase, connect the third port 133 to the first CAN bus 121 or the second CAN bus 122 through the switch according to site requirements.
上述步骤的详细细节已经在上文中结合直线型CAN总线入网单元110的实施例进行了具体描述，因此为节约篇幅，不再赘述。The detailed details of the foregoing steps have been specifically described above in conjunction with the embodiment of the linear CAN bus network access unit 110, so in order to save space, the details are not repeated.
此外，根据本公开的一个实施例，如图9所示，提供了一种移载机控制器局域网CAN总线入网单元的开关控制方法，所述移载机CAN总线入网单元包括第一CAN总线121、第二CAN总线122、第一端口131、第二端口132、第三端口133和第四端口134，其中，第一端口131连接到第一CAN总线121，所述第二端口132、第三端口133、第四端口134中的至少一个通过各自的开关，连接到第一CAN总线121，或连接到第二CAN总线122，所述方法包括：In addition, according to an embodiment of the present disclosure, as shown in FIG. 9, there is provided a switch control method for a CAN bus network access unit of a transfer machine controller local area network. The transfer machine CAN bus network access unit includes a first CAN bus 121 , The second CAN bus 122, the first port 131, the second port 132, the third port 133 and the fourth port 134, wherein the first port 131 is connected to the first CAN bus 121, the second port 132, the third port At least one of the port 133 and the fourth port 134 is connected to the first CAN bus 121 or to the second CAN bus 122 through respective switches, and the method includes:
步骤310、在组网阶段的第一扫描期，通过所述开关，将所述第一端口131连接到第一CAN总线121，将所述第二、第三、第四端口132-134连接到第二CAN总线122；在第二扫描期，通过所述开关，将第一、第三、第四端口131、133、134连接到第一CAN总线121，将第二端口132连接到第二CAN总线122；在第三扫描期，通过所述开关，将所述第一、第二、第四端口131、132、134连接到第一CAN总线121，将第三端口133连接到第二CAN总线122；在第四扫描期，通过所述开关，将所述第一、第二、第三端口131-133连接到第一CAN总线121，将所述第四端口134连接到第二CAN总线122；Step 310: In the first scan period of the networking stage, the first port 131 is connected to the first CAN bus 121 through the switch, and the second, third, and fourth ports 132-134 are connected to The second CAN bus 122; in the second scan period, the first, third, and fourth ports 131, 133, 134 are connected to the first CAN bus 121 through the switch, and the second port 132 is connected to the second CAN Bus 122; in the third scan period, through the switch, the first, second, and fourth ports 131, 132, 134 are connected to the first CAN bus 121, and the third port 133 is connected to the second CAN bus 122; In the fourth scan period, through the switch, the first, second, and third ports 131-133 are connected to the first CAN bus 121, and the fourth port 134 is connected to the second CAN bus 122 ；
步骤320、在使用阶段，根据现场要求分别控制与所述第二端口132、第三端口133、第四端口134中的至少一个连接的开关的接通或闭合。Step 320: In the use phase, according to site requirements, the switches connected to at least one of the second port 132, the third port 133, and the fourth port 134 are respectively controlled to be turned on or off.
上述步骤的详细细节已经在上文中结合移栽机CAN总线入网单元110的实施例进行了具体描述，因此为节约篇幅，不再赘述。The detailed details of the above steps have been described in detail above in conjunction with the embodiment of the CAN bus network access unit 110 of the transplanting machine, so in order to save space, the details will not be repeated.
图11示出根据本公开一个实施例的CAN总线入网单元110所应用的环境的体系构架图。该体系构架包括远程控制端的远程可视化控制装置199和现场端的多个CAN总线入网单元110。远程端的管理员通过远程可视化控制装置199远程控制CAN总线入网单元110与相邻的CAN总线入网单元110进行端口接续，从而连接成整个输送线的电气控制***。远程可视化控制装置199可以体现为远程服务器，也可以是远程服务器的一部分(例如虚拟机)，也可以体现为云服务器或由多台远程服务器构成的服务器集群。远程可视化控制装置199通过无线通信与CAN总线入网单元110通信。FIG. 11 shows an architecture diagram of the environment in which the CAN bus network access unit 110 is applied according to an embodiment of the present disclosure. The architecture includes a remote visualization control device 199 on the remote control end and multiple CAN bus network access units 110 on the field end. The administrator at the remote end remotely controls the CAN bus network access unit 110 and the adjacent CAN bus network access unit 110 to perform port connection through the remote visualization control device 199, thereby connecting the electrical control system of the entire transmission line. The remote visualization control device 199 may be embodied as a remote server, may also be a part of a remote server (such as a virtual machine), or may be embodied as a cloud server or a server cluster composed of multiple remote servers. The remote visualization control device 199 communicates with the CAN bus network access unit 110 through wireless communication.
在远程可视化控制装置199的显示屏上，可以显示引导管理员用户一步一步操作完成CAN总线入网单元110的端口接续的提示。On the display screen of the remote visualization control device 199, a prompt to guide the administrator user to complete the port connection of the CAN bus network access unit 110 can be displayed step by step.
根据本公开的一个实施例，提供了一种远程可视化CAN总线入网单元组装方法，它由远程可视化控制装置199执行。如图10所示，该方法包括：According to an embodiment of the present disclosure, a method for assembling a remote visualization CAN bus network access unit is provided, which is executed by the remote visualization control device 199. As shown in Figure 10, the method includes:
步骤410、在远程可视化界面接收用户的组网请求；Step 410: Receive a user's networking request on the remote visualization interface;
步骤420、识别输送线的电气控制***中的CAN总线入网单元，所述CAN总线入网单元包括第一CAN总线、第二CAN总线、第一端口、第二端口、第三端口第四端口和开关；Step 420: Identify the CAN bus network access unit in the electrical control system of the transmission line. The CAN bus network access unit includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, a fourth port, and a switch ；
步骤430、远程控制所述开关将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个。Step 430: Remotely control 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.
下面对以上步骤进行详细描述。The above steps are described in detail below.
在步骤410中，在远程可视化控制装置199的显示屏上显示远程可视化界面。用户可以在该界面上发起组网请求。如图12A所示，显示屏上显示“开始组网”选项。用户在显示屏上选择该选项，发起组网请求。组网是指开始检测各CAN总线入网单元的周围连接了哪些其它CAN总线入网单元，连接端口是什么，等等，从而形成整个电气控制***的连接布图。In step 410, a remote visualization interface is displayed on the display screen of the remote visualization control device 199. Users can initiate networking requests on this interface. As shown in Figure 12A, the "Start Networking" option is displayed on the display screen. The user selects this option on the display screen to initiate a networking request. Networking means starting to detect which other CAN bus network access units are connected around each CAN bus network access unit, what are the connection ports, etc., so as to form the connection layout of the entire electrical control system.
在步骤420中，识别输送线的电气控制***中的CAN总线入网单元。具体地，识别出电气控制***中有哪些CAN总线入网单元，其是直线型CAN总线入网单元还是移载机CAN总线入网单元。其可以通过由远程可视化控制装置199向一定范围内的CAN总线入网单元广播一个查询信号，由该范围内的CAN总线入网单元接收到该查询信号后发出一个应答来实现。在该应答中，可以携带有发出应答的CAN总线入网单元是直线型CAN总线入网单元还是移载机CAN总线入网单元的指示。In step 420, the CAN bus network access unit in the electrical control system of the transmission line is identified. Specifically, it is identified which CAN bus access units in the electrical control system are, whether it is a linear CAN bus access unit or a transfer machine CAN bus access unit. This can be achieved by broadcasting a query signal from the remote visualization control device 199 to the CAN bus network access unit within a certain range, and the CAN bus network access unit within the range sends a response after receiving the query signal. The response may carry an indication of whether the CAN bus network access unit that issued the response is a linear CAN bus network access unit or a transfer machine CAN bus network access unit.
图12B示出了用户选择“开始组网”后显示正在识别CAN总线入网单元的界面。Fig. 12B shows the interface of identifying the CAN bus networked unit after the user selects "start networking".
在步骤430中，远程可视化控制装置199远程控制所述开关将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个。In step 430, the remote visualization control device 199 remotely controls the switch to connect at least one of the first port, the second port, the third port, and the fourth port to the first CAN bus and the second CAN bus. At least one of them.
具体地，对于识别出的直线型CAN总线入网单元，远程可视化控制装置199远程控制所述直线型CAN总线入网单元的所述开关将所述第三端口连接到所述第二CAN总线。对于识别出的移载机CAN总线入网单元，在第一扫描期，远程可视化控制装置199远程控制所述移载机CAN总线入网单元的所述开关，将所述第一端口连接到第一CAN总线；在第二扫描期，远程控制所述移载机CAN总线入网单元的所述开关，将所述第二端口连接到第二CAN总线；在第三扫描期，远程控制所述移载机CAN总线入网单元的所述开关，将所述第三端口连接到第二CAN总线；在第四扫描期，通过远程控制所述移载机CAN总线入网单元的所述开关，将所述第四端口连接到第二CAN总线。该接续的规则与前述的图8的步骤210和图9的步骤310是一致的，只是在本实施例是由远程可视化控制装置199远程控制接续，故不赘述。Specifically, for the identified linear CAN bus network access unit, the remote visualization control device 199 remotely controls the switch of the linear CAN bus network access unit to connect the third port to the second CAN bus. For the identified transfer machine CAN bus network unit, in the first scan period, the remote visualization control device 199 remotely controls the switch of the transfer machine CAN bus network unit, and connects the first port to the first CAN Bus; in the second scan period, remotely control the switch of the transfer machine CAN bus network unit, and connect the second port to the second CAN bus; in the third scan period, remotely control the transfer machine The switch of the CAN bus network access unit connects the third port to the second CAN bus; in the fourth scan period, by remotely controlling the switch of the CAN bus network access unit of the transfer machine, the fourth The port is connected to the second CAN bus. The connection rules are consistent with the aforementioned step 210 in FIG. 8 and step 310 in FIG.
另外，在步骤430之后，该方法还可以包括：在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述CAN总线入网单元发送通知消息。具体地，对于识 别出的直线型CAN总线入网单元，在所述连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述直线型CAN总线入网单元的所述第一端口和第三端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标识、发送该通知消息的端口号、发送该通知消息的端口连接的总线号。对于识别出的移载机CAN总线入网单元，在所述连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述移载机CAN总线入网单元的各端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标识、发送该通知消息的端口连接的总线号、特定标志位。在各扫描期发送通知消息的规则与前面描述的在组网阶段直线型CAN总线入网单元和移载机CAN总线入网单元发送通知消息的规则是一致的，只是在本实施例是由远程可视化控制装置199远程控制发送，故不赘述。In addition, after step 430, the method may further include: controlling the CAN bus network access unit to send a notification message during the consecutive first scan period, second scan period, third scan period, and fourth scan period. Specifically, for the identified linear CAN bus network access unit, in the consecutive first scan period, second scan period, third scan period, and fourth scan period, all the linear CAN bus network access units are controlled. The first port and the third port send notification messages, and the notification message contains the identification of the CAN bus network access unit, the port number that sends the notification message, and the bus number connected to the port that sends the notification message. For the identified transfer machine CAN bus network access unit, in the consecutive first scan period, second scan period, third scan period, and fourth scan period, control each port of the transfer machine CAN bus network access unit A notification message is sent, and the notification message contains the identification of the CAN bus network access unit, the bus number connected to the port that sends the notification message, and a specific flag bit. The rules for sending notification messages in each scanning period are consistent with the previously described rules for sending notification messages during the networking phase of the linear CAN bus access unit and the transfer machine CAN bus access unit, except that in this embodiment, it is controlled by remote visualization. The device 199 remotely controls the sending, so it will not be described in detail.
图12C显示了识别出CAN总线入网单元后，正在远程控制识别出的CAN总线入网单元进行端口总线连接和发送通知消息的界面。Figure 12C shows the interface where the identified CAN bus network access unit is being remotely controlled to perform port bus connection and send notification messages after the CAN bus network access unit is identified.
在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述CAN总线入网单元发送通知消息之后，该方法还包括：接收所述CAN总线入网单元发送的所检测的相连接的CAN总线入网单元的标识、连接端口号、连接端口性质，生成所述电气控制***的CAN总线入网单元连接布图；显示所述所述电气控制***的CAN总线入网单元连接布图。After the continuous first scan period, second scan period, third scan period, and fourth scan period, after controlling the CAN bus network access unit to send the notification message, the method further includes: receiving all the information sent by the CAN bus network access unit. The detected identification of the connected CAN bus network access unit, the connection port number, and the nature of the connection port, generate the connection layout of the CAN bus network access unit of the electrical control system; display the connection layout of the CAN bus network access unit of the electrical control system picture.
CAN总线入网单元根据从相连接的CAN总线入网单元接收到的通知消息，可以识别出相连接的CAN总线入网单元的标识、连接端口号、连接端口性质，该过程在前面的直线型CAN总线入网单元和移载机CAN总线入网单元的组网阶段的详细描述中已经讨论，不再赘述。CAN总线入网单元识别出相连接的CAN总线入网单元的标识、连接端口号、连接端口性质后，就可以把这些信息发送给远程可视化控制装置199，由远程可视化控制装置199根据收集到的这些信息生成所述电气控制***的CAN总线入网单元连接布图并显示。电气控制***的CAN总线入网单元连接布图是指显示了电气******包括哪些CAN总线入网单元、以及它们之间的端口连接关系(即一个CAN总线入网单元的哪个端口连接到相邻CAN总线入网单元的哪个端口)的布图。According to the notification message received from the connected CAN bus network unit, the CAN bus network access unit can identify the identity of the connected CAN bus network access unit, the connection port number, and the nature of the connection port. This process is in the previous linear CAN bus network access The detailed description of the networking stage of the unit and the CAN bus of the transfer machine has been discussed in the detailed description, and will not be repeated. After the CAN bus network access unit recognizes the identification, connection port number, and connection port nature of the connected CAN bus network access unit, it can send this information to the remote visualization control device 199, and the remote visualization control device 199 will collect the information according to the information. Generate and display the connection layout of the CAN bus network access unit of the electrical control system. The connection layout of the CAN bus access unit of the electrical control system refers to the display of which CAN bus access units are included in the electrical system system and the port connection relationship between them (that is, which port of a CAN bus access unit is connected to the adjacent CAN bus access Which port of the unit) layout.
图12D显示了在远程可视化控制装置199的显示屏上显示根据接收的CAN总线入网单元检测到的参数生成的连接布图的例子。FIG. 12D shows an example of displaying on the display screen of the remote visualization control device 199 the connection layout generated according to the parameters detected by the received CAN bus network access unit.
在显示所述所述电气控制***的CAN总线入网单元连接布图之后，还可以在远程可视化控制装置199的显示屏上的远程可视化界面，接收用户输入的CAN总线入网单元的现场连接要求指示。After displaying the connection layout of the CAN bus network access unit of the electrical control system, the remote visualization interface on the display screen of the remote visualization control device 199 can also receive the user's input of the CAN bus network access unit's field connection request instruction.
如图12E所示，可以在远程可视化界面上显示提示框，提示用户输入现场连接要求。前述的组网阶段仅仅是为了检测出电气控制***中各CAN总线入网单元的连接结构，在实际使用时，端口和总线如何连接，是根据现场连接要求决定的。As shown in Figure 12E, a prompt box can be displayed on the remote visualization interface to prompt the user to input on-site connection requirements. The foregoing networking stage is only to detect the connection structure of each CAN bus networked unit in the electrical control system. In actual use, how the port and the bus are connected is determined according to the field connection requirements.
然后，可以根据所述现场连接要求指示，控制所述CAN总线入网单元的所述开关，以将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个。具体地说，对于直线型CAN总线入网单元，通过所述开关根据现场要求将所述第三端口连接到所述第一CAN总线或所述第二CAN总线。对于移载机CAN总线入网单元，根据现场要求分别控制与所述第二端口、第三端口、第四端口中的至少一个连接的开关的接通或闭合。Then, according to the on-site connection requirement instruction, the switch of the CAN bus network access unit can be controlled to connect at least one of the first port, the second port, the third port, and the fourth port to the At least one of the first CAN bus and the second CAN bus. Specifically, for the 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 site requirements. For the CAN bus network access unit of the transfer machine, the switch connected to at least one of the second port, the third port, and the fourth port is controlled to be turned on or off according to site requirements.
如图12F所示，可以在远程可视化界面上提示，正在根据现场连接要求，控制CAN总线入网单元的端口和总线的连接。As shown in Figure 12F, it can be prompted on the remote visual interface that the connection between the port of the CAN bus network unit and the bus is being controlled according to on-site connection requirements.
上述实施例给出了一个远程控制的方式，通过该方式可以快速控制CAN总线入网单元中端口和总线的连接，提高组网和使用的效率。The foregoing embodiment provides a remote control mode, by which the connection between the port and the bus in the CAN bus network access unit can be quickly controlled, and the efficiency of networking and use can be improved.
应该理解，本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同或相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于方法实施例而言，由于其基本相似于装置实施例中描述的实施过程，所以描述得比较简单，相关之处参见其他实施例的部分说明即可。It should be understood that the various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. . In particular, for the method embodiment, since it is basically similar to the implementation process described in the device embodiment, the description is relatively simple, and the relevant parts can be referred to the part of the description of other embodiments.
应该理解，上述对本说明书特定实施例进行了描述。其它实施例在权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。It should be understood that the foregoing describes specific embodiments of this specification. Other embodiments are within the scope of the claims. In some cases, the actions or steps described in the claims may be performed in a different order than in the embodiments and still achieve desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown in order to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
应该理解，本文用单数形式描述或者在附图中仅显示一个的元件并不代表将该元件的数量限于一个。此外，本文中被描述或示出为分开的模块或元件可被组合为单个模块或元件，且本文中被描述或示出为单个的模块或元件可被拆分为多个模块或元件。It should be understood that the description of an element in the singular form herein or the display of only one element in the drawings does not mean that the number of the element is limited to one. In addition, modules or elements described or shown as separate herein may be combined into a single module or element, and modules or elements described or shown herein as a single module or element may be split into multiple modules or elements.
还应理解，本文采用的术语和表述方式只是用于描述，本说明书的一个或多个实施例并不应局限于这些术语和表述。使用这些术语和表述并不意味着排除任何示意和描述(或其中部分)的等效特征，应认识到可能存在的各种修改也应包含在权利要求范围内。其他修改、变化和替换也可能存在。相应的，权利要求应视为覆盖所有这些等效物。It should also be understood that the terms and expressions used herein are only for description, and one or more embodiments of this specification should not be limited to these terms and expressions. The use of these terms and expressions does not mean to exclude any equivalent features of the illustration and description (or part of them), and it should be recognized that various modifications that may exist should also be included in the scope of the claims. Other modifications, changes and replacements may also exist. Accordingly, the claims should be regarded as covering all these equivalents.

Claims (34)

  1. 一种直线型控制器局域网CAN总线入网单元，包括第一CAN总线、第二CAN总线、第一端口、和第三端口，其中，所述第一端口与所述第三端口的连线方向与所述直线型CAN总线入网单元所在的输送段输送方向一致，所述第一端口连接到所述第一CAN总线，所述第三端口通过开关，连接到所述第一CAN总线，或连接到所述第二CAN总线。A linear controller area network CAN bus network unit, including 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 the same as The conveying direction of the linear CAN bus network access unit is the same, the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus or connected to the first CAN bus through a switch. The second CAN bus.
  2. 根据权利要求1所述的CAN总线入网单元，其中，所述开关为第一单刀双掷开关，所述第一单刀双掷开关一端连接第三端口，另一端在连接第一CAN总线和连接第二CAN总线之间切换。The CAN bus network access unit according to claim 1, wherein 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 is connected to the first CAN bus and to the third port. Switch between the two CAN buses.
  3. 根据权利要求1所述的CAN总线入网单元，其中，所述开关包括连接到所述第一CAN总线的第一开关、和连接到所述第二CAN总线的第二开关。The CAN bus network access unit according to 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. 根据权利要求1所述的CAN总线入网单元，其中，在组网阶段的连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，通过所述开关将所述第三端口连接到所述第二CAN总线。The CAN bus network access unit according to claim 1, wherein in the consecutive first scan period, second scan period, third scan period, and fourth scan period of the networking stage, the third scan period is switched by the switch The port is connected to the second CAN bus.
  5. 根据权利要求4所述的CAN总线入网单元，其中，在所述连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，所述第一端口和第三端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标识、发送该通知消息的端口号、发送该通知消息的端口连接的总线号。The CAN bus network access unit according to claim 4, wherein, in the consecutive first scan period, second scan period, third scan period, and fourth scan period, the first port and the third port send notifications Message, the notification message contains the identification of the CAN bus network access unit, the port number for sending the notification message, and the bus number connected to the port for sending the notification message.
  6. 根据权利要求4所述的CAN总线入网单元，其中，在所述第一扫描期之前的第一静默期，通过所述开关将所述第三端口连接到所述第二CAN总线；在所述第四扫描期之后的第二静默期，通过所述开关将所述第三端口连接到所述第二CAN总线。The CAN bus network access unit according to claim 4, wherein, in the first silent period before the first scan period, the third port is connected to the second CAN bus through the switch; In the second silent period after the fourth scanning period, the third port is connected to the second CAN bus through the switch.
  7. 根据权利要求1所述的CAN总线入网单元，还包括第二端口、第四端口和微控制器。The CAN bus network access unit according to claim 1, further comprising a second port, a fourth port and a microcontroller.
  8. 根据权利要求7所述的CAN总线入网单元，其中，如果所述第一端口或第三端口在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号1、端口号1的通知消息，则MCU确定该第一端口或第三端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的直线型CAN总线入网单元的连接端口为第一端口，且连接到的第一端口为入口。The CAN bus network access unit according to claim 7, wherein if the first port or the third port receives data during consecutive first scan period, second scan period, third scan period, and fourth scan period If the notification message contains the identification of the CAN bus access unit, bus number 1, port number 1, the MCU determines that the first port or the third port is connected to a linear CAN bus access unit, and records the identification of the connected CAN bus access unit , The connection port of the linear CAN bus network access unit connected to is the first port, and the first port connected to it is the entrance.
  9. 根据权利要求7所述的CAN总线入网单元，其中，如果所述第一端口或第三端口在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号2、端口号3的通知消息，则MCU确定该第一端口或第三端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的直线型CAN总线入网单元的连接端口为第三端口，且连接到的第三端口为出口。The CAN bus network access unit according to claim 7, wherein if the first port or the third port receives data during consecutive first scan period, second scan period, third scan period, and fourth scan period If the notification message contains the identification of the CAN bus access unit, bus number 2, port number 3, the MCU determines that the first port or the third port is connected to a linear CAN bus access unit, and records the identification of the connected CAN bus access unit , The connection port of the linear CAN bus network access unit connected to is the third port, and the third port connected to is the outlet.
  10. 根据权利要求7所述的CAN总线入网单元，其中，如果所述第一端口或第三端口在第一扫描期接收到含有CAN总线入网单元的标识、总线号1、特定标志位的通知消息，则MCU确定该第一端口或第三端口连接到一个移载机CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的移载机CAN总线入网单元的连接端口为第一端口，且连接到的第一端口为入口。The CAN bus network access unit according to claim 7, wherein if the first port or the third port receives a notification message containing the CAN bus network access unit identification, bus number 1, and specific flag bit in the first scan period, Then the MCU determines that the first port or the third port is connected to a transfer machine CAN bus network unit, and records the identification of the connected CAN bus network unit. The connection port of the connected transfer machine CAN bus network unit is the first Port, and the first port connected to is the entrance.
  11. 根据权利要求7所述的CAN总线入网单元，其中，如果所述第一端口或第三端口在第二扫描期接收到含有CAN总线入网单元的标识、总线号1或2、特定标志位的通知消息，则MCU确定该第一端口或第三端口连接到一个移载机CAN总线入网单元，且向发出所述通知消息的CAN总线入网单元发送端口查询请求后，接收到的应答指示端口号为2，记录连接到的CAN总线入网单元的标识，该连接到的移载机CAN总线入网单元的连接端口为第二端口，且在总线号1的情况下，连接到的第二端口为出口；在总线号2的情况下，连接到的第二端口为入口。The CAN bus network access unit according to claim 7, wherein, if the first port or the third port receives a notification containing the CAN bus network access unit identification, bus number 1 or 2, and a specific flag bit in the second scan period Message, the MCU determines that the first port or the third port is connected to a CAN bus network access unit of a transfer machine, and after sending a port query request to the CAN bus network access unit that sent the notification message, the received response indicates that the port number is 2. Record the identification of the connected CAN bus network unit, the connection port of the transfer machine CAN bus network unit connected to is the second port, and in the case of bus number 1, the second port connected to is the exit; In the case of bus number 2, the second port connected to is the entrance.
  12. 根据权利要求7所述的CAN总线入网单元，其中，如果所述第一端口或第三端口在第三扫描期接收到含有CAN总线入网单元的标识、总线号1或2、特定标志位的通知消息，则MCU确定该第一端口或第三端口连接到一个移载机CAN总线入网单元，且向发出所述通知消息的CAN总线入网单元发送端口查询请求后，接收到的应答指示端口号为3，记录连接到的CAN总线入网单元的标识，该连接到的移载机CAN总线入网单元的连接端口为第三端口，且在总线号1的情况下，连接到的第三端口为出口；在总线号2的情况下，连接到的第三端口为入口。The CAN bus network access unit according to claim 7, wherein if the first port or the third port receives a notification containing the CAN bus network access unit identification, bus number 1 or 2, specific flag bit in the third scan period Message, the MCU determines that the first port or the third port is connected to a CAN bus network access unit of a transfer machine, and after sending a port query request to the CAN bus network access unit that sent the notification message, the received response indicates that the port number is 3. Record the identification of the connected CAN bus network access unit, the connection port of the CAN bus network access unit of the transfer carrier connected to is the third port, and in the case of bus number 1, the third port connected to is the exit; In the case of bus number 2, the third port connected to is the entrance.
  13. 根据权利要求7所述的CAN总线入网单元，其中，如果所述第一端口或第三端口在第四扫描期接收到含有CAN总线入网单元的标识、总线号1或2、特定标志位的通知消息，则MCU确定该第一端口或第三端口连接到一个移载机CAN总线入网单元，且向发出所述通知消息的CAN总线入网单元发送端口查询请求后，接收到的应答指示端口号为4，记录连接到的CAN总线入网单元的标识，该连接到的移载机CAN总线入网单元的连接端口为第四端口，且在总线号1的情况下，该第四端口为出口；在总线号2的情况下，该第四端口为入口。The CAN bus network access unit according to claim 7, wherein if the first port or the third port receives a notification containing the CAN bus network access unit identification, bus number 1 or 2, specific flag bit in the fourth scan period Message, the MCU determines that the first port or the third port is connected to a CAN bus network access unit of a transfer machine, and after sending a port query request to the CAN bus network access unit that sent the notification message, the received response indicates that the port number is 4. Record the identification 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 No. 2, the fourth port is the inlet.
  14. 根据权利要求1所述的CAN总线入网单元，其中，在使用阶段，通过所述开关根据现场要求将所述第三端口连接到所述第一CAN总线或所述第二CAN总线。The CAN bus network access unit according to claim 1, wherein in the use phase, the third port is connected to the first CAN bus or the second CAN bus through the switch according to field requirements.
  15. 一种移载机控制器局域网CAN总线入网单元，包括第一CAN总线、第二CAN总线、第一端口、第二端口、第三端口和第四端口，所述第一端口与所述第三端口的连线方向、所述第二端口与所述第四端口的连线方向相互垂直，其中，所述第一端口连接到所述第一CAN总线，所述第二端口、第三端口、第四端口中的至少一个通过各自的开关，连接到所述第一CAN总线，或连接到所述第二CAN总线。A CAN bus network access unit for a controller area network of a transfer machine, which includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port. The connection direction of the ports, the connection direction of the second port and the fourth port are perpendicular to each other, wherein the first port is connected to the first CAN bus, and the second port, the third port, At least one of the fourth ports is connected to the first CAN bus or to the second CAN bus through a respective switch.
  16. 根据权利要求15所述的CAN总线入网单元，其中，所述开关包括第二单刀双掷开关、第三单刀双掷开关、第四单刀双掷开关，其中，所述第二单刀双掷开关一端连 接第二端口，另一端连接到所述第一CAN总线，或连接到所述第二CAN总线；所述第三单刀双掷开关一端连接第三端口，另一端连接到所述第一CAN总线，或连接到所述第二CAN总线；所述第四单刀双掷开关一端连接第四端口，另一端连接到所述第一CAN总线，或连接到所述第二CAN总线。The CAN bus network access unit according to claim 15, wherein the switch comprises a second single-pole double-throw switch, a third single-pole double-throw switch, and a fourth single-pole double-throw switch, wherein one end of the second single-pole double-throw switch Connect to the second port, and the other end to the first CAN bus or to the second CAN bus; one end of the third single-pole double-throw switch is connected to the third port, and the other end is connected to the first CAN bus , Or connected to the second CAN bus; one end of the fourth single-pole double-throw switch is connected to the fourth port, and the other end is connected to the first CAN bus or to the second CAN bus.
  17. 根据权利要求15所述的CAN总线入网单元，其中，所述开关包括第五单刀双掷开关、第三、第四、第五开关，其中，所述第三、第四、第五开关的一端分别连接第二端口、第三端口、第四端口，另一端共同连接到所述第五单刀双掷开关的一端，所述第五单刀双掷开关的另一端在连接所述第一CAN总线和连接所述第二CAN总线之间切换。The CAN bus network access unit according to claim 15, wherein the switch comprises a fifth single-pole double-throw switch, a third, fourth, and fifth switch, wherein one end of the third, fourth, and fifth switch The second port, the third port, and the fourth port are respectively connected, 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 is connected to the first CAN bus and Switch between connections to the second CAN bus.
  18. 根据权利要求15所述的CAN总线入网单元，其中，在组网阶段的第一扫描期，通过所述开关，将所述第一端口连接到第一CAN总线；在第二扫描期，通过所述开关，将所述第二端口连接到第二CAN总线；在第三扫描期，通过所述开关，将所述第三端口连接到第二CAN总线；在第四扫描期，通过所述开关，将所述第四端口连接到第二CAN总线。The CAN bus network access unit according to claim 15, wherein in the first scan period of the networking stage, the first port is connected to the first CAN bus through the switch; and in the second scan period, the first port is connected to the first CAN bus; The switch connects the second port to the second CAN bus; in the third scan period, the third port is connected to the second CAN bus through the switch; in the fourth scan period, the switch is connected , Connect the fourth port to the second CAN bus.
  19. 根据权利要求18所述的CAN总线入网单元，其中，在所述第一扫描期、第二扫描期、第三扫描期、第四扫描期，所述移载机CAN总线入网单元的各端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标识、发送该通知消息的端口连接的总线号、特定标志位。The CAN bus network access unit according to claim 18, wherein, in the first scan period, the second scan period, the third scan period, and the fourth scan period, each port of the CAN bus network access unit of the transfer machine transmits A notification message, where the notification message contains the identification of the CAN bus network access unit, the bus number connected to the port that sends the notification message, and a specific flag bit.
  20. 根据权利要求19所述的CAN总线入网单元，其中，在所述第一扫描期之前的第一静默期，通过所述开关，将第一端口连接到第一CAN总线；在所述第四扫描期之后的第二静默期，通过所述开关，将第四端口连接到第二CAN总线。The CAN bus network access unit according to claim 19, wherein, in the first silent period before the first scan period, the first port is connected to the first CAN bus through the switch; In the second silent period after the period, the fourth port is connected to the second CAN bus through the switch.
  21. 根据权利要求15所述的CAN总线入网单元，还包括微控制单元MCU。The CAN bus network access unit according to claim 15, further comprising a micro-control unit MCU.
  22. 根据权利要求21所述的CAN总线入网单元，其中，如果所述移载机CAN总线入网单元的端口在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号1、端口号1的通知消息，则所述MCU确定该端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的直线型CAN总线入网单元的连接端口为第一端口，且连接到的第一端口为入口。The CAN bus network access unit according to claim 21, wherein if the port of the CAN bus network access unit of the transfer machine is in a continuous period of the first scan period, the second scan period, the third scan period, and the fourth scan period After receiving a notification message containing the identification of the CAN bus network access unit, the bus number 1, and the port number 1, 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. The connection port of the linear CAN bus network access unit connected to is the first port, and the first port connected to is the entrance.
  23. 根据权利要求21所述的CAN总线入网单元，其中，如果所述移载机CAN总线入网单元的端口在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期的期间接收到含有CAN总线入网单元的标识、总线号2、端口号3的通知消息，则所述MCU确定该端口连接到一个直线型CAN总线入网单元，记录连接到的CAN总线入网单元的标识，该连接到的直线型CAN总线入网单元的连接端口为第三端口，且连接到的第三端口为出口。The CAN bus network access unit according to claim 21, wherein if the port of the CAN bus network access unit of the transfer machine is in a continuous period of the first scan period, the second scan period, the third scan period, and the fourth scan period After receiving a notification message containing the identification of the CAN bus network access unit, bus number 2, port number 3, 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. The connection port of the linear CAN bus network access unit connected to is the third port, and the third port connected to is the outlet.
  24. 根据权利要求15所述的CAN总线入网单元，其中，在使用阶段，根据现场要 求分别控制与所述第二端口、第三端口、第四端口中的至少一个连接的开关的接通或闭合。The CAN bus network access unit according to claim 15, wherein in the use phase, the switch connected to at least one of the second port, the third port, and the fourth port is respectively controlled to be turned on or off according to field requirements.
  25. 一种直线型控制器局域网CAN总线入网单元的开关控制方法，其中，所述直线型CAN总线入网单元包括第一CAN总线、第二CAN总线、第一端口、第二端口、第三端口和第四端口，其中，所述第一端口连接到所述第一CAN总线，所述第三端口通过开关，连接到所述第一CAN总线，或连接到所述第二CAN总线，所述方法包括：A switch control method for 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 second CAN bus. Four ports, 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, and the method includes :
    在组网阶段，通过所述开关将所述第三端口连接到所述第二CAN总线；In the networking stage, connect the third port to the second CAN bus through the switch;
    在使用阶段，通过所述开关根据现场要求将所述第三端口连接到所述第一CAN总线或所述第二CAN总线。In the use phase, the third port is connected to the first CAN bus or the second CAN bus through the switch according to site requirements.
  26. 一种移载机控制器局域网CAN总线入网单元的开关控制方法，所述移载机CAN总线入网单元包括第一CAN总线、第二CAN总线、第一端口、第二端口、第三端口和第四端口，其中，所述第一端口连接到所述第一CAN总线，所述第二端口、第三端口、第四端口中的至少一个通过各自的开关，连接到所述第一CAN总线，或连接到所述第二CAN总线，所述方法包括：A switch control method for a CAN bus network access unit of a transfer machine controller local area network. 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 second CAN bus. Four ports, 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 through a respective switch, Or connected to the second CAN bus, the method includes:
    在组网阶段的第一扫描期，通过所述开关，将所述第一端口连接到第一CAN总线；在第二扫描期，通过所述开关，将所述第二端口连接到第二CAN总线；在第三扫描期，通过所述开关，将所述第三端口连接到第二CAN总线；在第四扫描期，通过所述开关，将所述第四端口连接到第二CAN总线；In the first scan period of the networking phase, the first port is connected to the first CAN bus through the switch; in the second scan period, the second port is connected to the second CAN bus through the switch Bus; in the third scan period, the third port is connected to the second CAN bus through the switch; in the fourth scan period, the fourth port is connected to the second CAN bus through the switch;
    在使用阶段，根据现场要求分别控制与所述第二端口、第三端口、第四端口中的至少一个连接的开关的接通或闭合。In the use phase, the switch connected to at least one of the second port, the third port, and the fourth port is controlled to be turned on or closed according to site requirements.
  27. 一种远程可视化CAN总线入网单元组装方法，包括：A remote visualized CAN bus network access unit assembly method, including:
    在远程可视化界面接收用户的组网请求；Receive the user's networking request on the remote visualization interface;
    识别输送线的电气控制***中的CAN总线入网单元，所述CAN总线入网单元包括第一CAN总线、第二CAN总线、第一端口、第二端口、第三端口第四端口和开关；Identify the CAN bus network access unit in the electrical control system of the transmission line, where the CAN bus network access unit includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, a fourth port, and a switch;
    远程控制所述开关将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个。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.
  28. 根据权利要求27所述的方法，其中，所述远程控制所述开关将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个，包括：The method according to claim 27, wherein the remote control of the switch connects at least one of the first port, the second port, the third port, and the fourth port to the first CAN bus, the At least one of the two CAN buses, including:
    对于识别出的直线型CAN总线入网单元，远程控制所述直线型CAN总线入网单元的所述开关将所述第三端口连接到所述第二CAN总线。For the identified linear CAN bus network access unit, remotely control the switch of the linear CAN bus network access unit to connect the third port to the second CAN bus.
  29. 根据权利要求27所述的方法，其中，所述远程控制所述开关将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个，包括：The method according to claim 27, wherein the remote control of the switch connects at least one of the first port, the second port, the third port, and the fourth port to the first CAN bus, the At least one of the two CAN buses, including:
    对于识别出的移载机CAN总线入网单元，在第一扫描期，远程控制所述移载机CAN 总线入网单元的所述开关，将所述第一端口连接到第一CAN总线；在第二扫描期，远程控制所述移载机CAN总线入网单元的所述开关，将所述第二端口连接到第二CAN总线；在第三扫描期，远程控制所述移载机CAN总线入网单元的所述开关，将所述第三端口连接到第二CAN总线；在第四扫描期，通过远程控制所述移载机CAN总线入网单元的所述开关，将所述第四端口连接到第二CAN总线。For the identified transfer machine CAN bus network access unit, in the first scan period, remotely control the switch of the transfer machine CAN bus network access unit, and connect the first port to the first CAN bus; During the scanning period, remotely control the switch of the CAN bus network access unit of the transfer machine, and connect the second port to the second CAN bus; in the third scan period, remotely control the switch of the CAN bus network access unit of the transfer machine The switch connects the third port to the second CAN bus; in the fourth scan period, the fourth port is connected to the second CAN bus by remotely controlling the switch of the CAN bus network access unit of the transfer machine CAN bus.
  30. 根据权利要求27所述的方法，其中，在远程控制所述开关将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个之后，所述方法还包括：The method according to claim 27, wherein the switch is remotely controlled to connect at least one of the first port, the second port, the third port, and the fourth port to the first CAN bus, the second After at least one of the CAN buses, the method further includes:
    在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述CAN总线入网单元发送通知消息。In the consecutive first scan period, second scan period, third scan period, and fourth scan period, the CAN bus network access unit is controlled to send notification messages.
  31. 根据权利要求30所述的方法，其中，所述在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述CAN总线入网单元发送通知消息，包括：The method according to claim 30, wherein the controlling the CAN bus network access unit to send a notification message during the consecutive first scan period, second scan period, third scan period, and fourth scan period comprises:
    对于识别出的直线型CAN总线入网单元，在所述连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述直线型CAN总线入网单元的所述第一端口和第三端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标识、发送该通知消息的端口号、发送该通知消息的端口连接的总线号。For the identified linear CAN bus network access unit, in the consecutive first scan period, second scan period, third scan period, and fourth scan period, the first scan period of the linear CAN bus network access unit is controlled. The port and the third port send notification messages, and the notification message contains the identification of the CAN bus network access unit, the port number that sends the notification message, and the bus number to which the port that sends the notification message is connected.
  32. 根据权利要求30所述的方法，其中，所述在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述CAN总线入网单元发送通知消息，包括：The method according to claim 30, wherein the controlling the CAN bus network access unit to send a notification message during the consecutive first scan period, second scan period, third scan period, and fourth scan period comprises:
    对于识别出的移载机CAN总线入网单元，在所述连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述移载机CAN总线入网单元的各端口发送通知消息，所述通知消息中含有所述CAN总线入网单元的标识、发送该通知消息的端口连接的总线号、特定标志位。For the identified transfer machine CAN bus network access unit, in the consecutive first scan period, second scan period, third scan period, and fourth scan period, control each port of the transfer machine CAN bus network access unit A notification message is sent, and the notification message contains the identification of the CAN bus network access unit, the bus number connected to the port that sends the notification message, and a specific flag bit.
  33. 根据权利要求30所述的方法，其中，在连续的第一扫描期、第二扫描期、第三扫描期、第四扫描期，控制所述CAN总线入网单元发送通知消息之后，所述方法还包括：The method according to claim 30, wherein, after the CAN bus network access unit is controlled to send the notification message in the consecutive first scan period, second scan period, third scan period, and fourth scan period, the method further include:
    接收所述CAN总线入网单元发送的所检测到相连接的CAN总线入网单元的标识、连接端口号、连接端口性质，生成所述电气控制***的CAN总线入网单元连接布图；Receiving the identification, the connection port number, and the nature of the connection port of the detected connected CAN bus network access unit sent by the CAN bus network access unit, and generate the connection layout of the CAN bus network access unit of the electrical control system;
    显示所述所述电气控制***的CAN总线入网单元连接布图。The connection layout of the CAN bus network access unit of the electrical control system is displayed.
  34. 根据权利要求33所述的方法，其中，在显示所述所述电气控制***的CAN总线入网单元连接布图之后，所述方法包括：The method according to claim 33, wherein, after displaying the connection layout of the CAN bus network access unit of the electrical control system, the method comprises:
    在远程可视化界面，接收用户输入的CAN总线入网单元的现场连接要求指示；On the remote visualization interface, receive the user's input of the CAN bus network unit's on-site connection requirements instructions;
    根据所述现场连接要求指示，控制所述CAN总线入网单元的所述开关，以将所述第一端口、第二端口、第三端口、第四端口中的至少一个连接到所述第一CAN总线、第二CAN总线中的至少一个。According to the on-site connection requirement instruction, control the switch of the CAN bus network access unit to connect at least one of the first port, the second port, the third port, and the fourth port to the first CAN At least one of the bus and the second CAN bus.
PCT/CN2021/101444 2020-06-24 2021-06-22 Linear and movable loader can bus network access unit, and related method therefor WO2021259234A1 (en)

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