CN109104325B - Train network data transmission method, system and device based on CANopen protocol - Google Patents

Abstract

The invention discloses a train network data transmission method, a train network data transmission system and a train network data transmission device based on a CANopen protocol, wherein the train network data transmission method, the train network data transmission system and the train network data transmission device are applied to an active main node and comprise the following steps: monitoring PDO messages sent by each slave node related to the active master node through a first CAN channel on the main network according to a pre-configured network node list; judging whether the first CAN channel of each slave node has a fault; if the fault occurs, switching to a standby network to monitor a PDO message sent by a first node through a second CAN channel, wherein the first node is any slave node related to the active master node; if the standby network receives the PDO message sent by the first node through the second CAN channel in a preset first heartbeat cycle corresponding to the first node, receiving data sent by the first node on the standby network, and meanwhile, receiving data sent by other slave nodes which normally send the PDO message on the main network. Therefore, good running of the whole train is ensured, and the redundancy effect of the train network is improved.

Description

Method, system and device for train network data transmission based on CANopen protocol

technical field

The invention relates to the technical field of vehicle communication, in particular to a method, system and device for train network data transmission based on CANopen protocol.

Background technique

At present, the most widely used train communication network is the train communication network (TCN) bus technology. TCN covers four buses: MVB (multi-function vehicle bus), WTB (twisted train bus), Ethernet, and CAN (field bus). . Among the design requirements for MVB, WTB, Ethernet, and CAN, a common requirement is network redundancy design. The so-called network redundancy means that a backup network should be set up for each communication network, that is, each node on the network will use a dual-line connection mode of A and B lines. The network realizes communication to ensure smooth data interaction of various products on the network, so that the operating environment of the train communication network has high availability.

Usually, if the train communication network design uses CAN bus for data interaction, most of the cases will be based on CANopen (a high-level communication protocol based on CAN bus, which is a field bus commonly used in industrial control at present). The definition of CANopen is based on CAN bus design. Standardized application layer protocol, CANopen protocol supports a complete set of network management mechanism for traditional CAN to support redundant network design. At present, the redundant network design based on CANopen requires all network nodes to send data in two channels at the same time, but by default, all nodes only obtain data from the main network. Go to the standby network to receive the data of this part of the node, and switch to the standby network to receive the data, but if the channels where multiple nodes fail are not in the same network, this strategy will have hidden dangers, for example, if Some of the faulty nodes are in the main network and the other part is in the standby network. In the above method, no matter which network is switched to to receive data, some nodes will not receive data. Therefore, due to the received data Incomplete, affecting the realization of some functions, and then affecting the operation of the whole vehicle.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve one of the above-mentioned technical problems at least to a certain extent.

Therefore, the first purpose of the present invention is to propose a train network data transmission method based on the CANopen protocol, which ensures the good operation of the whole vehicle and improves the redundancy effect of the train network.

The second purpose of the present invention is to propose another train network data transmission method based on the CANopen protocol.

The third object of the present invention is to propose an active master node.

The fourth object of the present invention is to provide a slave node.

The fifth object of the present invention is to propose a train network data transmission system based on the CANopen protocol.

The sixth object of the present invention is to propose a computer device.

A seventh object of the present invention is to propose another computer device.

An eighth object of the present invention is to propose a computer-readable medium.

A ninth object of the present invention is to propose another computer-readable medium.

In order to achieve the above purpose, a method for transmitting train network data based on the CANopen protocol proposed by the embodiment of the first aspect of the present invention includes the following steps: the method is applied to an active master node, and includes the following steps: according to a pre-configured network node list Monitor the PDO messages sent by the slave nodes related to the active master node through the first CAN channel on the active network; according to the reception of the PDO messages sent by the slave nodes, and according to the The production prohibition time is the timing of the heartbeat timer correspondingly set by each slave node, and it is judged whether the first CAN channel of each slave node is faulty; if it is within the preset first heartbeat cycle corresponding to the first node If the PDO message of the first node is not received on the primary network, the first CAN channel of the first node is informed that the first CAN channel is faulty, and switches to the backup network to monitor the transmission of the first node through the second CAN channel PDO message, wherein, the first node is any slave node related to the active master node; if the standby network receives the For the PDO message sent by the first node through the second CAN channel, the data sent by the first node is received on the standby network, and at the same time, other slave nodes that normally send PDO messages are received on the primary network. data sent.

In order to achieve the above purpose, another method for train network data transmission based on the CANopen protocol proposed by the embodiment of the second aspect of the present invention, the method is applied to the slave node, and includes the following steps: according to the pre-configured network node list, in the master network Monitor the PDO message sent by each node related to the slave node through the first CAN channel: according to the reception situation of the PDO message sent by the each node, and according to the production prohibition time in the PDO message is the described The timing situation of the heartbeat timer corresponding to each node is set to determine whether the first CAN channel of each node is faulty; If the PDO message of the second node is received, the failure of the first CAN channel of the second node is known, and the first CAN channel of the second node is switched to the standby network to monitor the PDO message sent by the second node through the second CAN channel, wherein the first CAN channel The second node is any slave node or active master node related to the slave node; if the standby network receives the data sent by the second node through the second CAN channel within the preset heartbeat period corresponding to the second node The data sent by the second node is received on the standby network, and at the same time, the data sent by other nodes that normally send PDO messages is received on the primary network.

In order to achieve the above object, an active master node proposed by an embodiment of the third aspect of the present invention includes: a first monitoring module, configured to listen on the active network according to a pre-configured network node list for the active master node. The PDO message sent by each slave node through the first CAN channel; the first judgment module is used to determine the PDO message according to the reception situation of the PDO message sent by each slave node, and according to the production prohibition time in the PDO message. The timing situation of the heartbeat timer correspondingly set by each slave node determines whether the first CAN channel of each slave node is faulty; the first learning module is used for the preset first heartbeat cycle corresponding to the first node. When the primary network receives the PDO message of the first node, it learns that the first CAN channel of the first node is faulty; the first monitoring module is further configured to switch to the standby network to monitor the first CAN channel. A PDO message sent by a node through the second CAN channel, wherein the first node is any slave node related to the active master node; the first receiving module is configured to correspond to the first node in a preset When the standby network receives the PDO message sent by the first node through the second CAN channel within the first heartbeat period of the The master network receives data sent by other slave nodes that normally send PDO messages.

In order to achieve the above purpose, a slave node proposed by an embodiment of the fourth aspect of the present invention includes: a second monitoring module, configured to monitor each node related to the slave node on the master network according to a preconfigured network node list The PDO message sent through the first CAN channel; the second judging module is configured to set corresponding settings for the nodes according to the receiving conditions of the PDO messages sent by the nodes and according to the production prohibition time in the PDO message The timing situation of the heartbeat timer, to judge whether the first CAN channel of each node is faulty; the second learning module is used for not receiving on the main network within the preset heartbeat period corresponding to the second node When the PDO message of the second node arrives, learn that the first CAN channel of the second node is faulty; the second monitoring module is further configured to switch to the standby network to monitor the second node through the second CAN channel The sent PDO message, wherein the second node is any slave node or active master node related to the slave node; the second receiving module is used for the preset heartbeat period corresponding to the second node. When the backup network receives the PDO message sent by the second node through the second CAN channel, it receives the data sent by the second node on the backup network, and at the same time, receives other data on the primary network. Data sent by a node that normally sends PDO packets.

In order to achieve the above purpose, a train network data transmission system based on the CANopen protocol proposed by the embodiment of the fifth aspect of the present invention includes the active master node described in the embodiment of the third aspect of the present invention; the slave node described in the embodiment of the fourth aspect of the present invention Node, primary network; backup network.

In order to achieve the above object, a computer device provided by an embodiment of the sixth aspect of the present invention includes a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer The program implements the CANopen protocol-based train network data transmission method described in the embodiment of the first aspect of the present invention.

In order to achieve the above object, a computer device provided by an embodiment of the seventh aspect of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer The program implements the CANopen protocol-based train network data transmission method described in the embodiment of the second aspect of the present invention.

In order to achieve the above purpose, a computer-readable medium provided by an embodiment of the eighth aspect of the present invention is used to store a computer program, and the computer program is executed by a processor to implement the CANopen-based protocol described in the embodiment of the first aspect of the present invention. The train network data transmission method.

In order to achieve the above object, a computer-readable medium provided by the embodiment of the ninth aspect of the present invention is used to store a computer program, and the computer program is executed by a processor to implement the CANopen-based protocol described in the embodiment of the second aspect of the present invention. The train network data transmission method.

The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

Monitor the PDO messages sent by each slave node related to the active master node through the first CAN channel on the active network according to the pre-configured network node list, according to the reception of the PDO messages sent by each slave node, and according to the PDO message The production prohibition time in the message is the timing of the heartbeat timer corresponding to each slave node, and it is judged whether the first CAN channel of each slave node is faulty. If the PDO message of the first node is received on the active network, it will know that the first CAN channel of the first node is faulty, and switch to the standby network to monitor the PDO message sent by the first node through the second CAN channel. In the first heartbeat period corresponding to the first node, the PDO message sent by the first node through the second CAN channel is received on the standby network, the data sent by the first node is received on the standby network, and at the same time, the data sent by the first node is received on the main network. Receive data sent by other slave nodes that normally send PDO messages. Therefore, when one or some slave nodes are disconnected on the main network, they switch to the standby network to receive the data of this part of the slave nodes, and other slave node data are still received on the main network. The complete reception of the train ensures the good operation of the whole vehicle and improves the redundancy effect of the train network. Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a schematic diagram of a train network structure according to the prior art;

Figure 2(a) is a schematic diagram of the risk of data transmission in train network structure according to the prior art;

Fig. 2(b) is a schematic diagram of overcoming risks by train network structure data transmission according to the present invention;

3 is a flowchart of a method for transmitting train network data based on the CANopen protocol according to the first embodiment of the present invention;

4 is an exemplary topology diagram of a data transmission method for a redundant train network according to an embodiment of the present invention;

5 is an example diagram of each node receiving data when the main network bus is faulty according to the present invention;

Fig. 6 is a flow chart of a train network data transmission method based on CANopen protocol according to the second embodiment of the present invention;

7 is a flowchart of a train network data transmission method based on CANopen protocol according to a third embodiment of the present invention;

FIG. 8 is a flowchart of a train network data transmission method based on the CANopen protocol according to the fourth embodiment of the present invention;

9 is a schematic structural diagram of an active master node according to the first embodiment of the present invention;

10 is a schematic structural diagram of a master node according to a second embodiment of the present invention;

11 is a schematic structural diagram of a master node according to a third embodiment of the present invention;

12 is a schematic structural diagram of a master node according to a fourth embodiment of the present invention;

13 is a schematic structural diagram of an active master node according to a fifth embodiment of the present invention;

14 is a schematic structural diagram of an active master node according to a sixth embodiment of the present invention;

15 is a schematic structural diagram of an active master node according to a seventh embodiment of the present invention;

16 is a schematic structural diagram of a slave node according to the first embodiment of the present invention;

17 is a schematic structural diagram of a slave node according to a second embodiment of the present invention;

18 is a schematic structural diagram of a slave node according to a third embodiment of the present invention;

FIG. 19 is a schematic structural diagram of a slave node according to a fourth embodiment of the present invention;

20 is a schematic structural diagram of a train network data transmission system based on the CANopen protocol according to an embodiment of the present invention;

21 is a schematic diagram of the master node receiving data when the first CAN channel of the node listed according to the present invention fails; and

FIG. 22 is a schematic diagram of receiving data from the node when the first CAN channel of the node is faulty according to the present invention.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

The following describes the method, system and device for train network data transmission based on the CANopen protocol according to the embodiments of the present invention with reference to the accompanying drawings.

Specifically, it can be seen from the redundant network design methods in the current prior art that, since there are relatively few train applications using the CAN bus as the communication network, the network architecture built with the CAN bus is relatively simple, and even the CAN bus has been applied at this stage. The network redundancy design has not been properly considered on the train. Even with this consideration, many vehicle manufacturers have relatively complete existing systems due to limited technical conditions, and in order to make the network node software logic processing simple and quickly meet the network construction requirements. The strategy is that all nodes send data on both the main network and the standby network at the same time, but only one network is selected to receive data. No matter which node on the main network has been dropped, the related nodes are switched to the standby network to receive data. Processes the data of the dropped node as well as the data of other associated nodes.

For example, as shown in the example of FIG. 1, network nodes A and C need to receive data from node B, while nodes D and E do not receive data from node B. When the first CAN channel of node B fails, node A and Node C switches to the standby network to receive data, so as to ensure that the data of node B is normally received.

However, there is a risk in such a processing method. As shown in the example of Fig. 2(a), node A needs to receive data from node B and node C, but the first CAN channel of node B is faulty and the second CAN channel of node C is faulty. In the event of a failure, according to the existing method, node A can only fetch one piece of network data, so it can only choose to give up the data of node B or node C. However, in reality, the data of node B and node C are very important to node A, and can only receive one. data, it will affect the function of node A, and then affect the operation of the whole vehicle, the redundancy effect will be greatly reduced, and the main meaning of redundancy will not be reflected.

In order to solve the technical problem in the prior art that the data of some nodes cannot be received normally when different channels of multiple nodes fail, the train network data transmission method proposed by the present invention, on the basis of the redundant design structure of the existing train network, provides A train redundant network data transmission design scheme, which can effectively avoid the failure of the main network channel of some nodes and the need to discard some node data when the backup network channel of some nodes fails. It solves the problem that some vehicle network failures cause the entire vehicle to be blocked, and it can ensure that in some abnormal situations, each node of the network can still communicate normally.

Among them, it should be emphasized that the train network data transmission method of the present invention is implemented based on the CANopen protocol, wherein the CANopen protocol requires a node in the network to play the role of the master node to manage the initialization, startup, supervision, and control of other slave nodes. work such as reset or stop.

In order to describe the train network data transmission method based on the CANopen protocol of the present invention more clearly, the following describes the application of the method on the active master node side with reference to specific embodiments, and the description is as follows:

Among them, in order to better implement the CANopen protocol-based train network data transmission method in the embodiment of the present invention, there are certain design requirements for the master node. Since the master node acts as a network administrator, it will have more network status control than the slave node. That is, after the master node is powered on, it needs to send network control commands to the main network and the backup network at the same time to control the two CAN channels of the slave node to enter the operation mode, and at the same time, it will send synchronization packets and time stamps to the main network and the backup network. , emergency objects and other messages.

3 is a flowchart of a method for transmitting train network data based on the CANopen protocol according to the first embodiment of the present invention. As shown in FIG. 3 , the method includes:

S101: Monitor the PDO message sent by each slave node related to the active master node through the first CAN channel on the master network according to a preconfigured network node list.

Among them, PD0 (Process Data Object, process data object) is used to transmit real-time data, provides a direct access channel to the device application object, it is used to transmit real-time short-frame data, and has a higher priority.

In the PDO message monitoring mechanism, the production prohibition time of the communication parameter index in the PDO object dictionary is used as the key judgment condition to define whether a node is disconnected or not. The PDO communication parameter structure is shown in Table 1 below.

Table 1

It can be understood that the present invention requires the master node to establish a list of all network nodes (configurable) according to the topology diagram, wherein the network node list includes: each slave node identifier related to the active master node and the corresponding heartbeat timer, wherein each The heartbeat timer corresponding to the slave node is set according to the production prohibition time in the PDO message, and sends network control commands from the master network and the backup network to all slave nodes at the same time, controlling the first CAN channel and the second CAN channel of the slave node to enter the PDO message operation mode, and start the heartbeat timer corresponding to each slave node related to the active master node.

That is, in the RPDO object index (1400h to 15FFh) of the CANopen object dictionary, one representative PDO is selected for each node according to the actual disconnection time limit judgment requirements, and then according to the production prohibition time parameters in these PDO indexes, each node is divided. Both set a heartbeat counter.

Furthermore, after the master node enters the operating state, the master node will continue to detect the PDO transmission status of each node. Since the default active network works, it will monitor the active network according to the pre-configured network node list on the active network. The PDO message sent by the slave node through the first CAN channel, so as to judge whether each slave node is disconnected according to the message reception situation.

S102: Determine whether the first CAN channel of each slave node is based on the reception of the PDO message sent by each slave node and the timing of the heartbeat timer correspondingly set for each slave node according to the production prohibition time in the PDO message. Fault.

It should be understood that, continuing to refer to Table 1 above, in the PDO message sending mechanism, the sub-index 03h production prohibition time indicates that a PDO data is received and processed within the preset time, if the corresponding PDO data is not received within the preset time, then The node will record the frame loss of the PDO message. When the PDO data is not received within a production prohibition time, the heartbeat counter starts to count. When the heartbeat counter accumulates to a preset value, the master node will determine that the node is offline. Therefore, in the embodiment of the present invention, the timing of the heartbeat timer is set for the production prohibition time, so that according to the reception situation of the PDO message sent by each slave node, and according to the production prohibition time in the PDO message, each slave According to the timing of the heartbeat timer set corresponding to the node, it is judged whether the first CAN channel of each slave node is faulty.

Wherein, if the communication of the first CAN channel of the slave node is good, the master node can normally receive the PDO message sent by the slave node within a certain period of time; otherwise, the communication of the first CAN channel of the slave node is faulty.

S103, if the PDO message of the first node is not received in the primary network within the preset first heartbeat period corresponding to the first node, then learn that the first CAN channel of the first node is faulty, and switch to the backup network Monitor the PDO message sent by the first node through the second CAN channel.

The first node is any slave node related to the active master node.

Specifically, within the preset first heartbeat period corresponding to the first node, if the PDO message of the first node is not received on the active network, it indicates that the active master node cannot receive the message sent by the first node. The reason for the PDO message is caused by the failure of the first CAN channel. Therefore, in order to ensure that the active master node can normally receive the PDO message of the first node and maintain the normal operation of the vehicle, it switches to the standby network to monitor the first node through the first node. Two PDO messages sent by the CAN channel.

It should be emphasized that at this time, the active master node can only monitor the PDO message of the first node from the standby network, and for other slave nodes with no faults in the first CAN channel, still receive the PDO message on the main network, so as shown in the figure. As shown in 2(b), node A needs to receive data from node B and node C. When the first CAN channel of node B fails and the second CAN channel of node C fails, according to the data transmission method of the present invention, node A passes through the main network. Receive the data of node C, and receive the data sent by node B from the backup network, so the data of node B and node C can be used to ensure the normal function of node A, thereby ensuring the good operation of the whole vehicle, and the redundancy effect is enhanced.

In another embodiment of the present invention, if the PDO message of the first node is received within the preset first heartbeat period, it indicates that the data transmission failure of the slave node can be repaired by itself by resetting, so that the slave node can continue to slave The data sent by the first node is received on the primary network.

S104, if the standby network receives the PDO message sent by the first node through the second CAN channel within the preset first heartbeat period corresponding to the first node, receive the data sent by the first node on the standby network, and simultaneously , receive data sent by other slave nodes that normally send PDO messages on the master network.

Specifically, if the PDO message sent by the first node through the second CAN channel is received within the first heartbeat period corresponding to the first node, it indicates that the second CAN channel is functioning normally, so that the first node is received on the standby network At the same time, the data sent by other slave nodes that normally send PDO messages is received on the master network.

Therefore, according to the above description of the train network data transmission method based on the CANopen protocol, and referring to the industry specification CIA302-6 for the design of CAN redundancy and the mature field bus redundancy mechanism in the rail industry, it is required that the network architecture of the embodiment of the present invention refer to In Figure 4, the network sets up two master nodes, one is the active master node and the other is the backup master node. When the active master node fails, the backup master node will perform the function of replacing the previous active master node.

That is to say, in an embodiment of the present invention, if the failure of the active master node is detected, it switches to the standby master node to exchange data with other related slave nodes.

In addition, all nodes on the network are connected by two pairs of CAN lines, A and B. Line A is defined as the main network, and line B is defined as the backup network. When all nodes are running, they will send information to the A and B lines at the same time. However, in the initial default, only information is received on line A, but the node must support receiving information on line A and line B at the same time, so that when the first CAN channel of a slave node fails, it receives information from the standby node The data of this node, for the remaining slave nodes whose first CAN channel is not faulty, still receives the data sent by the master network, thereby ensuring the complete reception of relevant slave node data and ensuring normal and good operation.

Of course, in the above description of the embodiment of the present invention, it is assumed that the communication between the active network and the backup network is not faulty. In actual application, both the active network and the backup network may fail. Therefore, after the active master node itself enters the operating state, it also executes Bus failure determination mechanism.

Specifically, according to the characteristics of the CAN bus, all CAN controllers must include a send error counter and a receive error timer, combined with the error detection mechanism defined by the data link layer, when an abnormal bus communication is detected, the error counter It will be enabled, and the count will be accumulated to 255, and the node will enter the bus off (bus off) state. That is, if the sending error counter or the receiving error counter in the active master node is accumulated to a preset value, it will know that the master network is faulty, and switch to the standby network to communicate with other nodes.

The active master node is now required to monitor the status of the main network and the standby network bus at the same time. When the active master node's main network bus fails (for example, the CAN line voltage is abnormal, too many error frames cause busoff, etc.), the active master node will first Parse the message of the standby master node to determine whether to enable the standby master node. If the standby master node can normally play the role of the active master node, the active master node stops running and enters a silent state. The standby master node starts and acts as the active master node. Currently in a faulty state and cannot act as the active master node, the current active master node continues to operate and immediately transfers to the standby network to process all slave node data. At the same time, the active master node will notify the meter or other devices that the active network is currently in failure. If the current backup network also fails, the communication network enters the paralyzed state, and all nodes enter the vehicle special operation state.

Among them, the number of times 255 accumulated by the above error counter is just an example. According to the specific application requirements, when the active master node sends the error timer or receives the error timer and accumulates to any preset value that meets the requirements, it knows that the main Network failure, switch to an alternate network to communicate with other nodes.

For example, as shown in Figure 5, a short-circuit fault occurs on the main network bus, that is, all nodes on the main network cannot communicate normally, and the error counters of each node will continue to accumulate. When each node determines that the main network channel has entered the busoff state. , will automatically switch to the alternate network to receive the data they need.

It should be emphasized that, based on the above description, in practical applications, the failure of the CAN channel may not be a long-term failure, such as the operation suspension caused by the sudden change of network speed, etc. Therefore, in order to avoid the waste of resources caused by unnecessary switching, In one embodiment of the present invention, a reset command is sent to the faulty CAN channel, so as to determine whether a fault has indeed occurred at present according to the reception situation of the PDO message after the reset.

Specifically, in an embodiment of the present invention, after judging that the PDO message of the first node has not been received within the preset first heartbeat period, it is not directly judged that the first CAN channel is faulty. The primary network sends a reset instruction to the first node, so that the first CAN channel enters an initial state of operation.

Further, continue to monitor the PDO message sent by the first node on the main network, and if the PDO message of the first node is not received within the preset second heartbeat cycle corresponding to the first node, the first node is informed The first CAN channel fails, and switches to the standby network to monitor the PDO message sent by the first node.

If the PDO message of the first node is received within the preset second heartbeat period, it is known that the failure of the first CAN channel of the first node is temporary and has been eliminated by the reset action, so the first node is monitored on the main network. Sent PDO message.

Based on the same principle, when switching to the second CAN channel to receive the PDO message sent by the first node, if the first heartbeat period corresponding to the first node cannot be received by the first node within the preset first heartbeat period corresponding to the first node If there is a PDO message, it does not directly judge the communication failure of the second CAN channel, but sends a reset command from the backup network to the first node, and continues to monitor the PDO message sent by the first node on the backup network.

If the PDO message sent by the first node through the second CAN channel is received in the second heartbeat period corresponding to the first node, it is known that the fault of the second CAN channel of the first node is temporary and has been eliminated through the reset action, Therefore, the data sent by the first node is received on the standby network, and at the same time, the data sent by other slave nodes that normally send PDO messages is received on the active network.

If the PDO message sent by the first node through the second CAN channel is not received within the second heartbeat period corresponding to the first node, it is learned that the second CAN channel of the first node is faulty.

It should be emphasized that the durations of the first heartbeat cycle and the second heartbeat cycle can be self-calibrated according to the needs of business scenarios, and the first heartbeat cycle and the second heartbeat cycle may be the same or different.

To sum up, the method for transmitting train network data based on the CANopen protocol according to the embodiment of the present invention monitors the PDO sent by each slave node related to the active master node through the first CAN channel on the master network according to the pre-configured network node list. message, according to the reception of the PDO message sent by each slave node, and the timing of the heartbeat timer corresponding to each slave node according to the production prohibition time in the PDO message, to determine the first CAN channel of each slave node. Whether it is faulty, if the PDO message of the first node is not received in the active network within the preset first heartbeat period corresponding to the first node, the first CAN channel of the first node is known to be faulty and switches to the standby The network monitors the PDO message sent by the first node through the second CAN channel. If the standby network receives the PDO message sent by the first node through the second CAN channel within the preset first heartbeat period corresponding to the first node, Then, the data sent by the first node is received on the standby network, and at the same time, the data sent by other slave nodes that normally send PDO messages is received on the primary network. Therefore, when one or some slave nodes are disconnected on the main network, they switch to the standby network to receive the data of this part of the slave nodes, and other slave node data are still received on the main network. The complete reception of the train ensures the good operation of the whole vehicle and improves the redundancy effect of the train network.

Based on the above embodiments, in order to further improve the stability and reusability of the train network data transmission method based on the CANopen protocol, the fault information of the current train network is displayed in real time according to the data sent, so that the relevant operators can repair as soon as possible according to the fault information, etc. , in order to improve the stability of train network data transmission.

FIG. 6 is a flowchart of a method for transmitting train network data based on the CANopen protocol according to the second embodiment of the present invention. As shown in FIG. 6 , after the above step S104, the method further includes:

S201, if the PDO message sent by the first node is not received on the standby network within the preset second heartbeat period corresponding to the first node, send the first CAN channel and the second CAN channel of the first node to the operation monitoring node The current fault message of the CAN channel, and displayed to the operator, prompting the current troubleshooting.

The data sent by the normal working slave node can be received during the second heartbeat cycle. In addition, the monitoring node can be a different device when the specific application requirements are different, for example, it can be the application of the instrument display screen and the terminal equipment. The interface, etc., is not limited here.

Specifically, if the PDO message sent by the first node through the second CAN channel is not received within the preset second heartbeat cycle, it indicates that the second CAN channel is also faulty. Therefore, in order to facilitate relevant operators to know in time In order to carry out fault processing, the current fault message of the first CAN channel and the second CAN channel of the first node is sent to the operation monitoring node, and displayed to the operator to prompt the current fault repair.

For example, in this example, the preset second heartbeat cycle is a heartbeat cycle, and the running monitoring node is the display screen, then if the PDO message of the first node cannot be monitored for a heartbeat cycle on the standby network , the active master node directly informs the display screen of the instrument that both the primary network and the backup network of the first node have failed (the fault type is the current fault), and prompts the main network and backup network of the node to be repaired.

S202: Continue to monitor the PDO message sent by the first node on the primary network and the backup network, if the PDO message of the first node is received from the primary network within the preset first heartbeat period corresponding to the first node , then learn that the first CAN channel of the first node resumes communication, switch to the main network to receive the data sent by the first node, send the current fault message of the second CAN channel of the first node to the operation monitoring node, and display To the operator, prompts the current troubleshooting.

Specifically, when communication failure occurs on both paths of the node, the active master node needs to continue to monitor the data sent by the node on the main network and the backup network. The restored network communicates.

For example, continue to monitor the PDO message sent by the first node through the first CAN channel on the active network and the standby network. A heartbeat cycle on the network can receive the PDO message of the first node, then the master node will receive and process the data of the first node on the restored network, but will still notify the running monitoring node (such as the instrument display, etc.) For the first node, this network is a historical failure and the other network is a current failure.

S203: Continue to monitor the PDO message sent by the first node on the standby network, and if the PDO message of the first node is received from the standby network within the preset first heartbeat period corresponding to the first node, send the PDO message to the operation monitor The node sends the historical fault messages of the first CAN channel and the second CAN channel of the first node and displays them to the operator, prompting the maintenance of hidden faults.

In order to fully recover the train network and improve its stability, the standby network continues to monitor the PDO messages sent by the first node through the second CAN channel. For example, if the main network and the standby network of the faulty node have both resumed communication , the active master node only needs to process the relevant slave node data on the master network, but will still notify the operation monitoring node (such as the instrument display screen, etc.) Eliminate potential safety hazards for relevant operators and improve the safety and stability of the train network.

S204: Continue to monitor the PDO message sent by the first node on the primary network and the backup network. If the PDO message of the first node is received from the backup network within the preset first heartbeat cycle corresponding to the first node, Then it is learned that the second CAN channel of the first node has resumed communication, then the data sent by the first node is received from the standby network, and the current fault message of the first CAN channel of the first node is sent to the operation monitoring node and displayed to the operator. , prompting the current troubleshooting.

Specifically, if the second CAN channel first restores communication with respect to the first CAN channel, the data sent by the first node is received from the backup network, and the current fault message of the first CAN channel of the first node is sent to the operation monitoring node, And display to the operator, prompting the current troubleshooting.

S205, continue to monitor the PDO message sent by the first node through the first CAN channel on the primary network, if the PDO message of the first node is received from the primary network within the preset first heartbeat period corresponding to the first node message, then switch to the main network to receive the data sent by the first node, and send the historical fault messages of the first CAN channel and the second CAN channel of the first node to the operation monitoring node and display it to the operator, indicating the hidden fault. overhaul.

Specifically, when the data sent by the second CAN channel is received through the standby network, according to the situation of the message, it is judged whether the first CAN channel of the first node has resumed communication, and if so, it is switched to the main network to receive the first node. The data sent, and the historical fault messages of the first CAN channel and the second CAN channel of the first node are sent to the operation monitoring node and displayed to the operator, prompting the maintenance of hidden faults.

S206, if the PDO message sent by the first node is received on the standby network within the preset second heartbeat period corresponding to the first node, the current fault message of the first CAN channel of the first node is sent to the operation monitoring node, And display to the operator, prompting the current troubleshooting.

Specifically, if the PDO message sent by the first node through the second CAN channel is received within the preset second heartbeat period, it indicates that the second CAN channel can normally provide data services, so that the master node will receive it on the standby network The data related to this node is processed, and the data of other nodes is still received and processed from the main network. At the same time, the main node will notify the operation monitoring node (such as the instrument display screen, etc.) that the first CAN channel of the first point of the node is the current fault), prompting to repair the main network of the first node.

S207: Continue to monitor the PDO message sent by the first node through the first CAN channel on the primary network. If the PDO message of the first node is received within the preset first heartbeat period corresponding to the first node, then Knowing that the first CAN channel of the first node has resumed communication, it switches to the main network to receive the data sent by the first node.

S208: Send the historical fault message of the first CAN channel of the first node to the operation monitoring node and display it to the operator, prompting the maintenance of the hidden fault.

Specifically, after prompting the relevant operator to overhaul the primary network of the first node, continue to monitor the PDO message sent by the first node through the first CAN channel on the primary network. If the primary network of the first node fails halfway through To restore communication, for example, the master node can receive the PDO message of the first node in a heartbeat cycle on the main network, then the master node resumes to receive the data of the first node on the main network, and stops processing from the standby network, However, the master node will still notify the operation monitoring node (such as the instrument display screen, etc.) of the failure of the main network of the first node (the fault type is historical failure), and will also prompt to repair the main network of the first node to confirm whether there is a failure. hidden danger.

To sum up, the train network data transmission method based on the CANopen protocol according to the embodiment of the present invention selects the main network and the backup network according to the real-time situation of the train network, and displays it to the relevant operators at the monitoring node. The stability and reusability of the train network data transmission method are improved.

In order to illustrate the train network data transmission method based on the CANopen protocol according to the embodiment of the present invention more clearly, the following describes the method in the slave node side.

Among them, the design requirements for slave nodes are as follows:

After the slave node is powered on and receives the master node startup command, it enters the operating state, and sends PDO data according to its own function and in combination with the master node synchronization packet frequency. Only receive the master node's synchronization packets, time stamps and other special object packets from the active network, and switch to the standby network to receive only when the master node cannot receive the master node's special object packets for a packet cycle on the active network. , if the active master node still cannot receive the special object message of the active master node in a message cycle on the standby network, then each slave node enters the special case processing mode at this time.

FIG. 7 is a flowchart of a train network data transmission method based on the CANopen protocol according to the third embodiment of the present invention. As shown in FIG. 7 , the method includes:

S301 , monitor the PDO message sent by each node related to the slave node through the first CAN channel on the master network according to the preconfigured network node list.

It can be understood that a network node list corresponding to the slave node is established according to the network topology diagram, wherein the network node list includes: each node identifier related to the slave node and the corresponding heartbeat timer, wherein the heartbeat timer corresponding to each node is based on the PDO. Production inhibit time setting in telegram.

Further, the active master node sends a network control command from the master network, starts the first CAN channel and the second CAN channel to enter the PDO message operation mode, and starts the heartbeat timers corresponding to each node related to the slave node.

Specifically, in the actual execution process, the PDO message sent by each node related to the slave node through the first CAN channel is monitored according to the pre-configured network node list. The list monitors the sending of PDO messages of related slave nodes on the master network.

S302: Determine whether the first CAN channel of each node is faulty according to the reception of the PDO message sent by each node and the timing of the heartbeat timer correspondingly set for each node according to the production prohibition time in the PDO message.

It should be understood that in the PDO message sending mechanism, the sub-index 03h production prohibition time indicates that a PDO data is received and processed within the preset time. If the corresponding PDO data is not received within the preset time, the node will record the PDO message. If the frame is lost, when the PDO data is not received within a production prohibition time, the heartbeat counter starts to count. When the heartbeat counter accumulates to a preset value, the master node will determine that the node is offline. Therefore, in the embodiment of the present invention, the timing of the heartbeat timer is set for the production prohibition time, so that according to the reception situation of the PDO message sent by each slave node, and according to the production prohibition time in the PDO message, each slave According to the timing of the heartbeat timer set corresponding to the node, it is judged whether the first CAN channel of each slave node is faulty.

Wherein, if the communication of the first CAN channel of the slave node is good, the active master node can normally receive the PDO message sent by the slave node within a certain period of time; otherwise, the communication of the first CAN channel of the slave node is faulty.

S303, if the PDO message of the second node is not received on the main network within the preset heartbeat period corresponding to the second node, learn that the first CAN channel of the second node is faulty, and switch to the standby network to monitor The PDO message sent by the second node through the second CAN channel.

The second node is any slave node or active master node related to the slave node.

It can be understood that, in practical application, if it is determined that the PDO message of the second node is not received within the heartbeat period corresponding to the second node, it is known that the first CAN channel of the second node is faulty, so as to maintain the train network. In normal operation, switch to the standby network to monitor the PDO message sent by the second node through the second CAN channel.

S304, if the standby network receives the PDO message sent by the second node through the second CAN channel within the preset heartbeat period corresponding to the second node, then receive the data sent by the second node on the standby network, and at the same time, in the standby network The primary network receives data sent by other nodes that normally send PDO packets.

Specifically, if the PDO message sent by the second node through the second CAN channel is received within the heartbeat period corresponding to the second node, it indicates that the second CAN channel is functioning normally, so that the second node can receive the message sent by the second node on the standby network. data.

Of course, in the above description of the embodiments of the present invention, it is assumed that the communication between the main network and the backup network is not faulty. In practical applications, both the main network and the backup network may fail. Therefore, after the slave node enters the operating state, it also executes the bus. Failure determination mechanism.

That is to say, the slave node will monitor the bus status of the main network and the backup network in real time (implemented by error counters). Immediately go to the standby network to process all slave node data, and the slave node will record that the main network is currently in a bus communication failure state. If the current standby network also has a bus failure, the communication network will enter a paralyzed state, and all nodes will enter the vehicle special state. operational status.

Specifically, if the sending error counter or the receiving error counter in the slave node is accumulated to a preset value, it will know that the primary network is faulty, and switch to the backup network to communicate with other nodes.

To sum up, the method for transmitting train network data based on the CANopen protocol according to the embodiment of the present invention monitors the PDO message sent by each node related to the slave node through the first CAN channel on the master network according to the pre-configured network node list. , according to the reception of the PDO message sent by each node, and the timing of the heartbeat timer set corresponding to each node according to the production prohibition time in the PDO message, to determine whether the first CAN channel of each node is faulty. If the PDO message of the second node is not received on the main network within the preset heartbeat period corresponding to the second node, then learn that the first CAN channel of the second node is faulty, and switch to the standby network to monitor the passage of the second node. For the PDO message sent by the second CAN channel, if the standby network receives the PDO message sent by the second node through the second CAN channel within the preset heartbeat period corresponding to the second node, the standby network receives the second PDO message. The data sent by the node, and at the same time, the data sent by other nodes that normally send PDO messages are received on the main network. Therefore, when one or some slave nodes are disconnected on the main network, they switch to the standby network to receive the data of this part of the slave nodes, and other slave node data are still received on the main network. The complete reception of the train ensures the good operation of the whole vehicle and improves the redundancy effect of the train network.

Based on the above embodiment, in order to further improve the stability and reusability of the train network data transmission method based on the CANopen protocol, the status of the data sent from the node records and the current train network fault information is displayed in real time, so that the relevant operators can quickly follow the fault information according to the fault information. maintenance etc.

FIG. 8 is a flowchart of a method for transmitting train network data based on the CANopen protocol according to the fourth embodiment of the present invention. As shown in FIG. 8 , after the above step S304, the method further includes:

S401, if the PDO message sent by the second node through the second CAN channel is received on the standby network, record the current fault message of the first CAN channel of the second node.

Specifically, if the slave node can receive the data sent by the second node whose main network is offline, the slave node will receive and process the data related to the node on the standby network, and the data of other slave nodes will still be received and processed from the main network. And record the main network communication failure of the second node.

S402: Continue to monitor the PDO message sent by the second node through the first CAN channel on the primary network, and if the PDO message of the second node is received within the preset heartbeat period corresponding to the second node, learn the first The first CAN channel of the two nodes resumes communication, and then switches to the main network to receive the data sent by the second node.

Specifically, if the main network of the second node that fails halfway restores communication, for example, the slave node can receive the PDO message of the second node for b consecutive heartbeat cycles on the main network, then the slave node restores to the main network On receiving the second node data, stop processing from the standby network.

S403, if the PDO message sent by the second node through the second CAN channel cannot be received within the preset heartbeat period, record the current fault messages of the first CAN channel and the second CAN channel of the second node.

Specifically, if the PDO message sent by the second node through the second CAN channel cannot be received within the preset heartbeat cycle, for example, the PDO message of the second node cannot be monitored for b consecutive heartbeat cycles on the standby network. If the text is entered, the slave node regards the second node as offline, and records the communication failure between the primary network and the backup network of the second node.

S404: Continue to monitor the PDO message of the second node on the primary network and the backup network, and if the primary network receives the PDO message of the second node within the preset heartbeat period corresponding to the second node, learn the first The first CAN channel of the two nodes resumes communication, and then switches to the main network to receive the data sent by the second node.

Specifically, when both channels of the second node have communication failures, the second node needs to continue to monitor the PDO messages of the second node on the main network and the backup network. If one of the main network and the backup network of the failed node recovers For example, if the second node can receive the PDO message of the second node on the main network for c consecutive heartbeat cycles, the slave node will receive and process the data of the second node on the restored main network, but still It is recorded that the primary network of the second node is a historical fault and the other network is a current fault.

S405. Continue to monitor the PDO message sent by the second node on the primary network and the backup network. If the PDO message of the first slave node is received from the backup network within the preset heartbeat period corresponding to the second node, then Knowing that the second CAN channel of the second node has resumed communication, the data sent by the second node is received from the standby network.

For example, if the second node can receive the PDO message of the second node for c consecutive heartbeat cycles on the standby network, the slave node receives and processes the data of the second node on the recovered standby network, but still records the data of the second node. In the second node, the standby network of the channel is a historical failure and the network of the other channel is a current failure.

S406: Continue to monitor the PDO message sent by the second node on the primary network, and if the PDO message of the second node is received from the primary network within the preset heartbeat period corresponding to the second node, switch to the primary network Use the network to receive the data sent by the second node.

Specifically, if the communication between the primary network and the backup network of the faulty node is restored in the middle, the slave node only needs to process the data of the node on the primary network, but it will still record the historical failure of the primary network and the backup network of the node. .

It should be emphasized that the CANopen protocol-based train network data transmission method described on the active master node side corresponds to the CANopen protocol-based train network data transmission method described above on the slave node side, and its implementation principle is similar. The unpublished details in the example will not be repeated here.

To sum up, the train network data transmission method based on the CANopen protocol according to the embodiment of the present invention selects the main network and the backup network according to the real-time situation of the train network, and displays it to the relevant operators at the monitoring node. The stability and reusability of the train network data transmission method are improved.

In order to realize the above embodiments, the present invention proposes an active master node. FIG. 9 is a schematic structural diagram of an active master node according to the first embodiment of the present invention. As shown in FIG. 9 , the active master node includes: a first monitoring module 101, a first judgment module 102, a first learning module 103, and a first monitoring module 102. A receiving module 104 .

The first monitoring module 101 is configured to monitor the PDO message sent by each slave node related to the active master node through the first CAN channel on the master network according to the preconfigured network node list.

FIG. 10 is a schematic structural diagram of an active master node according to a second embodiment of the present invention. As shown in FIG. 10 , on the basis of FIG. 9 , the active master node further includes: a first establishment module 105 and a first Control module 106 .

The first establishment module 105 is configured to establish a network node list corresponding to the active master node according to the network topology diagram, wherein the network node list includes: each slave node identifier related to the active master node and the corresponding heartbeat timer, wherein , the heartbeat timer corresponding to each slave node is set according to the production prohibition time in the PDO message.

The first control module 106 is used to simultaneously send network control instructions to all slave nodes from the master network and the backup network, control the first CAN channel and the second CAN channel of the slave nodes to enter the PDO message operation mode, and start the communication with the active master. The heartbeat timer corresponding to each slave node related to the node.

The first judging module 102 is configured to judge each slave node according to the reception situation of the PDO message sent by each slave node, and according to the timing situation of the heartbeat timer correspondingly set for each slave node according to the production prohibition time in the PDO message Whether the first CAN channel is faulty.

The first learning module 103 is configured to learn the fault of the first CAN channel of the first node when the PDO message of the first node is not received in the primary network within the preset first heartbeat period corresponding to the first node.

In an embodiment of the present invention, the first monitoring module 101 is further configured to switch to the standby network to monitor the PDO message sent by the first node through the second CAN channel, wherein the first node is any one related to the active master node the slave node.

The first receiving module 104 is configured to receive the first node on the standby network when the standby network receives the PDO message sent by the first node through the second CAN channel within the preset first heartbeat period corresponding to the first node At the same time, the data sent by other slave nodes that normally send PDO messages is received on the master network.

FIG. 11 is a schematic structural diagram of an active master node according to a third embodiment of the present invention. As shown in FIG. 11 , on the basis of FIG. 9 , the active master node further includes: a first sending module 107 .

The first sending module 107 is configured to send a reset instruction from the active network to the first node after the PDO message of the first node is not received in the active network within the preset first heartbeat period corresponding to the first node .

The first monitoring module 101 is further configured to continue monitoring the PDO message sent by the first node on the active network.

The first judging module 102 is further configured to detect whether the PDO packet of the first node is received in the active network within the preset second heartbeat period corresponding to the first node.

The first learning module 103 is further configured to learn the first CAN channel of the first node when the PDO message of the first node is not received in the active network within the preset second heartbeat period corresponding to the first node Fault.

FIG. 12 is a schematic structural diagram of an active master node according to a fourth embodiment of the present invention. As shown in FIG. 13 , on the basis of FIG. 9 , the active master node further includes: a second sending module 108 .

Wherein, in this embodiment, the second sending module 108 is configured to send the PDO message from the standby network to the standby network when the PDO message of the first node is not received in the standby network within the preset first heartbeat period corresponding to the first node. The first node sends a reset command.

The first monitoring module 101 is further configured to continue monitoring the PDO message sent by the first node on the standby network.

The first receiving module 104 is further configured to receive the data sent by the first node on the standby network when receiving the PDO message sent by the first node on the standby network within the preset second heartbeat period corresponding to the first node , and at the same time, receive data sent by other slave nodes that normally send PDO messages on the master network.

In an embodiment of the present invention, FIG. 13 is a schematic structural diagram of an active master node according to a fifth embodiment of the present invention. As shown in FIG. 13 , on the basis shown in FIG. 9 , the active master node further includes : the first switching module 109 .

Wherein, the first switching module 109 is configured to know the failure of the primary network when the sending error counter or the receiving error counter in the active master node is accumulated to a preset value, and switch to the backup network to communicate with other nodes.

FIG. 14 is a schematic structural diagram of an active master node according to a sixth embodiment of the present invention. As shown in FIG. 15 , on the basis of FIG. 9 , the active master node further includes: a second switching module 110 .

Wherein, the second switching module 110 is configured to switch to the standby master node to exchange data with other related slave nodes when the failure of the active master node is detected.

To sum up, the master node in the embodiment of the present invention monitors the PDO messages sent by the slave nodes related to the active master node through the first CAN channel on the master network according to the pre-configured network node list, The reception of the PDO message sent by the node, and the timing of the heartbeat timer corresponding to each slave node according to the production prohibition time in the PDO message, to determine whether the first CAN channel of each slave node is faulty, if the preset In the first heartbeat period corresponding to the first node, the PDO message of the first node is not received in the main network, then the first CAN channel of the first node is known to be faulty, and it switches to the standby network to monitor the first node through the first node. For the PDO message sent by the two CAN channels, if the standby network receives the PDO message sent by the first node through the second CAN channel within the preset first heartbeat period corresponding to the first node, the second CAN channel will be received on the standby network. The data sent by a node, at the same time, the data sent by other slave nodes that normally send PDO messages are received on the master network. Therefore, when one or some slave nodes are disconnected on the main network, they switch to the standby network to receive the data of this part of the slave nodes, and other slave node data are still received on the main network. The complete reception of the train ensures the good operation of the whole vehicle and improves the redundancy effect of the train network.

FIG. 15 is a schematic structural diagram of an active master node according to a seventh embodiment of the present invention. As shown in FIG. 15 , on the basis of FIG. 9 , the active master node further includes: a first prompt module 111 , a second Prompt module 112 .

The first prompt module 111 is configured to send the current fault message of the first CAN channel of the first node to the operation monitoring node after receiving the PDO message sent by the first node through the second CAN channel, and display it to the operator staff, prompting the current troubleshooting.

In this embodiment, the first monitoring module 101 is further configured to continue monitoring the PDO message sent by the first node through the first CAN channel on the primary network.

The first learning module 103 is further configured to learn that the first CAN channel of the first node resumes communication when the PDO message of the first node is received within the preset first heartbeat period corresponding to the first node.

The first receiving module 104 is further configured to switch to the active network to receive data sent by the first node.

Wherein, in an embodiment of the present invention, the first prompting module 111 is further configured to send the first CAN channel of the first node to the operation monitoring node after switching to the main network to receive the data sent by the first node. Historical fault messages are displayed to the operator, prompting the repair of hidden troubles.

The second prompting module 112 is configured to send the first node's first message to the operation monitoring node when the PDO message sent by the first node is not received on the standby network within the preset second heartbeat period corresponding to the first node. The current fault messages of the CAN channel and the second CAN channel are displayed to the operator, prompting the current troubleshooting.

In this embodiment, the first monitoring module 101 is further configured to continue monitoring the PDO message sent by the first node on the active network and the standby network.

The first learning module 103 is further configured to learn that the first CAN channel of the first node resumes communication when the PDO message of the first node is received from the active network within the preset first heartbeat period corresponding to the first node .

The first receiving module 104 is further configured to switch to the active network to receive data sent by the first node.

In an embodiment of the present invention, the second prompting module 112 is further configured to send the current fault message of the second CAN channel of the first node to the operation monitoring node, and display it to the operator to prompt the current fault repair.

The first monitoring module 101 is further configured to continue monitoring the PDO message sent by the first node on the standby network.

The second prompting module 112 is further configured to send the first CAN of the first node to the operation monitoring node when the PDO message of the first node is received from the standby network within the preset first heartbeat period corresponding to the first node The historical fault messages of the channel and the second CAN channel are displayed to the operator, prompting the repair of hidden troubles.

In an embodiment of the present invention, the first monitoring module 101 is further configured to continue monitoring the PDO message sent by the first node on the active network and the standby network.

The first learning module 103 is further configured to learn that the second CAN channel of the first node resumes communication when the PDO message of the first node is received from the standby network within the preset first heartbeat period corresponding to the first node.

The first receiving module 104 is further configured to receive data sent by the first node from the standby network.

The second prompting module 112 is further configured to send the current fault message of the first CAN channel of the first node to the operation monitoring node, and display it to the operator to prompt the current fault repair.

The first monitoring module 101 is further configured to continue monitoring the PDO message sent by the first node through the first CAN channel on the primary network.

The first receiving module 104 is further configured to switch to the active network to receive the transmission from the first node when receiving the PDO message of the first node from the active network within the preset first heartbeat period corresponding to the first node The data.

The second prompting module 112 is further configured to send the historical fault messages of the first CAN channel and the second CAN channel of the first node to the operation monitoring node and display them to the operator, so as to prompt the maintenance of hidden faults.

It should be noted that the train network data transmission method based on the CANopen protocol described above in the active master node side is also applicable to the master node in the embodiment of the present invention, and its implementation principle is similar, and the description of the master node in the present invention is not published. details will not be repeated here.

To sum up, the master node of the embodiment of the present invention selects the main network and the backup network according to the real-time situation of the train network, and displays the corresponding display to the relevant operators at the monitoring node, which improves the data transmission method of the train network. stability and reusability.

In order to realize the above embodiment, the present invention also proposes a slave node. FIG. 16 is a schematic structural diagram of the slave node according to the first embodiment of the present invention. As shown in FIG. 16 , the slave node includes: a second monitoring module 201 , a second judging module 202 , a second obtaining module 203 and a second receiving module 204 .

Wherein, the second monitoring module 201 is configured to monitor the PDO message sent by each node related to the slave node through the first CAN channel on the master network according to the preconfigured network node list.

FIG. 17 is a schematic structural diagram of a slave node according to a second embodiment of the present invention. As shown in FIG. 17 , on the basis of FIG. 16 , the slave node includes: a second establishment module 205 and a second control module 206 .

The second establishment module 205 is configured to establish a network node list corresponding to the slave node according to the network topology diagram, wherein the network node list includes: each node identifier related to the slave node and the corresponding heartbeat timer, wherein each node The corresponding heartbeat timer is set according to the production prohibition time in the PDO message.

The second control module 206 is configured to receive the network control command sent by the active master node from the master network, start the first CAN channel and the second CAN channel to enter the PDO message operation mode, and start the heartbeat corresponding to each node related to the slave node timer.

The second judging module 202 is configured to judge the first status of each node according to the receiving status of the PDO message sent by each node, and according to the timing status of the heartbeat timer correspondingly set for each node according to the production prohibition time in the PDO message Whether the CAN channel is faulty.

The second learning module 203 is configured to learn the failure of the first CAN channel of the second node when the PDO message of the second node is not received on the active network within the preset heartbeat period corresponding to the second node.

The second monitoring module 201 is further configured to switch to the standby network to monitor the PDO message sent by the second node through the second CAN channel, where the second node is any slave node or active master node related to the slave node.

The second receiving module 204 is configured to receive the PDO message sent by the second node on the standby network when the standby network receives the PDO message sent by the second node through the second CAN channel within the preset heartbeat period corresponding to the second node. At the same time, data sent by other nodes that normally send PDO messages is received on the main network.

FIG. 18 is a schematic structural diagram of a slave node according to a third embodiment of the present invention. As shown in FIG. 18 , on the basis of FIG. 16 , the slave node includes: a third switching module 208 .

Wherein, the third switching module 208 is configured to know the failure of the primary network when the sending error counter or the receiving error counter in the slave node is accumulated to a preset value, and switch to the backup network to communicate with other nodes.

To sum up, the slave node in the embodiment of the present invention monitors the PDO message sent by each node related to the slave node through the first CAN channel on the master network according to the pre-configured network node list, and according to the The reception of the PDO message and the timing of the heartbeat timer corresponding to each node according to the production prohibition time in the PDO message, determine whether the first CAN channel of each node is faulty. If the PDO message of the second node is not received on the main network within the corresponding heartbeat period, it is informed that the first CAN channel of the second node is faulty, and switches to the standby network to monitor the PDO sent by the second node through the second CAN channel. message, if the standby network receives the PDO message sent by the second node through the second CAN channel within the preset heartbeat period corresponding to the second node, the data sent by the second node is received on the standby network, and at the same time, Receive data sent by other nodes that normally send PDO messages on the primary network. Therefore, when one or some slave nodes are disconnected on the main network, they switch to the standby network to receive the data of this part of the slave nodes, and other slave node data are still received on the main network. The complete reception of the train ensures the good operation of the whole vehicle and improves the redundancy effect of the train network.

Fig. 19 is a schematic structural diagram of a slave node according to a fourth embodiment of the present invention, as shown in Fig. 16, on the basis of Fig. 16, the slave node further includes: a first recording module 209, a second recording module 210.

The first recording module 209 is configured to record the current fault message of the first CAN channel of the second node.

The second monitoring module 201 is further configured to continue monitoring the PDO message sent by the second node through the first CAN channel on the primary network.

The second learning module 203 is further configured to learn that the first CAN channel of the second node resumes communication when the PDO message of the second node is received within the preset heartbeat period corresponding to the second node.

The second receiving module 204 is further configured to switch to the active network to receive data sent by the second node.

The second recording module 210 is configured to, after switching to the standby network to monitor the PDO message sent by the second node through the second CAN channel, fail to receive the second node through the second CAN channel within the preset heartbeat period When the PDO message is sent by the channel, the current fault messages of the first CAN channel and the second CAN channel of the second node are recorded.

In this embodiment, the second monitoring module 201 is further configured to continue monitoring the PDO message of the second node on the active network and the standby network.

The second learning module 203 is further configured to learn that the first CAN channel of the second node resumes communication when the active network receives the PDO message of the second node within the preset heartbeat period corresponding to the second node.

The second receiving module 204 is further configured to switch to the active network to receive data sent by the second node.

The second monitoring module 201 is further configured to continue monitoring the PDO message sent by the second node on the active network and the standby network.

The second learning module 203 is further configured to learn that the second CAN channel of the second node resumes communication when the PDO message of the first slave node is received from the standby network within the preset heartbeat period corresponding to the second node.

The second receiving module 204 is further configured to receive data sent by the second node from the standby network.

Furthermore, in an embodiment of the present invention, the second monitoring module 201 is further configured to continue monitoring the PDO message sent by the second node on the active network.

The second receiving module 204 is further configured to switch to the active network to receive data sent by the second node when receiving the PDO message of the second node from the active network within the preset heartbeat period corresponding to the second node .

It should be noted that the train network data transmission method based on the CANopen protocol described above in the slave node side is also applicable to the slave node in the embodiment of the present invention, and its implementation principle is similar, and the description of the slave node in the present invention is not published. The details will not be repeated here.

To sum up, the slave node in the embodiment of the present invention selects the main network and the backup network according to the real-time situation of the train network, and displays the corresponding display to the relevant operators at the monitoring node, which improves the data transmission method of the train network. stability and reusability.

In order to realize the above embodiment, the present invention also proposes a train network data transmission system based on CANopen protocol. FIG. 20 is a schematic structural diagram of a train network data transmission system based on CANopen protocol according to an embodiment of the present invention, as shown in FIG. 20 . As shown, the train network data transmission system based on the CANopen protocol includes an active master node 100 , a slave node 200 , a master network 300 and a backup network 400 .

For the description of the active master node 100 and the slave node 200, reference may be made to the foregoing embodiments, and details are not repeated here.

In order to more clearly illustrate the technical effect of the train network data transmission system based on the CANopen protocol according to the embodiment of the present invention, the following description is made in combination with the comparison with the prior art.

In the related art, the redundant network design used by the train using the CAN bus as the communication network considers less failure modes. All nodes transmit data on the main network and the standby network at the same time, but only one of the networks is selected to receive data. No matter which node on the main network has been disconnected, the related nodes are switched to the standby network to receive and process the data of the disconnected node and the data of other associated nodes. Therefore, when different channels of multiple nodes fail, the data of some nodes cannot be processed. Normal reception will affect the operation of the whole vehicle, and the redundancy effect will be greatly reduced, which does not reflect the main meaning of redundancy.

Based on the original network redundancy design architecture, the present invention optimizes the software implementation strategy, defines the switch between the main network and the standby network according to the bus error detection mechanism, and also puts forward corresponding requirements for the active master node and the slave node, respectively. Establish a network relationship list in their respective object dictionaries to compare with the PDO messages of the corresponding nodes on the bus, and then determine whether the node is offline. When one or some slave nodes are offline in the main network, switch to the standby network. After receiving the data of this part of the nodes, the data of other nodes are still received on the main network, and a set of communication recovery mechanism is also defined (refer to the description of the above embodiment, which will not be repeated here).

In order to more clearly illustrate the workflow of the CANopen protocol-based train network data transmission system according to the embodiment of the present invention, an example is given below:

Among them, in this example, two master nodes are set up in the network, one is the active master node, one is the backup master node (not working by default), and five slave nodes A, B, C, D, and E are now defined as master nodes. Receive data from nodes A, B, and C, receive data from nodes B, C, and D from node A, receive data from nodes A, E from node B, and receive data from nodes B, D from node C.

When the first CAN channel of the slave node B fails, the master node, the slave node A, and the slave node C are required to receive data from the slave node B according to the definition. These three nodes store the node ID of the slave node B in their respective object dictionaries. . Due to the failure of the first CAN channel of the slave node B and the slave node B, the master node, the slave node A, and the slave node C will not receive the PDO message from the slave node B all the time on the master network.

Furthermore, when the master node does not monitor the PDO message of the slave node within the preset period, it will first reset the node through the reset command controlled by the network, and then monitor a certain heartbeat period. Periodically, the slave node B still cannot return to normal. The master node, slave node A, and slave node C all switch to the second CAN channel to monitor whether the PDO message from slave node B is received on the standby network. The second CAN channel of slave node B is Send data normally, so that the master node receives data as shown in Figure 21, that is, the master node receives and processes the data of slave nodes A and C from the main network, receives and processes the data of slave node B from the standby network, and slave node A and Figure 22 shows the data received by the slave node C, that is, the slave node A receives and processes the data of the slave nodes C and D from the main network, receives and processes the data of the slave node B from the standby network, and the slave node C receives from the main network. Data from Node D is processed, and data from Node B is received from the standby network for processing.

To sum up, the train network data transmission system based on the CANopen protocol according to the embodiment of the present invention solves the problem that the data of some nodes cannot be received normally when different channels of multiple nodes fail in the existing solution, and effectively avoids the main use of network channels for some nodes. When some nodes fail and the backup network channel fails, some node data needs to be discarded. At the same time, the actual effect of the redundant design is improved, and the problem that some train network failures cause the entire train to be blocked can be ensured in some abnormal situations. , each node of the network can still communicate normally.

In the description of this specification, description with reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., mean specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Although the embodiments of the present invention have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and should not be construed as limiting the present invention. Embodiments are subject to variations, modifications, substitutions and variations.

Claims (41)

1. A train network data transmission method based on CANopen protocol is characterized in that the method is applied to an active master node and comprises the following steps:

monitoring a Process Data Object (PDO) message sent by each slave node related to the active master node through a first CAN channel on a main network according to a pre-configured network node list; the pre-configured network node list is a list which is established according to a network topology map and corresponds to an active master node or a slave node;

judging whether the first CAN channel of each slave node fails according to the receiving condition of the PDO message sent by each slave node and the timing condition of a heartbeat timer correspondingly set for each slave node according to the production prohibition time in the PDO message;

if the PDO message of the first node is not received in the main network within a preset first heartbeat period corresponding to the first node, acquiring the fault of a first CAN channel of the first node, and switching to a standby network to monitor the PDO message sent by the first node through a second CAN channel, wherein the first node is any slave node related to the active main node;

if the standby network receives the PDO message sent by the first node through the second CAN channel in a preset first heartbeat cycle corresponding to the first node, receiving data sent by the first node on the standby network, and simultaneously receiving data sent by other slave nodes which normally send the PDO message on the main network.

2. The method of claim 1, wherein after the if the PDO packet of the first node is not received in the active network within a preset first heartbeat cycle corresponding to the first node, the method further comprises:

sending a reset instruction from the active network to the first node;

continuously monitoring a PDO message sent by the first node on the main network, and detecting whether the PDO message of the first node is received in the main network in a preset second heartbeat cycle corresponding to the first node;

the acquiring of the first CAN channel fault of the first node includes:

and if the PDO message of the first node is not received in the primary network in a preset second heartbeat cycle corresponding to the first node, acquiring the first CAN channel fault of the first node.

3. The method of claim 1, wherein after said receiving a PDO message sent by said first node over a second CAN channel, further comprising:

sending a current fault message of a first CAN channel of the first node to an operation monitoring node, displaying the current fault message to an operator, and prompting current fault maintenance;

and continuously monitoring the PDO message sent by the first node through the first CAN channel on the primary network, and if the PDO message of the first node is received in a preset first heartbeat cycle corresponding to the first node, knowing that the first CAN channel of the first node recovers communication, switching to the primary network to receive the data sent by the first node.

4. The method of claim 3, wherein after the switching to the active network to receive the data sent by the first node, further comprising:

and sending the historical fault message of the first CAN channel of the first node to the operation monitoring node and displaying the historical fault message to an operator to prompt the potential fault hazard to be repaired.

5. The method of claim 1, wherein after the switching to the standby network listens for a PDO message sent by the first node over a second CAN channel, further comprising:

if the PDO message of the first node is not received in the standby network in a preset first heartbeat period corresponding to the first node, sending a reset instruction to the first node from the standby network, and continuously monitoring the PDO message sent by the first node in the standby network;

if the PDO message sent by the first node is received on the standby network in a preset second heartbeat cycle corresponding to the first node, receiving data sent by the first node on the standby network, and meanwhile, receiving data sent by other slave nodes which normally send the PDO message on the main network.

6. The method of claim 5, further comprising:

and if the PDO message sent by the first node is not received on the standby network in a preset second heartbeat period corresponding to the first node, sending current fault messages of a first CAN channel and a second CAN channel of the first node to an operation monitoring node, and displaying the current fault messages to an operator to prompt the current fault maintenance.

7. The method of claim 6, further comprising:

continuously monitoring PDO messages sent by the first node on the main network and the standby network, if receiving the PDO messages of the first node from the main network in a preset first heartbeat cycle corresponding to the first node, knowing that the first CAN channel of the first node recovers communication, switching to the main network to receive data sent by the first node, sending a current fault message of a second CAN channel of the first node to the operation monitoring node, displaying the current fault message to an operator, and prompting the current fault maintenance;

and continuously monitoring the PDO message sent by the first node on the standby network, and if the PDO message of the first node is received from the standby network in a preset first heartbeat cycle corresponding to the first node, sending historical fault messages of a first CAN channel and a second CAN channel of the first node to the operation monitoring node and displaying the historical fault messages to an operator to prompt fault hidden trouble maintenance.

8. The method of claim 6, further comprising:

continuously monitoring PDO messages sent by the first node on the main network and the standby network, if receiving the PDO messages of the first node from the standby network in a preset first heartbeat cycle corresponding to the first node, knowing that the second CAN channel of the first node recovers communication, receiving data sent by the first node from the standby network, sending a current fault message of the first CAN channel of the first node to the operation monitoring node, displaying the current fault message to an operator, and prompting current fault maintenance;

and continuously monitoring PDO messages sent by the first node through a first CAN channel on the main network, if the PDO messages of the first node are received from the main network in a preset first heartbeat cycle corresponding to the first node, switching to the main network to receive data sent by the first node, sending historical fault messages of the first CAN channel and a second CAN channel of the first node to the operation monitoring node, and displaying the historical fault messages to an operator to prompt fault hidden trouble maintenance.

9. The method of claim 1, wherein before the monitoring PDO packets sent by each slave node associated with the active master node through the first CAN channel on the active network according to the preconfigured list of network nodes, the method further comprises:

establishing a network node list corresponding to the active master node according to a network topology map, wherein the network node list comprises: the slave node identifiers and the corresponding heartbeat timers are related to the active master node, wherein the heartbeat timers corresponding to the slave nodes are set according to the production prohibition time in the PDO message;

and simultaneously sending network control instructions to all the slave nodes from the main network and the standby network, controlling a first CAN channel and a second CAN channel of the slave nodes to enter a PDO message operation mode, and starting a heartbeat timer corresponding to each slave node related to the active master node.

10. The method of claim 1, further comprising:

and if the sending error counter or the receiving error counter in the active main node is accumulated to a preset value, acquiring the fault of the main network, and switching to the standby network to communicate with other nodes.

11. The method of any of claims 1-10, further comprising:

and if the active main node is detected to be in fault, switching to a standby main node to perform data interaction with other related slave nodes.

12. A train network data transmission method based on a CANopen protocol is applied to a slave node and comprises the following steps:

monitoring PDO messages sent by each node related to the slave node through a first CAN channel on a main network according to a pre-configured network node list; the pre-configured network node list is a list which is established according to a network topology map and corresponds to an active master node or a slave node;

judging whether the first CAN channel of each node fails according to the receiving condition of the PDO message sent by each node and the timing condition of a heartbeat timer correspondingly set for each node according to the production prohibition time in the PDO message;

if the PDO message of the second node is not received on the primary network in a preset heartbeat period corresponding to the second node, acquiring the fault of a first CAN channel of the second node, and switching to a standby network to monitor the PDO message sent by the second node through the second CAN channel, wherein the second node is any slave node or active master node related to the slave node;

if the standby network receives the PDO message sent by the second node through the second CAN channel in a preset heartbeat period corresponding to the second node, receiving data sent by the second node on the standby network, and simultaneously receiving data sent by other nodes which normally send the PDO message on the main network.

13. The method of claim 12, wherein after the backup network receives the PDO message sent by the second node over the second CAN channel, further comprising:

recording the current fault message of the first CAN channel of the second node;

and continuously monitoring the PDO message sent by the second node through the first CAN channel on the main network, and if the PDO message of the second node is received in a preset heartbeat cycle corresponding to the second node, knowing that the first CAN channel of the second node recovers communication, switching to the main network to receive the data sent by the second node.

14. The method of claim 12, wherein after the switching to the standby network listens for PDO messages sent by the second node over the second CAN channel, further comprising:

and if the PDO message sent by the second node through the second CAN channel cannot be received in a preset heartbeat period, recording the current fault messages of the first CAN channel and the second CAN channel of the second node.

15. The method of claim 14, further comprising:

and continuously monitoring PDO messages of the second node on the main network and the standby network, and if the main network receives the PDO messages of the second node in a preset heartbeat cycle corresponding to the second node, knowing that the first CAN channel of the second node recovers communication, switching to the main network to receive data sent by the second node.

16. The method of claim 14, further comprising:

continuously monitoring PDO messages sent by the second node on the main network and the standby network, and if receiving the PDO messages of the first slave node from the standby network in a preset heartbeat cycle corresponding to the second node, acquiring that a second CAN channel of the second node recovers communication, and receiving data sent by the second node from the standby network;

and continuously monitoring the PDO message sent by the second node on the main network, and if the PDO message of the second node is received from the main network in a preset heartbeat period corresponding to the second node, switching to the main network to receive the data sent by the second node.

17. The method of claim 12, wherein before the monitoring PDO packets sent by nodes associated with the slave node through the first CAN channel on the active network according to the preconfigured list of network nodes, the method further comprises:

establishing a network node list corresponding to the slave node according to a network topology map, wherein the network node list comprises: each node identification related to the slave node and a corresponding heartbeat timer, wherein the heartbeat timer corresponding to each node is set according to the production prohibition time in the PDO message;

and receiving a network control command sent by an active master node from the master network, starting a first CAN channel and a second CAN channel to enter a PDO message operation mode, and starting a heartbeat timer corresponding to each node related to the slave node.

18. The method of any of claims 12-17, further comprising:

and if the sending error counter or the receiving error counter in the slave node is accumulated to a preset value, acquiring the fault of the main network, and switching to the standby network to communicate with other nodes.

19. An active master node, comprising:

the first monitoring module is used for monitoring PDO messages sent by each slave node related to the active master node through a first CAN channel on the main network according to a pre-configured network node list; the pre-configured network node list is a list which is established according to a network topology map and corresponds to an active master node or a slave node;

the first judgment module is used for judging whether the first CAN channel of each slave node fails according to the receiving condition of the PDO message sent by each slave node and the timing condition of a heartbeat timer correspondingly set for each slave node according to the production prohibition time in the PDO message;

the first obtaining module is used for obtaining a first CAN channel fault of a first node when a PDO message of the first node is not received in the primary network in a preset first heartbeat cycle corresponding to the first node;

the first monitoring module is further configured to switch to a standby network to monitor a PDO packet sent by the first node through a second CAN channel, where the first node is any slave node related to the active master node;

the first receiving module is configured to receive, in a preset first heartbeat cycle corresponding to a first node, data sent by the first node on the standby network when the standby network receives a PDO packet sent by the first node through a second CAN channel, and receive, on the active network, data sent by other slave nodes that normally send the PDO packet at the same time.

20. The active master node of claim 19, further comprising:

a first sending module, configured to send a reset instruction from the primary network to a first node after a PDO packet of the first node is not received by the primary network in a preset first heartbeat cycle corresponding to the first node;

the first monitoring module is further configured to continue to monitor, on the active network, a PDO packet sent by the first node;

the first judging module is further configured to detect whether a PDO packet of the first node is received in the primary network within a preset second heartbeat cycle corresponding to the first node;

the first learning module is further configured to learn that a first CAN channel of the first node has a fault when the PDO packet of the first node is not received in the active network in a preset second heartbeat cycle corresponding to the first node.

21. The active master node of claim 19, further comprising:

the first prompting module is used for sending a current fault message of the first CAN channel of the first node to the operation monitoring node after receiving a PDO message sent by the first node through the second CAN channel, displaying the current fault message to an operator and prompting current fault maintenance;

the first monitoring module is further configured to continue to monitor, on the primary network, a PDO packet sent by the first node through the first CAN channel;

the first learning module is further configured to learn that the first CAN channel of the first node resumes communication when receiving the PDO packet of the first node in a preset first heartbeat cycle corresponding to the first node;

the first receiving module is further configured to switch to the active network to receive the data sent by the first node.

22. The active master node of claim 21,

the first prompting module is further configured to send a historical fault message of the first CAN channel of the first node to the operation monitoring node and display the historical fault message to an operator after the data sent by the first node is received by switching to the active network, so as to prompt troubleshooting of a potential fault hazard.

23. The active master node of claim 19, further comprising:

the second sending module is used for sending a reset instruction to the first node from the standby network when the PDO message of the first node is not received by the standby network in a preset first heartbeat cycle corresponding to the first node;

the first monitoring module is further configured to continue to monitor the PDO packet sent by the first node in the standby network;

the first receiving module is further configured to receive, when receiving the PDO packet sent by the first node on the standby network in a preset second heartbeat cycle corresponding to the first node, data sent by the first node on the standby network, and receive, on the active network, data sent by other slave nodes that normally send PDO packets at the same time.

24. The active master node of claim 23, further comprising:

and the second prompting module is used for sending current fault messages of the first CAN channel and the second CAN channel of the first node to the operation monitoring node when the PDO message sent by the first node is not received on the standby network in a preset second heartbeat cycle corresponding to the first node, displaying the current fault messages to an operator and prompting the current fault maintenance.

25. The active master node of claim 24,

the first monitoring module is further configured to continue to monitor PDO packets sent by the first node on the active network and the standby network;

the first learning module is further configured to learn that the first CAN channel of the first node recovers communication when the PDO packet of the first node is received from the primary network within a preset first heartbeat cycle corresponding to the first node;

the first receiving module is further configured to switch to the active network to receive data sent by the first node;

the second prompting module is further used for sending a current fault message of a second CAN channel of the first node to the operation monitoring node, displaying the current fault message to an operator and prompting current fault maintenance;

the first monitoring module is further configured to continue to monitor a PDO packet sent by the first node on the standby network;

and the second prompting module is further used for sending historical fault messages of the first CAN channel and the second CAN channel of the first node to the operation monitoring node and displaying the historical fault messages to an operator when the PDO message of the first node is received from the standby network in a preset first heartbeat period corresponding to the first node, so as to prompt fault hidden trouble maintenance.

26. The active master node of claim 24,

the first monitoring module is further configured to continue to monitor PDO packets sent by the first node on the active network and the standby network;

the first learning module is further configured to learn that a second CAN channel of the first node recovers communication when a PDO packet of the first node is received from the standby network in a preset first heartbeat cycle corresponding to the first node;

the first receiving module is further configured to receive data sent by the first node from the standby network;

the second prompting module is further used for sending a current fault message of the first CAN channel of the first node to the operation monitoring node, displaying the current fault message to an operator and prompting current fault maintenance;

the first monitoring module is further configured to continue to monitor, on the primary network, a PDO packet sent by the first node through the first CAN channel;

the first receiving module is further configured to switch to the active network to receive data sent by the first node when a PDO packet of the first node is received from the active network within a preset first heartbeat cycle corresponding to the first node;

and the second prompting module is also used for sending historical fault messages of the first CAN channel and the second CAN channel of the first node to the operation monitoring node and displaying the historical fault messages to an operator to prompt fault hidden trouble repair.

27. The active master node of claim 19, further comprising:

a first establishing module, configured to establish a network node list corresponding to the active master node according to a network topology map, where the network node list includes: the slave node identifiers and the corresponding heartbeat timers are related to the active master node, wherein the heartbeat timers corresponding to the slave nodes are set according to the production prohibition time in the PDO message;

and the first control module is used for sending network control instructions to all the slave nodes from the main network and the standby network simultaneously, controlling a first CAN channel and a second CAN channel of the slave nodes to enter a PDO message operation mode, and starting a heartbeat timer corresponding to each slave node related to the active master node.

28. The active master node of claim 19, further comprising:

and the first switching module is used for acquiring the fault of the active network and switching to the standby network to communicate with other nodes when the transmitting error counter or the receiving error counter in the active main node is accumulated to a preset value.

29. The active master node of claim 19, further comprising:

and the second switching module is used for switching to the standby main node to perform data interaction with other related slave nodes when the active main node is detected to be in fault.

30. A slave node, comprising:

the second monitoring module is used for monitoring PDO messages sent by all nodes related to the slave nodes through the first CAN channel on the main network according to a pre-configured network node list; the pre-configured network node list is a list which is established according to a network topology map and corresponds to an active master node or a slave node;

the second judgment module is used for judging whether the first CAN channel of each node fails according to the receiving condition of the PDO message sent by each node and the timing condition of a heartbeat timer correspondingly set for each node according to the production prohibition time in the PDO message;

the second learning module is configured to learn that a first CAN channel of a second node fails when a PDO packet of the second node is not received on the primary network within a preset heartbeat period corresponding to the second node;

the second monitoring module is further configured to switch to a standby network to monitor a PDO packet sent by the second node through a second CAN channel, where the second node is any one of a slave node or an active master node related to the slave node;

and the second receiving module is configured to receive, in a preset heartbeat cycle corresponding to the second node, data sent by the second node on the standby network when the standby network receives the PDO packet sent by the second node through the second CAN channel, and receive, on the primary network, data sent by other nodes that normally send the PDO packet at the same time.

31. The slave node of claim 30, further comprising:

the first recording module is used for recording the current fault message of the first CAN channel of the second node;

the second monitoring module is further configured to continue to monitor, on the primary network, a PDO packet sent by the second node through the first CAN channel;

the second learning module is further configured to learn that the first CAN channel of the second node recovers communication when receiving the PDO packet of the second node in a preset heartbeat period corresponding to the second node;

the second receiving module is further configured to switch to the active network to receive the data sent by the second node.

32. The slave node of claim 30, further comprising:

and the second recording module is used for recording current fault messages of the first CAN channel and the second CAN channel of the second node when the PDO message sent by the second node through the second CAN channel cannot be received in a preset heartbeat period after the PDO message sent by the second node through the second CAN channel is monitored by switching to a standby network.

33. The slave node of claim 32,

the second monitoring module is further configured to continue to monitor PDO packets of the second node on the active network and the standby network;

the second learning module is further configured to learn that the first CAN channel of the second node recovers communication when the primary network receives the PDO packet of the second node in a preset heartbeat cycle corresponding to the second node;

the second receiving module is further configured to switch to the active network to receive the data sent by the second node.

34. The slave node of claim 32,

the second monitoring module is further configured to continue to monitor PDO packets sent by the second node on the active network and the standby network;

the second learning module is further configured to learn that a second CAN channel of a second node resumes communication when receiving the PDO packet of the first slave node from the standby network within a preset heartbeat period corresponding to the second node;

the second receiving module is further configured to receive data sent by the second node from the standby network;

the second monitoring module is further configured to continue to monitor, on the active network, a PDO packet sent by the second node;

the second receiving module is further configured to switch to the active network to receive data sent by the second node when the PDO packet of the second node is received from the active network within a preset heartbeat period corresponding to the second node.

35. The slave node of claim 30, further comprising:

a second establishing module, configured to establish a network node list corresponding to the slave node according to a network topology map, where the network node list includes: each node identification related to the slave node and a corresponding heartbeat timer, wherein the heartbeat timer corresponding to each node is set according to the production prohibition time in the PDO message;

and the second control module is used for receiving a network control instruction sent by the active master node from the master network, starting the first CAN channel and the second CAN channel to enter a PDO message operation mode, and starting the heartbeat timers corresponding to the nodes related to the slave node.

36. The slave node according to any of claims 30-35, further comprising:

and a third switching module, configured to learn the failure of the active network when the transmission error counter or the reception error counter in the slave node is incremented to a preset value, and switch to the standby network to communicate with other nodes.

37. A train network data transmission system based on CANopen protocol is characterized by comprising:

the active master node of any of claims 19-29;

the slave node of any one of claims 30-36;

a primary network;

a standby network.

38. A computer device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the computer program implements the CANopen protocol-based train network data transmission method according to any one of claims 1 to 11.

39. A computer device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the processor when executing the computer program implements the CANopen protocol-based train network data transmission method according to any one of claims 12 to 18.

40. A computer-readable medium, characterized by storing a computer program, which is executed by a processor to implement the CANopen protocol-based train network data transmission method according to any one of claims 1 to 11.

41. A computer-readable medium, characterized by storing a computer program which is executed by a processor to implement the CANopen protocol-based train network data transmission method according to any one of claims 12 to 18.

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