CN103684944A - Embedded gateway, railway monitoring system adopting gateway, and railway monitoring method - Google Patents
Embedded gateway, railway monitoring system adopting gateway, and railway monitoring method Download PDFInfo
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Abstract
The invention provides an embedded gateway special for railways, and a railway monitoring system adopting the gateway. The embedded gateway includes an Ethernet interface, a CAN (Controller Area Network) interface, and a core translation gateway, wherein the Ethernet interface is used for communicating with a station server through Ethernet; the CAN interface is used for receiving a plurality of CAN frames complying with a CAN bus protocol from a plurality of sensor nodes arranged on a railway track through a CAN bus; the core translation gateway is used for generating a first message queue based on the priority of a task related to each CAN frame and with the received CAN frames serving as messages, and, according to a preset order in the first message queue, reading the messages and converting the messages into data messages complying with another communication protocol, so that the data messages can be sent to the station server through the Ethernet interface. The embedded gateway provided by the invention achieves high-speed, real-time and reliable status monitoring of railway devices, e.g. switch setting devices.
Description
Technical field
The present invention relates to signal communication technical field, particularly railroad track status real time monitor technology.
Background technology
Along with increasing substantially of train running speed, train operation system is more and more higher to the requirement of railway switch relevant device.Switching device is the fundamental equipments of train operation, and can this equipment normally work and will directly have influence on train operating safety and efficiency of operation.Along with the construction of special line for passenger trains and both wired speed-raisings, particularly at high-speed railway large size code channel, get on, once break down having a strong impact on the operation of railway, even there is catastrophic failure.For this reason, in railway line, particularly on track switch, arranged a large amount of sensor arraies and set up switch monitor system with crucial track switch and conversion equipment thereof on monitoring rail line, to monitor in real time, reliably switching device, for safeguarding, M R provides decision support.Therefore, need, in data acquisition at the scene, a large amount of spot sensor measuring-signals to be carried out to high speed and real time sampling, and carry out filtering and denoising at a high speed, thereby obtain the specific works parameter of corresponding switching device.
In the prior art, conventionally adopt centralized data acquisition and processing (DAP) pattern.Fig. 1 shows the schematic diagram of switch monitor system in prior art.As shown in Figure 1, on-the-spot sensor node 1-N is responsible for the running parameter of measure field switching device, by CAN bus, directly access a monitoring industrial computer simultaneously, thereby the specific works parameter of all switching devices is sent to industrial computer by CAN bus, and carry out data processing and analysis by this industrial computer; User is also the Diagnostics Interfaces by being provided by industrial computer simultaneously, and operation industrial computer sends to corresponding sensor node by control command, transmits the state parameter of a certain track switch, the sample frequency of change sensor node etc. as required.Yet above-mentioned centralized mode of operation can increase the weight of the processing load of industrial computer greatly, the light time delay that causes data acquisition and asynchronous, cannot meet precision and the rate request of signals collecting, when serious, can cause the deadlock of industrial computer.
Summary of the invention
In industrial control automation field, field bus technique has represented the developing direction of control system to networking, Full-open, full system configuration of disperseing, wherein controller local area network (CAN) bus is current most widely used a kind of fieldbus, and the information network that Ethernet and ICP/IP protocol be representative of take has met social every profession and trade to information exchange widely and shared demand.The present invention by by the network integration of this control network and information together, not only can realize the information sharing within the scope of the whole railway system, and improve railway equipment as the high speed of track switch state and Real-Time Monitoring just.
The object of the invention is to propose a kind of embedded gateway and method, is specially adapted to the railway system, can be at a high speed, monitor railway equipment as the state of switching device in real time, reliably.By realize the data interconnect of above-mentioned CAN bus network and Ethernet with embedded gateway, not only can make management be deep into scene, but also bring very large convenience for system group network.
According to one aspect of the present invention, a kind of embedded gateway of railway special use is provided, comprising:
Ethernet interface, for by Ethernet and station server communication;
CAN interface, receives for a plurality of sensor nodes that arrange from the track of railway by CAN bus a plurality of CAN frames that meet CAN bus protocol;
Core transfer gateway, for the priority of task based on to CAN frame is relevant described in each, generate the first message queue by the CAN frame of these receptions as message packet, and by predetermined order in this first message queue, read described message packet and convert thereof into meet another communication protocol data message to send to described station server by described Ethernet interface.
Preferably, described core transfer gateway receives control command by described Ethernet interface from described station server, be converted into the control command that meets described CAN bus protocol, the second message queue that comprises this control command is delivered to described CAN interface, to send to a node in the determined described a plurality of nodes of sensor node sign that comprise in this control command.
Preferably, described CAN interface comprise respectively with CAN transceiver and the CAN controller of the independent current source power supply of isolation mutually and be placed in CAN transceiver and CAN controller between optocoupler.
Preferably, described core transfer gateway comprises CAN communication module, protocol conversion module and ethernet communication module,
Wherein said CAN communication module sends described a plurality of message packets in described the first message queue, and the pointer of each message packet in this message queue is passed to a reception buffer; Described protocol conversion module reads the message frame in the first message queue by the message packet pointer reading in described reception buffer zone, to convert the data message that meets described another communication protocol to; And described ethernet communication module sends to station server by the data message after conversion by Ethernet.
Preferably, described reception buffer is annular data buffer.
Preferably, the length of described the first message queue is variable, to accept to have the message packet of variable-length.
Preferably, described core transfer gateway also comprises scheduler, for the task priority under definite message packet receiving, and determines the arrangement position of this message packet in described the first message queue based on this priority.
Preferably, described another communication protocol is TCP/IP or udp protocol.
According to another aspect of the present invention, provide a kind of railway signal communication means, comprising:
By being connected to a plurality of sensor nodes that CAN interface in CAN bus arranges from the track of railway, receive the CAN frame that meets CAN bus protocol;
Generate the first message queue, this first message queue comprises the CAN frame as its message packet, and this message packet depends on the priority of the task relevant to described message packet at the arrangement position of this message queue;
Based on given order in this first message queue, read described message packet and convert thereof into meet another communication protocol packet to send to station server by Ethernet interface.
Preferably, the method also comprises: by described Ethernet interface, from described station server, receive control command, be converted into the CAN control command that meets described CAN bus protocol, send the second message queue that comprises this CAN control command and to control by the sensor node being included in instruction, identify a node in determined described a plurality of sensor nodes to described CAN interface.
Preferably, the method also comprises: the pointer of each message packet in the first message queue is passed to a reception buffer; By the message pointer reading in described reception buffer zone, read the message data in the first message queue, to convert the packet that meets described another communication protocol to.
Preferably, described reception buffer is annular data buffer.
Preferably, the length of described the first message queue is variable, to accept to have the message packet of variable-length.
Preferably, the step of described generation the first message queue comprises the task priority under definite received message packet, and determines the arrangement position of this message packet in described the first message queue based on this priority.
According to a further aspect of the invention, provide a kind of embedded gateway of railway special use, comprising:
Processor, is configured to:
By being connected to a plurality of sensor nodes that CAN interface in CAN bus arranges from the track of railway, receive the CAN frame that meets CAN bus protocol;
Generate the first message queue, this first message queue comprises the CAN frame as its message packet, and this message packet depends on the priority of the task relevant to described message packet at the arrangement position of this message queue;
Based on given order in this first message queue, read described message packet and convert thereof into meet another communication protocol packet to send to station server by Ethernet interface; And
Memory with this processor coupling.
According to a further aspect of the invention, provide a kind of railway monitoring system, comprising: be connected to a plurality of sensor nodes of CAN bus, for gathering the state parameter of rolling stock; Embedded gateway, is connected to described CAN bus to receive described state parameter; And the station server that is connected to described embedded gateway by Ethernet, for analyzing the state parameter from sensor node transmitting by described embedded gateway the data acquisition of controlling described sensor node.
According to a further aspect of the invention, provide a kind of computer program, record machine-readable instruction, when carrying out, make computer carry out following operation:
By being connected to a plurality of sensor nodes that CAN interface in CAN bus arranges from the track of railway, receive the CAN frame that meets CAN bus protocol;
Generate the first message queue, this first message queue comprises the CAN frame as its message packet, and this message packet depends on the priority of the task relevant to described message packet at the arrangement position of this message queue;
Based on given order in this first message queue, read described message packet and convert thereof into meet another communication protocol packet to send to station server by Ethernet interface.
The embedded gateway advantage realizing according to the present invention also shows: having increased CAN node in railway monitoring system is the quantity of sensor node.The in the situation that of non-relay device, by means of the electric driving force of this on-the-spot embedded gateway, the sensor node connecting can reach 110.Can utilize each embedded gateway to connect a CAN subnet, and by ethernet network, set up easily catenet by a plurality of embedded gateways, a plurality of CAN subnets are bound up, increased the nodes that railway monitoring system can be monitored simultaneously.
The benefit that this embedded gateway brings also shows the networking scope that has expanded system.General is up under the situation of 1Mbps at traffic rate, and the transmission range of CAN is greatly about 40 meters, and contacts by the Ethernet with embedded gateway according to the present invention, realizes the interconnected of CAN subnet, can thrust area and the restriction of distance.In addition, just by means of this embedded gateway, can allow the CAN node connection of different bus transfer speed together, user can arrange the baud rate of IP address and CAN controller as required.
The railway monitoring system realizing according to the present invention, there is real-time communication high, in noise circumstance, antijamming capability is strong, reliability is high, fault condition detection and recover rapid feature, be applicable to the multinode network actuator of network sensor and real-time system, for railway signal field data transmission provides a kind of technical scheme of high reliability.
And, by means of embedded gateway of the present invention, during carrying out the protocol conversion of CAN and Ethernet, thering is the correctly complete of protocol conversion Data Analysis, response is rapidly, consuming time low, the advantage that real-time is good.
Accompanying drawing explanation
Fig. 1 is the railway monitoring system schematic diagram of prior art;
Fig. 2 is according to the schematic diagram of railway monitoring system of the present invention;
Fig. 3 is according to the process chart of railway monitoring system of the present invention;
Fig. 4 a and 4b are the examples of the message queue that uses of the present invention, and it illustrates the situation that sends message;
Fig. 5 is according to the structural representation of the embedded gateway of the embodiment of the present invention;
Fig. 6 shows message transfer mechanism according to an embodiment of the invention;
Fig. 7 illustrates the exemplary process diagram according to data processing of the present invention;
Fig. 8 illustrates according to the hardware of embedded gateway of the present invention and realizes schematic diagram.
Embodiment
For making object of the present invention, technical scheme and advantage clearer, referring to the accompanying drawing embodiment that develops simultaneously, the present invention is described in further detail.In following description in full, same accompanying drawing reference number represents identical parts or feature.
Fig. 2 shows according to the configuration diagram of railway monitoring system of the present invention.As shown in the figure, it comprises station server 1, the special-purpose embedded gateway 3 of communicating by letter by Ethernet 4 with station server 1, and embedded gateway 3 is connected with a plurality of sensor nodes 2 by CAN bus 5.As shown in the figure, railway monitoring system of the present invention by arrange a plurality of embedded gateways and with each gateway CAN subnet that be connected, that formed by sensor node, and expanded the nodes of the railway switch that can monitor, and can carry out telemanagement to these nodes.The control network TT&C system that on-the-spot sensor node 2 adopts based on microprocessor, the running parameter of responsible measure field switching device, sends to embedded gateway 3 by measurement result by CAN bus.
According to an aspect of the present invention, embedded gateway 3 is responsible for by sensor node 2 by buffer memory, preliminary treatment and the forwarding of the on-the-spot real-time status data of CAN bus 5 transmission, but these status datas are not analyzed, this scene real-time status data fit CAN bus protocol transmits with CAN frame form.Sensor node 2 can receive station server 1 and pass through the regulation and control parameter of 3 times biographies of embedded gateway with the switching device of monitoring field.
According to the strategy setting in advance, the state parameter of sensor node 2 timing acquiring track switch equipment, embedded gateway 3 can regularly receive from CAN bus the CAN frame that represents described state parameter, then it is carried out to preliminary treatment and packing, by the CAN frame that meets CAN agreement convert to meet TCP/IP or udp protocol data message (here, CAN and Ethernet protocol conversion are mainly to source IP address, the form of object IP address and TCP/IP or UDP message frame shines upon accordingly), in certain gap periods, for example, by Ethernet interface (high-speed interface of 100Mbps) packaged data message is sent into station server 1 again, by station server, carried out the analysis of data and processing.Can realize thus jumbo sensing data and transfer in real time, exactly station server.Embedded gateway 3 also can receive the instruction that station server 1 sends in real time simultaneously, analyze this instruction, parse corresponding control data, and send control parameter to the sensor node of corresponding switching device, such as the timing acquiring frequency etc. that changes sensor node.
Main being responsible for of station server 1 carried out data storage and management to the spot sensor data that monitor, and can be divided into data storage and management subsystem, Monitoring Data processing subsystem and the aptamer system of communicating by letter, MMI user job interface.Data storage and management subsystem completes the storage of Switch monitor data, daily data management and maintenance function; The track switch status data of the responsible Sensor monitoring that monitoring unit is uploaded of Monitoring Data processing subsystem carries out the data purification function of distortion differentiation, distortion reparation and noise remove; The communications and data interactive function of communicating by letter between adaptive subsystem responsible and monitoring unit, application system platform and native system intra subsystem, and MMI user job interface is responsible for the data of monitoring and analyzes the result judging showing to user by MMI, so that detecting and make corresponding control, user processes.Four subsystems act in accordance with the division of their functions and duties, and cooperatively interact and form an organic system, have formed the system of station server.Above-mentioned each subsystem all can adopt technological means known in the art to realize (for example in the industrial computer shown in Fig. 1, realizing), is therefore not described in detail in this.
Fig. 3 shows the system flow chart according to one embodiment of the invention.As shown in Figure 3, initialization system configuration parameter (step 301) when system starts, the initialization here comprises initialization and the startup of system clock, the startup of interrupting, the initialization of CAN controller and startup, the initialization of gateway ip address etc., repeat no more here.Yet embedded gateway 3 is set up for the process (step 302) of CAN network service with for the process (step 303) of tcp/ip communication, and then system enters wait state.
According to one aspect of the present invention, in Timing Data Acquisition situation, the process of the CAN network service in embedded gateway 3 is according to predetermined fixed time interval repeating query inquiry CAN bus interface (step 304), whether to detect to have, interrupt occurring, this interruption is when a certain sensor node collects data, to produce interrupt request singal.When there is interruption, embedded gateway 3 receives the CAN frame (step 305) collecting from CAN bus, and resolves gathered data by tcp/ip communication process, comprises from meeting the CAN frame DATA of CAN agreement
cANextract useful data and node identification ID, and to meet ICP/IP protocol the data message DATA of converting
tCP(step 306).Reliable in order to guarantee data, can also utilize current algorithm judgement packet DATA here
tCPwhether there is abnormal (step 307).When existing when abnormal, stop transfer of data and by task suspension (step 310); And not having abnormal in the situation that, by described packet DATA
tCPby Ethernet, send to station server 1.
On the other hand, when the user at station server 1 place wishes to understand particular state curve of certain group track switch or state parameter, the particular state curve of upper " program request " this group track switch of its user interface MMI that server 1 provides AT STATION or state parameter and send instruction.As hot job, embedded gateway 3 can receive by Ethernet the emergency data acquisition (step 304') of TCP/IP form.Embedded gateway 3 received instruction is subsequently resolved extracts related command, the sign ID that this order comprises the sensor node being associated with the track switch of user's program request, this order is sent to identified sensor node (step 305') by CAN wiring.As response, this sensor node returns to real-time track switch state parameter, and according to the similar process of aforesaid timing acquiring, sends to station server, thereby completes the collection distribution of emergency data.In the present invention, embedded gateway 3 adopts the form of ICP/IP protocol to receive the control command that station server issues, then carry out the parsing of message, Useful Information format combination is in accordance with regulations become to CAN frame, send into the transmission buffering area of CAN bus, then start its inner CAN interface transceiver and send.It should be noted that the present invention is not limited to ICP/IP protocol, the agreement that can also use other applicable ethernet communication is User Datagram Protoco (UDP) UDP for example; And send buffering area transmission message by CAN before, must first judge whether to receive message, last time, whether transmission completed in case send conflict.
Here it is pointed out that the order of being sent by station server 1 can be both that track switch state parameter is obtained in requirement immediately, can be also the control that related sensor is gathered, for example, control sample frequency.Sensor node receives after corresponding sample frequency instruction, for example, by adjusting the sampling clock of the microcontroller in sensor network, can realize the sample frequency of reprovision transducer.
In the present invention, by utilizing the high speed bandwidth of the rapid data transfer capability of embedded gateway 3, the integrated data processing ability of station server 1 and Ethernet, therefore can realize to spot sensor data fast, Real-time Collection and processing.
According to the present invention, embedded gateway 3 has real-time multi-task disposal ability, and can require to divide according to specific tasks real-time and importance the priority of each task.In this is bright, the task division that will realize embedded gateway 3 is 7 kinds and has correspondingly set task priority.As shown in the table:
In upper table, priority value is larger, represents that its priority is higher.
In a preferred embodiment of the invention, for the communication between multitask, adopt the multithreading of message queue, realize the transmitting-receiving of CAN data, the conversion of CAN/TCP-IP data protocol and ethernet communication.In this scheme, transmission what only adopt for the communication frame format of the track switch status data that gathers and CAN is short frame structure, therefore adopt the mechanism of message queue to realize the mutual communication between multitask, can guarantee bidirectional information in real time, high efficiency of transmission.Certainly the present invention is not limited to, and can also adopt the modes such as semaphore, pipeline, or adopt its compound mode.Compare with semaphore, message queue can better process in real time more information and have simple to operate, the advantage of saving resource; Compare with pipeline, message queue can store a plurality of message data and can be according to first in first out (FIFO) and task priority deal with data, this can reduce developer's workload, therefore in the present invention, preferably adopts message queue mechanism.
Traditionally, in message queue, for general image data situation, will queue up according to first-in first-out (FIFO) mode.Tentation data message Msg1, Msg2, Msg3 represents respectively the CAN frame of Timing Data Acquisition task, emergency data acquisition tasks and field failure warning task.Data-message Msg1, Msg2, Msg3, in the situation that not setting priority, is aligned in message queue according to sequencing, as shown in Fig. 4 a.When sense data message from message queue, according to the mode of first-in first-out, from the Msg1 arranging at first, start sequentially sense data message, therefore the most critical field failure warning task can not get priority treatment.
But in the present invention, by identifying the priority of its representative task in the CAN frame that each task is preset to priority and sensor node is uploaded, for example can in the CAN Frame gathering, corresponding flag Data_Flag be set realizes, so the data message to transducer timing acquiring for example, the Data_Flag in frame is set to 5; And the data message of the instruction acquisition promptly issuing according to station server, its Data_Flag is set to 6, and the message Msg3 that reflection field failure is reported to the police, the Data_Flag in frame is set to 7.Thereby can be as shown in Figure 4 b, due to data-message Msg1, Msg2, the priority of Msg3 is Msg1<Msg2<Msg3, the message Msg3 that priority is the highest so comes the head of queue, although it collected afterwards.By setting priority, if in actual acquired data, on-the-spot fault alarm task, by priority queue, can be ended other priority of task and carry out, and fault alarm task is uploaded to central server in time.Below in conjunction with embedded gateway 3 according to an embodiment of the invention, describe said process in detail.
Fig. 5 shows the internal configuration diagram of embedded gateway 3.As shown in Figure 5, embedded gateway 3 comprises CAN interface 30, core transfer gateway 37, Ethernet interface 34 and buffer 36,36'.
CAN interface 30 is connected in CAN bus 5, to receive the CAN frame of indication track switch state parameter from the represented a plurality of sensor nodes of reference number 2, the CAN frame receiving is temporary in buffer 36.As shown in Figure 8, as an example, CAN interface 30 comprises CAN transceiver 301 and CAN controller 302.The data that the sensor node that CAN controller represents by reference number in CAN transceiver 301 Real-time Collection figure 2 provides, and adopt the pattern of interrupting to operate, when CAN bus control unit is when CAN bus receives data, the form by the data that receive with CAN frame is placed in buffer 36.CAN controller 302 is also issued corresponding node by the data from station server 1 by CAN transceiver 301.
The priority of the task of core transfer gateway 37 based on relevant to each CAN frame, utilize the CAN frame receiving to generate a message queue as message packet, and by predetermined order in this message queue, read described message packet and convert thereof into meet tcp/ip communication agreement data message to send to described station server 1 by described Ethernet interface 34.In addition, core transfer gateway 37 also receives control command by Ethernet interface 34 from described station server 1, be converted into the control command that meets described CAN bus protocol, the message queue that comprises this control command is delivered to described CAN bus interface 30, to send to a node in the determined described a plurality of nodes of sensor node sign ID that comprise in this control command.In the present embodiment, core transfer gateway 37 can comprise CAN communication module 31, protocol conversion module 32, ethernet communication module 33.
CAN communication module 31, for carrying out CAN bus communication process, according to the task of CAN bus, can be set up respectively CAN bus receiving thread, CAN bus send-thread, and call the thread of station server processes.This CAN bus receiving thread is set up message queue 0, for receiving CAN frame to send to station server from described buffer 36.Particularly, while occurring meeting the data of filter setting in CAN bus, CAB bus receiving thread is just controlled CAN bus control unit 302 and is received CAN frame from CAN bus, and the mode by for example triggering CAN hardware receive interruption in the future the CAN frame of autobiography sensor node with the form of message packet, write in the message queue 0 that can deposit n bar CAN frame.When reception task is converted to ready queue from waiting list, protocol conversion module 32 is just read into message packet the buffer circle list of reception task from message queue, read the content of message packet, remove unnecessary information, useful data are encapsulated according to ICP/IP protocol, enclose IP address, destination, thereby realize the conversion from CAN agreement to Transmission Control Protocol.After EOC, the message packet of having changed is sent by the message queue 1 that can store n bar message, convert task is transferred to waiting state by run mode thus.At this moment, TCP/IP message sends task and transfers run mode to by waiting state, and ethernet communication module 33 is taken out infomational message from message queue 1, puts into the buffer circle 36' of transmission task, then encapsulates and sends on Ethernet by Ethernet interface 34.In the present invention, use the object of annular buffering area both can prevent data from overflow, simultaneously also can be so that the concurrent execution of reading and writing.
Further, as preferred version, core transfer gateway 37 of the present invention also comprises scheduler 35, when generating messages queue 0, this scheduler 35 can judge the priority tag Data_Flag in CAN frame, thereby the priority of the message of relatively having stored in the message of this current reception and this message queue 0, and adjust the discharge order of this current message packet in message queue 0 according to this comparative result, can guarantee thus to have the higher first task of level and obtain priority treatment, can realize that last in, first out (LIFO).
From the Ethernet data message of station server 1 to the transfer process of CAN frame and antithesis above-mentioned.When station server 1 has control command to send to some sensor nodes 2, ethernet communication module 33 receives by message queue 0 the instruction message that station server passes down with the form of the agreement of TCP/IP, when reception task is converted to ready queue from waiting list, the message packet in message queue 0 is just sent in the buffer circle of reception task.Then, protocol conversion module 32 is by access buffer circle (36 '), read message packet, the conversion of execution from TCP/IP to CAN agreement, comprise the message packet of Transmission Control Protocol is resolved, extract useful data, then according to these data of CAN protocol encapsulation, and deposit packaged data in message queue 1, send in the loop buffer 36 of transmission task.31 pairs of message packets that send in task buffer circle 36 of CAN communication module are processed, and according to the node identification wherein comprising, by CAN transceiver 201, send to identified sensor node 2.
According to another preferred embodiment of the present invention, message queue by above-mentioned thread creation can have variable-length, the message queue breath that creates variable-length in design message queue buffering area, the message message in message queue for example can be identified by the sign ID of representative sensor node differentiation.Can allow thus the various Frames of the indefinite length of receiving sensor node collection, thereby expand on-the-spot range of application.
In addition, in aforementioned implementation column, when the sending and receiving of design message packet, message packet is to copy to completely the space of reception task from the space of the transmission task of message queue, as ' 2 copies in Fig. 6 ' arrow is indicated, needing secondary copy process receiving CAN data from CAN bus like this to sending to Ethernet.Obviously, this kind of message delivery method efficiency is lower, takes up room large, also can reduce the speed of whole data handling procedure simultaneously, has reduced real-time.
For the transmission of processing messages efficiently, according to a change example of the present invention, adopt the mode that a kind of efficiency is higher, the pointer that is about to refer message memory space is delivered to and receives in task space.As shown in ' transmission of pointer ' arrow in Fig. 6, when sending data to station server, the data that the continuous receiving sensor node of message queue 0 is uploaded by CAN bus, when reception task is converted to ready queue from waiting list, not entire message message in message queue 0 to be passed to the buffer circle of reception task, but the pointer of each message packet in message queue is read and passed in the buffer circle of reception task.Thus, when translation data, protocol conversion module 32 only need receive from this address pointer of access message message task buffering area, and according to this pointer, from the memory space of message queue, reads the content of message packet, carries out the preprocessing process such as data encapsulation as previously mentioned.
Fig. 7 shows according to this and becomes routine operational flowchart.After initialization, CAN communication module is set up three threads, the main thread being connected with station server and for from CAN bus, fetch data read thread (step 703) and to CAN bus, send instructions write thread.Subsequently by reading thread creation message queue 0(step 704), and by writing thread creation message queue 1.When uploading data, detect in CAN bus whether have data, and indicate CAN bus control unit that the CAN frame receiving is stored in to (step 705) in buffer.As previously mentioned, this CAN frame comprises and represents the useful data of track switch state, the data ID being associated with this track switch, task priority Data_flag and message length etc. alternatively.Subsequently, the message in buffer 36 sends into message queue 0 medium pending (step 706).When message queue fill full or meeting other pre-conditioned under, reception task is converted to ready queue from waiting list, CAN bus is read thread the pointer of message packet in message queue is stored in a buffer circle simultaneously.Protocol conversion module is accessed the pointer of message message in this buffering area subsequently to read described message content (step 707), therefrom parses useful data and ID thereof, then according to ICP/IP protocol to data Reseal and send in message queue 1.Be understood that, the processing of being carried out by protocol conversion module here is also read thread by foundation and is realized.Subsequently, ethernet communication module is extracted Data Concurrent and is given station server (step 708) from message queue 1.
Contrary to the above to the processing of sensor node 2 from station server 1, repeat no more here.Here it is pointed out that the process of writing of being set up by protocol conversion module 32 reads the data that read by Ethernet, be stored in buffer temporarily into message queue, and data are resolved and are packaged into CAN frame again.Thus, CAN bus is write thread generated CAN frame is sent in a message queue 1, and according to Data Identification ID in message packet, message is sent to the sensor node that the ID of institute identifies by CAN bus transceiver and CAN bus, realize the control of station server to this node.
hardware support platform
According to the present invention, the design of whole embedded gateway 3 adopts modularization framework, as shown in Figure 8, comprising: embedded processing module, CAN bus interface module, ethernet interface module; Debug communications interface and data buffer etc.
embedded processing module
The core of this embedded processing module can adopt the microprocessor of ARM9 series, its ARM920T kernel is based on RISC(reduced instruction set computer) framework, have 32 high-performance ARM and 16 high code density Thumb two cover instruction set, there are 16k byte data buffer memory and 16k byte instruction buffer memory and 8,16, the instruction bus of 32 and data/address bus.Instruction execution efficiency is high, and software operation platform is easy to build, and possesses abundant peripheral expansion circuit simultaneously, can meet real-time multi-task requirement.Using network sensor data acquisition and the real-time transfer of data of Ethernet high speed of the CAN bus protocol of ARM Technical Architecture structure is a kind of efficient feasible scheme.Its abundant peripheral hardware resource and Peripheral Interface of while, stable performance, for Computerized industrial control aspect provides efficient solution.In order to guarantee data acquisition and the data processing of system, in the interface of peripheral hardware, configured SDRAM storage system, for expanding memory ram, the information such as user data during storage system operation, storehouse.Configured a slice Flash memory simultaneously, be used for the curing information of storage system, user application, embedded OS, the data that gather in simultaneously can storage system running and the data of receiving by Ethernet.
This embedded processing module is used for driving corresponding hardware interface, and enforcement is corresponding to the CAN bus apparatus signal procedure process of aforesaid CAN communication module, corresponding to the protocol convertor process of aforesaid protocol conversion module with corresponding to the ethernet communication program process of aforesaid too Network Communication module, make the data efficient of sensor node, accurately, the real-time station server that is sent to.The microprocessor of the type can adopt uClinux operating system.UClinux, as Linux derivation operation system, follows most characteristics of Linux, retains outstanding network throughput and the complete support to various file system, is the embedded OS of current main-stream.And uClinux is the operating system of a multi-process, application layer adopts the mode of multithreading and multi-process to realize synchronize of communicating by letter between CAN bus network and Ethernet, and employing message queue is realized network data transmission, receiving process and the transmission of CAN network data, receiving process etc.; Network communication program can adopt ripe Socket socket programming.In order to guarantee the real-time of data and control information transmission, transport layer protocol is selected ICP/IP protocol or User Datagram Protocol (UDP).And, when the turning mutually of various protocols by adopt two independently process realize up conversion (from sensor node to station server) and the down conversion (from station server to sensor node) of data, guaranteed the stable operation of system.
cAN bus interface module:
As previously mentioned, this CAN interface 30 is mainly by CAN transceiver 301, CAN controller 302 and light lotus root 303 form, as application example, here CAN transceiver 301 can adopt the TJA1040 of industrial application to realize, CAN controller 302 can adopt the MCP2510 of industrial application to realize, and light lotus root 303 can adopt the high speed photo coupling HCPL-7101 of industrial application to realize.The present invention considers that this embedded gateway 3 works in outdoor trackside region conventionally fully, therefore in order to prevent thunderbolt, between CAN controller 302 and CAN transceiver 301, adopt high-speed light lotus root 303 to carry out electrical isolation completely, and the power supply of light lotus root two terminal circuits is isolated by power isolation module, can effectively play electric isolation like this, at electric entrance and exit, all design and there is lightning-protection module simultaneously.
This CAN interface can be realized the picking rate that maximum speed reaches 1Mbps; And input range is wide; Anti-electromagnetic interference performance is good, the railway signal field that is applied in that therefore can be reliable, safe.Owing to adopting the electric driving of CAN bus interface module of the present invention CAN bus, therefore attachable sensor node number can reach 110, can meet the demand of multisensor node in region, station completely simultaneously.
ethernet interface module:
As shown in Figure 8, ethernet interface module mainly drives chip by Ethernet, and network isolation transformer forms, and is mainly responsible for the conversion of physical layer and MAC layer data, and practical function effectively connects detection, auto-negotiation, complete/half-duplex setting, CRC detection etc.Transmission, the clutter that can be responsible for signal suppress and high-voltage isolating simultaneously, the fail safe of protected data transmission.
debug communications interface:
In order to guarantee the simple possible of debug process, utilize the abundant peripheral hardware resource of ARM9, this system provides RS232 interface module, as the input debug command of control desk, shows debug results, is used for communicating in debug process and PC.
data cache module:
As previously described in detail, data cache module is responsible for the packet gathering from sensor node temporary, by setting in advance, packet is resolved after sign, take out the content in data field, the encapsulation packing of carrying out data according to ICP/IP protocol is sent to station server.Meanwhile, when this gateway receives TCP/IP packet, take out data in bag and deposit in this data cache module district, then data are carried out after analyzing and processing, then be sent to CAN bus.Here data cache module can comprise the discrete buffer 36 for CAN communication and for the buffer 36' of protocol conversion and ethernet communication, can be also a buffer to be only set for realizing buffer 36 and buffer 36'.
According to framework of the present invention, the condition curve of switching device and corresponding parameter can be sent in the man-machine interface of station server end within 5 seconds.In when work, all data that embedded gateway at a time records all can be sent on the server of station within 30 seconds, and can realize the sample frequency that is not more than 100ms, and for dynamic force, the sample frequency of vibration acceleration etc. is not more than 10ms.By means of embedded gateway, in the network service with station server, there is amount of communication data large, transmission speed is fast, and open good, low cost and other advantages, is specially adapted to the occasion that this demand of the railway system is large, reliability requirement is high.
By drawings and Examples, the present invention has been carried out to detail display and explanation above, yet the invention is not restricted to the embodiment that these have disclosed, other scheme that those skilled in the art therefrom derive is also within protection scope of the present invention.
Claims (15)
1. the embedded gateway of a railway special use (3), comprising:
Ethernet interface (34), for communicating by letter with station server (1) by Ethernet;
CAN interface (30), receives for a plurality of sensor nodes (2) that arrange from the track of railway by CAN bus (5) a plurality of CAN frames that meet CAN bus protocol;
Core transfer gateway (37), for the priority of task based on to CAN frame is relevant described in each, generate the first message queue by the CAN frame of these receptions as message packet, and by predetermined order in this first message queue, read described message packet and convert thereof into meet another communication protocol data message to send to described station server (1) by described Ethernet interface (34).
2. embedded gateway as claimed in claim 1 (3), wherein said core transfer gateway (37) receives control command by described Ethernet interface (34) from described station server (1), be converted into the control command that meets described CAN bus protocol, the second message queue that comprises this control command is delivered to described CAN interface (30), to send to the node (2) in the determined described a plurality of nodes of sensor node sign that comprise in this control command.
3. embedded gateway (3) as claimed in claim 2, wherein said CAN interface (30) comprise respectively with CAN transceiver (301) and CAN control (302) device of the independent current source power supply of isolation mutually and be placed in CAN transceiver and CAN controller between optocoupler (303).
4. embedded gateway (3) as described in one of claim 1-3, wherein said core transfer gateway comprises CAN communication module (31), protocol conversion module (32) and ethernet communication module (33),
Wherein said CAN communication module (31) sends described a plurality of message packets in described the first message queue, and the pointer of each message packet in this message queue is passed to a reception buffer;
Described protocol conversion module (32) reads the message frame in the first message queue by the message packet pointer reading in described reception buffer zone, to convert the data message that meets described another communication protocol to; And
Described ethernet communication module (33) sends to station server (1) by the data message after conversion by Ethernet.
5. embedded gateway (3) as claimed in claim 4, wherein said reception buffer is annular data buffer.
6. embedded gateway (3) as described in claim 1-3, the length of wherein said the first message queue is variable, to accept to have the message packet of variable-length.
7. embedded gateway (3) as described in claim 1-3, wherein said core transfer gateway also comprises scheduler (35), for determining the affiliated task priority of message packet receiving, and determine the arrangement position of this message packet in described the first message queue based on this priority.
8. embedded gateway as claimed in claim 1 (3), wherein said another communication protocol is TCP/IP or udp protocol.
9. a railway signal communication means, comprising:
By being connected to a plurality of sensor nodes that CAN interface in CAN bus arranges from the track of railway, receive the CAN frame that meets CAN bus protocol;
Generate the first message queue, this first message queue comprises the CAN frame as its message packet, and this message packet depends on the priority of the task relevant to described message packet at the arrangement position of this message queue;
Based on given order in this first message queue, read described message packet and convert thereof into meet another communication protocol packet to send to station server by Ethernet interface.
10. railway signal communication means as claimed in claim 9, also comprises:
By described Ethernet interface, from described station server, receive control command, be converted into the CAN control command that meets described CAN bus protocol, send the second message queue that comprises this CAN control command and to control by the sensor node being included in instruction, identify a node in determined described a plurality of sensor nodes to described CAN interface.
11. railway signal communication meanss as described in claim 9 or 10, also comprise:
The pointer of each message packet in the first message queue is passed to a reception buffer;
By the message pointer reading in described reception buffer zone, read the message data in the first message queue, to convert the packet that meets described another communication protocol to.
12. as described in claim 9 or 10 railway monitoring method, the step of wherein said generation the first message queue comprises the task priority under definite received message packet, and determines the arrangement position of this message packet in described the first message queue based on this priority.
The embedded gateway of 13. 1 kinds of railway special uses, comprising:
Processor, is configured to:
By the CAN interface being connected in CAN bus, from the track of railway, arrange
A plurality of sensor nodes receive the CAN frame that meets CAN bus protocol;
Generate the first message queue, this first message queue comprises the CAN frame as its message packet, and this message packet depends on the priority of the task relevant to described message packet at the arrangement position of this message queue;
Based on given order in this first message queue, read described message packet and convert thereof into meet another communication protocol packet to send to station server by Ethernet interface; And
Memory with this processor coupling.
14. 1 kinds of railway monitoring systems, comprising:
Be connected to a plurality of sensor nodes (2) of CAN bus, for gathering the state parameter of the track equipment of railway;
Embedded gateway (3) as described in aforementioned claim 1-8,14, is connected to described CAN bus (5) to receive described state parameter; And
By Ethernet, be connected to the station server (1) of described embedded gateway (3), for analyze by described embedded gateway (3) transmission, from the state parameter of sensor node (2) and control the data acquisition of described sensor node (2).
15. 1 kinds of computer programs, record machine-readable instruction, make computer carry out following operation when carrying out:
By being connected to a plurality of sensor nodes that CAN interface in CAN bus arranges from the track of railway, receive the CAN frame that meets CAN bus protocol;
Generate the first message queue, this first message queue comprises the CAN frame as its message packet, and this message packet depends on the priority of the task relevant to described message packet at the arrangement position of this message queue;
Based on given order in this first message queue, read described message packet and convert thereof into meet another communication protocol packet to send to station server by Ethernet interface.
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