CN109104346A

CN109104346A - Train network data transmission method, system and its apparatus based on CANopen agreement

Info

Publication number: CN109104346A
Application number: CN201710475924.0A
Authority: CN
Inventors: 磨俊生; 曾文晓; 赵龙
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2017-06-21
Filing date: 2017-06-21
Publication date: 2018-12-28
Anticipated expiration: 2037-06-21
Also published as: CN109104346B

Abstract

The invention discloses a kind of train network data transmission methods based on CANopen agreement, system and its apparatus, wherein, method includes: to monitor the heartbeat message for respectively passing through the transmission of the first channel CAN from node relevant to movable host node on heartbeat signal network according to preconfigured network node list, if judgement is informed in the heartbeat message for receiving first node transmission in preset first heart beat cycle on heartbeat signal network, then parse the working condition that heartbeat message checks the 2nd channel CAN and the 3rd channel CAN of first node, if inquiry knows that the 2nd channel CAN of first node is normal, the data that first node is sent then are received on primary network, if the 2nd CAN channel failure of first node is known in inquiry and the 3rd channel CAN is normal, first node hair is then received on the backup route The data sent.The data transmission efficiency for improving train network as a result, ensure that the good operation of vehicle, improve the redundancy effect of train network.

Description

Train network data transmission method, system and its apparatus based on CANopen agreement

Technical field

The present invention relates to vehicle communication technical field more particularly to a kind of train network data based on CANopen agreement Transmission method, system and its apparatus.

Background technique

Train Communication Network application at present is more widely Train Communication Network (TCN) bussing technique, and TCN is covered MVB (multifunctional vehicle bus), WTB (wired train bus), Ethernet, CAN (fieldbus) these four buses.For MVB, WTB, Ethernet, CAN these four buses design requirement in, a common requirement is network redundancy design.It is so-called Network redundancy refers to that a backup network should be set up again for each communication network, i.e., each node can use A on network The two-wire connection type of line and B line can be realized by backup network and be communicated, it is ensured that is each on network when a network fails Product data interaction is unimpeded, and the running environment of Train Communication Network is made to have high availability.

However, either still using backup network to transmit using primary network in the train network of the prior art It further includes the data such as PDO message that product data, which had both included heartbeat message, and there are a nets for the different product data of both mechanism It is transmitted in network, may result in the two and mutually grab resource, the loss for causing product data or response are not in time.

Summary of the invention

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

For this purpose, the first purpose of this invention is to propose a kind of train network data transmission based on CANopen agreement Method, the method increase the data transmission efficiencys of train network, ensure that the good operation of vehicle, the redundancy effect of train network Fruit.

Second object of the present invention is to propose another train network transmission side data based on CANopen agreement Method.

Third object of the present invention is to propose a kind of movable host node.

Fourth object of the present invention is to propose a kind of from node.

5th purpose of the invention is to propose a kind of train network data transmission system based on CANopen agreement.

6th purpose of the invention is to propose a kind of computer equipment.

7th purpose of the invention is to propose another computer equipment.

8th purpose of the invention is to propose a kind of storage medium.

9th purpose of the invention is to propose another storage medium.

To achieve the goals above, a kind of train based on CANopen agreement that first aspect present invention embodiment proposes Network data transmission method, comprising the following steps: monitored on heartbeat signal network according to preconfigured network node list It is relevant to the movable host node respectively to pass through the heartbeat message that the first channel CAN is sent from node；According to described respectively from section The reception condition of the timing situation of heartbeat timer and the heartbeat message that point is correspondingly arranged judges described respectively from the of node One channel CAN whether failure；If judgement is informed in preset first heart beat cycle and receives on the heartbeat signal network The heartbeat message that the first node is sent, then parse the heartbeat message check the first node the 2nd channel CAN and The working condition in the 3rd channel CAN, wherein the first node is that any one is relevant from section to the movable host node Point；If inquiry knows that the 2nd channel CAN of the first node is normal, the first node is received on primary network and is sent Data；If the 2nd CAN channel failure of the first node is known in inquiry and the 3rd channel CAN is normal, spare The data that the first node is sent are received on network.

To achieve the goals above, another column based on CANopen agreement that second aspect of the present invention embodiment proposes Vehicle network data transmission method, comprising the following steps: supervised on heartbeat signal network according to preconfigured network node list It listens and passes through the heartbeat message that the first channel CAN is sent from the relevant each node of node to described；According to described respectively from node pair The timing situation for the heartbeat timer that should be arranged and the reception condition of the heartbeat message judge described respectively from the first of node The channel CAN whether failure；If judgement is informed in preset heart beat cycle and receives the second section on the heartbeat signal network The heartbeat message of point, then parse the work that the heartbeat message checks the 2nd channel CAN and the 3rd channel CAN of the second node Make state, wherein the second node be any one to it is described relevant from node or movable host node from node；If looking into Inquiry knows that the 2nd channel CAN of the second node is normal, then the data that the second node is sent are received on primary network； If the 2nd CAN channel failure of the second node is known in inquiry and the 3rd channel CAN is normal, in the backup network The upper data for receiving the second node and sending.

To achieve the goals above, a kind of movable host node that third aspect present invention embodiment proposes, comprising: the first prison Module is listened, it is related to the movable host node for being monitored on heartbeat signal network according to preconfigured network node list It is each from node pass through the first channel CAN send heartbeat message；First judgment module, for basis with described respectively from node pair The timing situation for the heartbeat timer that should be arranged and the reception condition of the heartbeat message judge described respectively from the first of node The channel CAN whether failure；First parsing module is believed for being informed in preset first heart beat cycle in judgement in the heartbeat When receiving the heartbeat message that the first node is sent on number network, parses the heartbeat message and check the first node The working condition in the 2nd channel CAN and the 3rd channel CAN, wherein the first node is any one and the main section of activity Point is relevant from node；First receiving module, when the 2nd channel CAN for knowing the first node in inquiry is normal, The data that the first node is sent are received on primary network；First receiving module is also used to know described in inquiry When the 2nd CAN channel failure of one node and normal the 3rd channel CAN, the first node hair is received on the backup route The data sent.

To achieve the goals above, the slave node that fourth aspect present invention embodiment proposes, comprising: second monitors module, For monitored on heartbeat signal network according to preconfigured network node list to it is described logical from the relevant each node of node Cross the heartbeat message of the first channel CAN transmission；Second judgment module, for basis and the heartbeat being respectively correspondingly arranged from node Whether the timing situation of timer and the reception condition of the heartbeat message judge described respectively former from the first channel CAN of node Barrier；Second parsing module receives for being informed in preset heart beat cycle in judgement on the heartbeat signal network When the heartbeat message of two nodes, the 2nd channel CAN and the 3rd channel CAN that the heartbeat message checks the second node are parsed Working condition, wherein the second node be any one to it is described relevant from node or movable host node from node； Second receiving module receives institute when the 2nd channel CAN for knowing the second node in inquiry is normal on primary network State the data of second node transmission；Second receiving module is also used to know that the 2nd CAN of the second node is logical in inquiry When road failure and normal the 3rd channel CAN, the data that the second node is sent are received in the backup network.

To achieve the goals above, the train network based on CANopen agreement that fifth aspect present invention embodiment proposes Data transmission system, comprising: described in heartbeat signal network, primary network, backup network and third aspect present invention embodiment Movable host node, slave node described in fourth aspect present invention embodiment, wherein each node passes through the first channel CAN and institute The interaction that heartbeat signal network carries out heartbeat message is stated, data interaction is carried out by the 2nd channel CAN and the primary network, is led to It crosses the 3rd channel CAN and the backup network carries out data interaction.

To achieve the goals above, a kind of computer equipment that sixth aspect present invention embodiment proposes, including memory, Processor and storage are on a memory and the computer program that can run on a processor, wherein described in the processor execution The train network transmission side data based on CANopen agreement described in first aspect present invention embodiment is realized when computer program Method.

To achieve the goals above, a kind of computer equipment that seventh aspect present invention embodiment proposes, including memory, Processor and storage are on a memory and the computer program that can run on a processor, wherein described in the processor execution The train network transmission side data based on CANopen agreement described in second aspect of the present invention embodiment is realized when computer program Method.

To achieve the goals above, a kind of storage medium that eighth aspect present invention embodiment proposes, for storing application Program, the application program are used to execute the train net based on CANopen agreement as described in first aspect present invention embodiment Network data transmission method.

To achieve the goals above, a kind of storage medium that ninth aspect present invention embodiment proposes, for storing application Program, the application program are used to execute the train net based on CANopen agreement as described in second aspect of the present invention embodiment Network data transmission method.

Technical solution provided in an embodiment of the present invention has following advantageous effects:

Heartbeat message and data are transmitted in different routes, improve the sound of data transmission efficiency and train network Answer speed, and when some or it is certain from node in primary net drop, be switched to backup network and receive the part from node Data, other are still received on primary network from node data, ensure that the complete reception to correlation from node data, are guaranteed The good operation of vehicle, improves the redundancy effect of train network.

The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description Obviously, or practice through the invention is recognized.

Detailed description of the invention

Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments Obviously and it is readily appreciated that, in which:

Fig. 1 is the train network data transmission method based on CANopen agreement of one embodiment according to the present invention Flow chart；

Fig. 2 is train network structural schematic diagram according to prior art；

Fig. 3 (a) is that there are risk schematic diagrames for the transmission of train network structured data according to prior art；

Fig. 3 (b) is that train network structured data transmission according to the present invention overcomes risk schematic diagram；

Fig. 4 is train network structural schematic diagram according to an embodiment of the invention；

Fig. 5 is the train network data transmission method based on CANopen agreement of second embodiment according to the present invention Flow chart；

Fig. 6 is the train network data transmission method based on CANopen agreement of third embodiment according to the present invention Flow chart；

Fig. 7 is the train network data transmission method based on CANopen agreement of the 4th embodiment according to the present invention Flow chart；

Fig. 8 is the train network data transmission method based on CANopen agreement of the 5th embodiment according to the present invention Flow chart；

Fig. 9 is the train network data transmission method based on CANopen agreement of the 6th embodiment according to the present invention Flow chart；

Figure 10 is the train network data transmission method based on CANopen agreement of the 7th embodiment according to the present invention Flow chart；

Figure 11 is the train network data transmission method based on CANopen agreement of the 8th embodiment according to the present invention Flow chart；

Figure 12 is the train network data transmission method based on CANopen agreement of the 9th embodiment according to the present invention Flow chart；

Figure 13 is the structural schematic diagram of the movable host node of one embodiment according to the present invention；

Figure 14 is the structural schematic diagram of the movable host node of second embodiment according to the present invention；

Figure 15 is the structural schematic diagram of the movable host node of third embodiment according to the present invention；

Figure 16 is the structural schematic diagram of the movable host node of the 4th embodiment according to the present invention；

Figure 17 is the structural schematic diagram of the movable host node of the 5th embodiment according to the present invention；

Figure 18 is the structural schematic diagram of the movable host node of the 6th embodiment according to the present invention；

Figure 19 is the structural schematic diagram of the movable host node of the 7th embodiment according to the present invention；

Figure 20 is the structural schematic diagram of the movable host node of the 8th embodiment according to the present invention；

Figure 21 is the structural schematic diagram of the movable host node of the 9th embodiment according to the present invention；

Figure 22 is the structural schematic diagram of the slave node of one embodiment according to the present invention；

Figure 23 is the structural schematic diagram of the slave node of second embodiment according to the present invention；

Figure 24 is the structural schematic diagram of the slave node of third embodiment according to the present invention；

Figure 25 is the structural schematic diagram of the slave node of the 4th embodiment according to the present invention；

Figure 26 is the structural schematic diagram of the slave node of the 5th embodiment according to the present invention；

Figure 27 is the structural schematic diagram of the slave node of the 6th embodiment according to the present invention；

Figure 28 is the structural schematic diagram of the slave node of the 7th embodiment according to the present invention；

Figure 29 is the knot of the train network data transmission system according to an embodiment of the invention based on CANopen agreement Structure schematic diagram；

Figure 30 is that activity host node connects when the first CAN channel failure of node A according to cited by one embodiment of the invention Receive schematic diagram data；

Figure 31 is activity host node when the first CAN channel failure of node A according to cited by another embodiment of the present invention Receive schematic diagram data；

When Figure 32 is the first channel CAN node A according to cited by one embodiment of the invention and the 2nd CAN channel failure Movable host node receives schematic diagram data；And

Figure 33 is the first channel CAN node A and the 2nd CAN channel failure according to cited by another embodiment of the present invention When activity host node receive schematic diagram data.

Specific embodiment

The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.

Below with reference to the accompanying drawings describe the embodiment of the present invention the train network data transmission method based on CANopen agreement, System and its apparatus.

In order to more clearly be said to the train network data transmission method of the invention based on CANopen agreement It is bright with reference to specific embodiments to concentrate on this method and apply to be described in movable host node side, be described as follows:

Wherein, it is emphasized that, train network data transmission method of the invention is executed based on CANopen agreement , wherein the role for thering is a node to serve as movable host node in CANopen protocol requirement network, to manage other from node The work such as initialization, starting, supervision, reset or stopping.

Wherein, in order to preferably execute the train network transmission side data based on CANopen agreement of the embodiment of the present invention Method, to movable host node have certain design requirement, since movable host node is as network administrator's identity, thus can than from The node more function of network state control, i.e., movable host nodes need to send to primary network and backup network simultaneously after powering on Network-control instruction, control enter operation mode from the channel node two-way CAN, while can be to primary network together with backup network Send the messages such as synchronous package, timestamp, urgent object.

Fig. 1 is the train network data transmission method based on CANopen agreement of one embodiment according to the present invention Flow chart, as shown in Figure 1, this method comprises:

S101 is monitored on heartbeat signal network relevant to movable host node according to preconfigured network node list Respectively pass through the heartbeat message that the first channel CAN is sent from node.

It is appreciated that in the same network line, not only having transmitted heartbeat message in order to solve in the prior art but also having transmitted The problem of PDO message data (hereinafter referred to as data) causes train network response not in time or cannot respond to, for example, same A time transmits heartbeat message again, transmits data again, data may be lagged some time tranfers or the data can Can by heartbeat message " squeezing out " etc., thus, in an embodiment of the present invention, in order to coordinate heartbeat message and data transmission communication Mechanism increases a CAN route outside each node of train network and uses as the transmission of the data of heartbeat message.

Specifically, being monitored on heartbeat signal network according to preconfigured network node list and movable host node phase Each heartbeat message for passing through the transmission of the first channel CAN from node closed.

Wherein it is possible to understand, in one embodiment of the invention, can be established and activity master according to network topological diagram The corresponding network node list of node, wherein network node list include: it is relevant to movable host node respectively from node identification and Corresponding heartbeat timer, wherein node identification can be the data from unique identifications nodes such as the identity ID of node.

In turn, network-control instruction is sent from node to all, control enters heartbeat message from the first channel CAN of node Operation mode, and start relevant respectively from the corresponding heartbeat timer of node to movable host node.

Specifically, movable host node executes heartbeat message monitoring mechanism, movable host node can after own operating state An all-network node listing (configurable) is established according to network topological diagram, i.e., in the object dictionary of customized CANopen An object indexing each node identities are marked with each node exclusive node identification, the node identification (ratio of all nodes Such as node ID) it is included in the object store space, a heartbeat timer can be arranged for each node in movable host node, Movable host node is after entering mode of operation, and each heartbeat timer just will do it countdown, and movable host node is the heart received It jumps packet parsing and goes out corresponding node identification, such as node ID, then matched again with the node listing in its own object dictionary, Again the corresponding heartbeat timer set of node matched, reclocking exists according to this characteristic requirements comprising movable host node Interior all nodes all can send the heart by specific loop cycle with respective node ID on primary network and backup network simultaneously Jump message.

In practical applications, movable host node first monitors each heartbeat report from node on primary network under default conditions Text send situation, i.e., is monitored on primary network according to preconfigured network node list to activity host node it is relevant respectively from Node passes through the heartbeat message that the first channel CAN is sent.

S102, according to the reception feelings with the timing situation of heartbeat timer and heartbeat message that are respectively correspondingly arranged from node Condition, judgement respectively from the first channel CAN of node whether failure.

Specifically, if the first CAN tunneling traffic from node is good, within the regular hour, movable host node can To normally receive the heartbeat message sent from node, otherwise, from the first CAN tunneling traffic failure of node.

Certainly, in some cases, probably due to some other reasons cause movable host node not normally receive from section The heartbeat message that point is sent, for example, network signal is by unexpected interference etc., thus in order to avoid erroneous judgement, it is accurate determine respectively from First channel CAN of node whether failure, the timing situation and the heart of the heartbeat timer that comprehensive consideration is respectively correspondingly arranged from node Jump message reception condition, judgement respectively from the first channel CAN of node whether failure.

For example, when there are three the heartbeat message that heart beat cycle does not monitor some node, movable host node is first It so that the node is resetted by the reset instruction of network-control, two heart beat cycles be monitored again later, in two heartbeats The heartbeat message of node can be received in period, movable host node maintains the primary network processes node processing, otherwise judges The first channel the CAN possible breakdown from node.

It is emphasized that the timing situation of the heartbeat timer in above-mentioned example is only a kind of example, according to specific The difference of application demand, can also take other heart beat cycles combination judge respectively from the first channel CAN of node whether failure, than Such as, when there are 5 heart beat cycles that some heartbeat message from node is not detected, then directly judge the first CAN from node Channel failure.

S103, if judgement is informed in preset first heart beat cycle receives first node hair on heartbeat signal network The heartbeat message sent then parses the working condition that heartbeat message checks the 2nd channel CAN and the 3rd channel CAN of first node.

Wherein, first node is that any one is relevant to movable host node from node, and preset first heart beat cycle can It is configured according to specific application scenarios, herein with no restrictions.

Wherein, it should be appreciated that heartbeat message agreement is as shown in table 1 below, by the parsing to heartbeat message, can obtain Know that each node is currently operating at the current state in each channel CAN of what state and each node.

Table 1

To receive first node on heartbeat signal network if being informed in preset first heart beat cycle in judgement The heartbeat message of transmission then knows that the first channel CAN of first node is normal, thus, in order to know the channel CAN in other channels Whether normal, parsing heartbeat message checks the working condition in the 2nd channel CAN and the 3rd channel CAN of first node.

S104 receives first node hair if inquiry knows that the 2nd channel CAN of first node is normal on primary network The data sent.

S105, if the 2nd CAN channel failure of first node is known in inquiry and the 3rd channel CAN is normal, in spare net The data that first node is sent are received on network.

It should be understood that in an embodiment of the present invention, being transmitted by the 2nd channel CAN or the 3rd channel CAN Data, wherein the network where the 2nd channel CAN is primary network, and the network in the 3rd channel CAN is backup network.

Specifically, by the redundant network design method in currently existing technology it is found that due to use at present CAN bus as For the train of communication network using fewer, i.e., the network architecture built with CAN bus is relatively simple, or even has applied at this stage On the train of CAN bus all properly consider network redundancy design, even there is this respect consideration, many vehicular manufacturer by It is limited in technical conditions, while in order to keep the processing of network node software logic simple, it can rapidly meet network establishment, so existing Having fairly perfect strategy is exactly that all nodes all send data in primary network and backup network simultaneously, but can only select wherein One network receives data, regardless of which node has gone offline on primary network, is uniformly switched to its relevant node spare Reception handles the go offline data of node and the data of other associated nodes on network.

For example, as shown in 2 example of attached drawing, network node A, C need the data of receiving node B, and node D, E do not connect The data for receiving node B, when the first CAN channel failure of node B, node A and node C switch to backup network and receive up Data, this ensures that normally receiving the data of node B.

However, such processing mode can have a kind of risk, as shown in attached drawing 3 (a) example, node A needs to receive section The data of point B and node C, but when the first CAN channel failure of node B and node the 2nd CAN channel failure of C, by existing way Node A can only take a network data, therefore can only select to abandon the data of node B or node C, but actual conditions node The data of B and node C are all critically important for node A, as soon as the data that can only be received, that will affect node A function, Jin Erying Vehicle operation is rung, redundancy effect is just had a greatly reduced quality, and redundancy purport meaning is not embodied.

In order to solve in the prior art, which there are part of nodes data, in whens multiple node difference channel failures to be normally received The technical issues of, in train network data transmission method proposed by the present invention, in the base of existing train network Redundancy Design structure On plinth, a kind of train redundant network data transmission scheme scheme is provided, can effectively avoid the primary network channel failure of part of nodes And some node datas need to be given up when part of nodes backup network channel failure, while also improving the practical effect of Redundancy Design Fruit has evaded the problem of some vehicle network failures cause vehicle operation to be obstructed well, can guarantee under some abnormal conditions, The each node of network still can be with normal communication.

It is emphasized that movable host node only monitors the data of first node from backup network at this time, for other the The one trouble-free node in the channel CAN still receives heartbeat message in primary network, thus, as shown in Fig. 3 (b), node A needs are connect The data for receiving node B and node C, when the first CAN channel failure of node B and node the 2nd CAN channel failure of C, according to the present invention Data transmission method, node A is by the data of primary network receiving node C, the number that sends from backup network receiving node B According to, thus can node B and node C data, ensure that the normal function of node A, and then guarantee that vehicle is well run, redundancy effect Fruit enhancing.

As a result, according to the above-mentioned description to the train network data transmission method based on CANopen agreement, with reference to row Design and track industry maturation fieldbus redundancy scheme of the industry specification CIA302-6 for CAN redundancy, it is desirable that the present invention is real The network architecture of example is applied with reference to attached drawing 4, network setup two movable host nodes, one is stir yourself host node, another is Backup activity host node, when stir yourself host node breaks down, activity before backup activity host node just will do it instead The function of movable host node jumps the transmission of signal network progress heartbeat message by addition increased unite as one.

In addition the node on all-network all uses A, B two to connect CAN line, and A line definitions are primary network, B route It is defined as backup network, all nodes at runtime, can be simultaneously toward sending information on A line and B line, but in initial default Only information can be received on A line, but node must be supported to receive information in A line and B line simultaneously, as a result, when one from node The 2nd channel CAN when breaking down, the data of the node are received from standby node, are not had for remaining the 2nd channel CAN The slave node to break down still receives its data sent from primary network, thereby guarantee to correlation from the complete of node data Whole reception ensure that normal good operation.

Certainly, the above-mentioned description to the embodiment of the present invention, defaults primary network and backup network communicates no failure, in reality Border in application, primary network and backup network are likely to occur failure, thus, after movable host node itself enters mode of operation, Also execute bus failure decision mechanism.

Specifically, all CAN controllers all must include a transmission error count according to CAN bus characteristic requirements Device and a reception wrong timing device, error detection mechanism defined in combined data link layer, when detecting that bus communication is different Chang Shi, error counter can enable, and counting is added to 255 nodes and enters bus off (bus-off) state.

Now requirement activity host node monitors primary network and backup network bus state simultaneously, when the primary net of movable host node When network bus failure (for example, CAN line voltage is abnormal, erroneous frame excessively leads to busoff etc.), movable host node is first Spare movable host node heartbeat message can be parsed, determines whether to enable spare movable host node, if spare activity host node can Normally to serve as stir yourself master node roles, movable host node is out of service to enter silent status, and standby node starting is served as Stir yourself host node can not serve as stir yourself master node roles if spare activity host node is currently in malfunction, That current active host node continues to run, and it is all from node data to immediately pass to backup network processing, while activity is main Node can be notified to primary network to instrument or other equipment and be currently at malfunction, if event also occurs in current backup network Barrier, then communication network enters state of paralysis, and all nodes enter vehicle special operation state.

Wherein, the accumulative number 255 of above-mentioned error counter, a kind of only example, not according to concrete application demand Together, when movable host node sends wrong timing device or acceptance error timer is added to the default value arbitrarily met the requirements When, know primary network failure, is switched to backup network and is communicated with other nodes.

Certainly, in one embodiment of the invention, it is also possible to be movable host node failure, if detecting activity at this time It is relevant to other from node progress data interaction to be then switched to standby host node for host node failure.

In conclusion the train network data transmission method based on CANopen agreement of the embodiment of the present invention, according to preparatory The network node list of configuration is monitored relevant to movable host node respectively logical by the first CAN from node on heartbeat signal network The heartbeat message that road is sent, according to the reception with the timing situation of heartbeat timer and heartbeat message that are respectively correspondingly arranged from node Situation, judgement respectively from the first channel CAN of node whether failure, if judgement is informed in preset first heart beat cycle in heartbeat The heartbeat message that first node transmission is received on signal network then parses heartbeat message and checks that the 2nd CAN of first node is logical The working condition in road and the 3rd channel CAN, if inquiry knows that the 2nd channel CAN of first node is normal, on primary network The data that first node is sent are received, if the 2nd CAN channel failure of first node is known in inquiry and the 3rd channel CAN is normal, The data that first node is sent then are received on the backup route.Heartbeat message and data are passed in different routes as a result, It is defeated, improve the response speed of data transmission efficiency and train network, and when some or it is certain from node in primary net drop When, it is switched to backup network and receives data of the part from node, other are still received on primary network from node data, are protected The complete reception to correlation from node data has been demonstrate,proved, ensure that the good operation of vehicle, has improved the redundancy effect of train network.

In practical applications, it is possible to which judgement, which is informed in preset first heart beat cycle, not to be connect in heartbeat signal network The heartbeat message of first node is received, thus, in order to ensure normally receiving for heartbeat message, need as the case may be, to take Corresponding processing operation.

Fig. 5 is the train network data transmission method based on CANopen agreement of second embodiment according to the present invention Flow chart, as shown in figure 5, after above-mentioned steps S102, this method comprises:

S201, if judgement, which is informed in preset first heart beat cycle, does not receive first node in heartbeat signal network Heartbeat message, then from primary network to first node send reset instruction.

In practical applications, it is possible to which the failure that the channel CAN occurs not is caused by permanent failure, such as network speed mutation Operation pause etc., thus, in order to avoid the waste of resource caused by unnecessary switching, in one embodiment of the invention, If judgement, which is informed in preset first heart beat cycle, does not receive the heartbeat message of first node in heartbeat signal network, to The channel CAN of failure sends reset instruction, with according to the reception condition of heartbeat message after reset, whether judgement is current occurs really Failure.

S202 continues to monitor the heartbeat message that first node is sent on heartbeat signal network, if in preset second heart The heartbeat message for receiving first node in hop cycle on heartbeat signal network, then parse heartbeat message and check first node The working condition in the 2nd channel CAN and third channel.

Wherein, preset second heart beat cycle can be labeled according to specific application scenarios, can be with the first heartbeat week Phase is identical, can also be different.

Specifically, in one embodiment of the invention, being informed in preset first heart beat cycle in judgement does not have After the heartbeat message for receiving first node, the first CAN channel failure is not judged directly, but from primary network to first Node sends reset instruction, so that the first channel CAN enters operation original state.

In turn, continue to monitor the heartbeat message that first node is sent on primary network, if in preset second heartbeat The heartbeat message of first node is received in period, then know the first CAN channel failure of first node be it is temporary, led to Homing action exclusion is crossed, thus the heartbeat message parsing heartbeat message sent in primary network monitoring first node checks first segment The working condition in the 2nd channel CAN and third channel of point.

S203 receives first node hair if inquiry knows that the 2nd channel CAN of first node is normal on primary network The data sent.

S204, if the 2nd CAN channel failure of first node is known in inquiry and the 3rd channel CAN is normal, in spare net The data that first node is sent are received on network.

Specifically, in order to realize the normal transmissions of data, if inquiry knows that the 2nd channel CAN of first node is normal, The data that first node is sent are received on primary network, if the 2nd CAN channel failure and third of first node are known in inquiry The channel CAN is normal, then receives the data that first node is sent on the backup route.

S205, if being not received by the heartbeat of first node on heartbeat signal network in preset second heart beat cycle Message, then know the first CAN channel failure of first node, and is switched to the heartbeat report that primary network monitoring first node is sent Text.

Specifically, if being not received by first node on heartbeat signal network in preset second heart beat cycle Heartbeat message then knows the first CAN channel failure of first node, thus, in order to guarantee the normal transmission of heartbeat message data, First choice is switched to the heartbeat message that primary network monitoring first node is sent.

S206, if receiving the heartbeat report of first node transmission on primary network in preset first heart beat cycle Text then receives the data that first node is sent on primary network.

Specifically, if receiving the heartbeat of first node transmission on primary network in preset first heart beat cycle Message then shows that the 2nd channel CAN is normal, receives the data that first node is sent on primary network at this time.

Based on same principle, if be switched to the 2nd CAN channel reception first node transmission heartbeat message when First node is not received in preset first heart beat cycle and passes through the heartbeat message that the 2nd channel CAN is sent, then not directly Judge the 2nd CAN tunneling traffic failure, but sends reset instruction from primary network to first node, and continue in primary network Monitor the heartbeat message that first node is sent.

Fig. 6 is the train network data transmission method based on CANopen agreement of third embodiment according to the present invention Flow chart, as shown in fig. 6, after above-mentioned steps S205, this method further include:

S301, if being not received by the heart of first node transmission on primary network in preset first heart beat cycle Message is jumped, then sends reset instruction from primary network to first node.

Specifically, if being not received by first node transmission on primary network in preset first heart beat cycle Heartbeat message, likewise, also do not judge the 2nd CAN channel failure of first node directly, but from primary network to first segment Point sends reset instruction.

S302 continues to monitor the heartbeat message that first node is sent on primary network, if in preset second heartbeat week The heartbeat message of first node is received in phase on primary network, then receives the number that first node is sent on primary network According to.

Specifically, continue to monitor the heartbeat message that first node is sent on primary network, if in preset second heartbeat The heartbeat message for receiving first node in period on primary network, then showing that the failure on primary network is can be by multiple What position was voluntarily excluded, the data that first node is sent are received on primary network.

S303, if being not received by the heartbeat report of first node on primary network in preset second heart beat cycle Text, then know the 2nd CAN channel failure of first node, and is switched to backup network and monitors the heartbeat report that first node is sent Text.

Specifically, if being not received by the heartbeat report of first node on primary network in preset second heart beat cycle Text then knows the 2nd CAN channel failure of first node, thus, in order to guarantee normally receiving for heartbeat message, it is switched to spare The heartbeat message that network monitoring first node is sent.

S304, if receiving the heartbeat report of first node transmission on the backup route in preset first heart beat cycle Text then receives the data that first node is sent on the backup route.

Specifically, if receiving the heartbeat of first node transmission on the backup route in preset first heart beat cycle Message then shows that the 3rd channel CAN of first node is normal, to receive the data that first node is sent on the backup route.

S305, if being not received by the heart of first node transmission on the backup route in preset first heart beat cycle Message is jumped, then sends reset instruction from backup network to first node.

Specifically, if being not received by first node transmission on the backup route in preset first heart beat cycle Heartbeat message then sends reset instruction from backup network to first node, with the 3rd channel CAN of the current first node of determination Whether failure can voluntarily be excluded by resetting.

S306 continues to monitor the heartbeat message that first node is sent on the backup route, if in preset second heartbeat week The heartbeat message of first node is received in phase on the backup route, then receives the number that first node is sent on the backup route According to.

Specifically, continue to monitor the heartbeat message that first node is sent on the backup route, if in preset second heartbeat The heartbeat message of first node is received in period on the backup route, it is determined that the 3rd channel CAN of current first node Failure can voluntarily be excluded by resetting, thus, the data that first node is sent are received on the backup route.

In conclusion the train network data transmission method based on CANopen agreement of the embodiment of the present invention, in order to avoid The waste of resource caused by unnecessary switching sends reset instruction to the channel CAN of failure, according to heartbeat message after reset Reception condition, judgement currently whether break down really, when only really breaking down, just progress the channel CAN switching, mention High stability and practicability of the column at network.

Based on above embodiments, in order to further increase the train network data transmission method based on CANopen agreement Stability and reusability, according to the fault message of real-time exhibition current train network the case where sending data, in order to correlation behaviour Make personnel and repaired as early as possible according to fault message, to improve the stability of train network data transmission.

Fig. 7 is the train network data transmission method based on CANopen agreement of the 4th embodiment according to the present invention Flow chart, as shown in fig. 7, after above-mentioned steps 206, this method further include:

S401, received on primary network in preset first heart beat cycle first node transmission heartbeat message it Afterwards, the current failure message in the first channel CAN of first node is sent to operation monitoring node, and is shown to operator, is prompted Current failure maintenance.

Wherein, above-mentioned monitoring node can be different devices in the case where concrete application demand is different, such as can be with It is the application interface etc. of instrument display screen, terminal device, herein with no restrictions.

Specifically, in one embodiment of the invention, if in preset first heart beat cycle on primary network The heartbeat message of first node transmission is received, and receives first node on primary network, passes through the logical transmission of the 2nd CAN Heartbeat message then shows to cause the reason of heartbeat signal does not receive the heartbeat data of first node on the net, is the first CAN logical Road failure, thus, for the ease of relevant operation personnel's timely learning fault condition to carry out troubleshooting, node is monitored to operation The current failure message in the first channel CAN of first node is sent, and is shown to operator, prompts current failure maintenance.

For example, in this example, preset second heart beat cycle is five heart beat cycles, and operation monitoring node is aobvious Display screen is lived then if still monitoring the heartbeat message less than first node in online continuous five heart beat cycles of heartbeat signal Dynamic host node has directly broken down to the first channel CAN that instrument display screen is notified to the first node, and (fault type is current Failure), it prompts to overhaul the nodes heart beat signal net.

S402 continues to monitor the heartbeat message that first node is sent on heartbeat signal network, if in preset first heart The heartbeat message of first node is received in hop cycle, then knows the first CAN routing restoration communication of first node, be then switched to The heartbeat message that first node is sent is received on heartbeat signal network.

Specifically, when communication failure occurs in nodes heart beat signal network, movable host node need to continue in heartbeat signal network Upper monitoring nodes heart beat message, if midway malfunctioning node heartbeat signal network recovery communicate, then by restore network into Row communication.

For example, continue monitoring first node in heartbeat signal network and pass through the heartbeat message that the first channel CAN is sent, If the first CAN routing restoration of midway malfunctioning node communicates, i.e., movable host node continuous five hearts on heartbeat signal network Hop cycle can receive the heartbeat message of the first node, then movable host node is received on the network of recovery handle this first Node data, but still can be notified to the first node road network to operation monitoring node (such as instrument display screen) is history event Barrier.

Based on same operation principles, Fig. 8 is the train based on CANopen agreement of the 5th embodiment according to the present invention The flow chart of network data transmission method, as shown in figure 8, after step s 304 described above, i.e., in preset first heart beat cycle After the heartbeat message for inside receiving first node transmission on the backup route, this method further include:

S501, received on the backup route in preset first heart beat cycle first node transmission heartbeat message it Afterwards, the current failure message in the first channel CAN and the 2nd channel CAN of first node is sent to operation monitoring node, and is shown To operator, current failure maintenance is prompted.

Specifically, if receiving the heartbeat of first node transmission on the backup route in preset first heart beat cycle After message, then show that the reason of leading to not receiving the heartbeat message of first node is the first channel CAN and the 2nd channel CAN Failure, thus, in order to prompt related service personnel to be overhauled as soon as possible, the first of first node is sent to operation monitoring node The current failure message in the channel CAN and the 2nd channel CAN, and it is shown to operator, prompt current failure maintenance.

S502 continues to monitor the heartbeat message that first node is sent on heartbeat signal network and on primary network, if The heartbeat message for receiving first node in preset first heart beat cycle on heartbeat signal network, then know first node The communication of first CAN routing restoration is then switched to and receives the heartbeat message that first node is sent on heartbeat signal network.

Specifically, when all there is communication failure in node two-way, movable host node need to continue on heartbeat signal network and Continue to monitor the heartbeat message that first node is sent on primary network, if the primary network of midway malfunctioning node and heartbeat signal net One of network restores communication, then is communicated by the network restored.

For example, continue to monitor the heartbeat message that first node is sent on primary network and heartbeat signal network, such as If malfunctioning node primary network in midway is communicated with the recovery of one of heartbeat signal network, for example, i.e. movable host node is in heartbeat Continuous five heart beat cycles can receive the heartbeat message of the first node on signal network, then movable host node is in recovery It is received on network and handles the first node data, but still the first segment can be notified to operation monitoring node (such as instrument display screen) The point road network is historical failure and another road network is current failure.

S503 continues to monitor the heartbeat message that first node is sent on heartbeat signal network and on primary network, if The heartbeat message for receiving first node in preset first heart beat cycle on primary network, then know the second of first node The communication of CAN routing restoration is then switched to the heartbeat message and data for receiving that first node is sent on primary network.

For example, continue to monitor the heartbeat message that first node is sent on primary network and heartbeat signal network, such as If malfunctioning node primary network in midway is communicated with the recovery of one of heartbeat signal network, for example, i.e. movable host node is primary Continuous five heart beat cycles can receive the heartbeat message of the first node on network, then network of the movable host node in recovery Upper reception handles the first node data, but still can be notified to the first node to operation monitoring node (such as instrument display screen) should Road network is historical failure and another road network is current failure.

S504 continues to monitor the heartbeat message that first node is sent on heartbeat signal network, if in preset first heart The heartbeat message for receiving first node in hop cycle on heartbeat signal network, then know the first channel CAN of first node Restore communication, is then switched to and receives the heartbeat message that first node is sent on heartbeat signal network.

Specifically, continuing to monitor the heart that first node is sent on heartbeat signal network after primary network recovery communication Message is jumped to obtain if receiving the heartbeat message of first node on heartbeat signal network in preset first heart beat cycle Know the first CAN routing restoration communication of first node, thus, the transmission mechanism of heartbeat message and the transmitter of data in order to balance System is switched to and receives the heartbeat message that first node is sent on heartbeat signal network.

Based on same operation principles, Fig. 9 is the train based on CANopen agreement of the 6th embodiment according to the present invention The flow chart of network data transmission method, as shown in figure 9, after above-mentioned steps S306, this method further include:

S601, if being not received by the heartbeat report of first node on the backup route in preset second heart beat cycle Text then sends the current event in the first channel CAN, the 2nd channel CAN and the 3rd channel CAN of first node to operation monitoring node Hinder message, and be shown to operator, prompts current failure maintenance.

Specifically, if being not received by first node in preset second heart beat cycle in backup network and passing through The heartbeat message that 3rd channel CAN is sent, then show that the 3rd channel CAN can not normally provide data service, thus, it is supervised to operation It controls node and sends the current failure message in the first channel CAN of first node, the 2nd channel CAN and the 3rd channel CAN, and show To operator, current failure maintenance is prompted.

S602 continues to monitor the heartbeat report that first node is sent in heartbeat signal network, primary network and backup network Text knows if receiving the heartbeat message of first node on heartbeat signal network in preset first heart beat cycle First CAN routing restoration of one node communicates, then the heartbeat message that first node is sent is received on heartbeat signal network.

Specifically, in order to which after one of heartbeat signal network, primary network and backup network restore communication, realization is arranged as early as possible The normal data transfer of vehicle network continues to monitor first node transmission in heartbeat signal network, primary network and backup network Heartbeat message, if the heartbeat message of first node is received on heartbeat signal network in preset first heart beat cycle, Then know first node the first CAN routing restoration communication at this point, due to the first channel CAN be used only for transmission heartbeat message, Thus, the heartbeat message that first node is sent is received on heartbeat signal network.

It certainly,, can also be on heartbeat signal network in order to maintain the normal operation of train network under application scenes The data that first node is sent are received, herein with no restrictions.

S603 continues to monitor the heartbeat report that first node is sent in heartbeat signal network, primary network and backup network Text knows first segment if receiving the heartbeat message of first node on primary network in preset first heart beat cycle The 2nd CAN routing restoration communication of point then receives the data that first node is sent on primary network.

Specifically, continue to monitor the heartbeat that first node is sent in heartbeat signal network, primary network and backup network Message knows first if receiving the heartbeat message of first node on primary network in preset first heart beat cycle 2nd CAN routing restoration of node communicates, then in order to realize column as early as possible into the normal operation of network, the is received on primary network The data that one node is sent.

S604 continues to monitor the heartbeat message that first node is sent on heartbeat signal network, if in preset first heart The heartbeat message for receiving first node in hop cycle on heartbeat signal network, then know the first channel CAN of first node Restore communication, then receives the heartbeat message that first node is sent on heartbeat signal network.

Specifically, continue to monitor the heartbeat message that first node is sent on heartbeat signal network, if preset first The heartbeat message for receiving first node in heart beat cycle on heartbeat signal network then knows that the first CAN of first node is logical Road restores communication, then the transmission mechanism of heartbeat message and data in order to balance, and first node hair is received on heartbeat signal network The heartbeat message sent.

S605 continues to monitor the heartbeat report that first node is sent in heartbeat signal network, primary network and backup network Text knows first segment if receiving the heartbeat message of first node on the backup route in preset first heart beat cycle The 3rd CAN routing restoration communication of point then receives the data that first node is sent on the backup route.

Specifically, in order to restore the communication of train network as early as possible in heartbeat signal network, primary network and backup network Continue to monitor the heartbeat message that first node is sent, if receiving first on the backup route in preset first heart beat cycle The heartbeat message of node then knows the 3rd CAN routing restoration communication of first node, thus, first is received on the backup route The data that node is sent.

S606 continues to monitor the heartbeat message that first node is sent on heartbeat signal network and on primary network, if The heartbeat message for receiving first node in preset first heart beat cycle on heartbeat signal network, then know first node The communication of first CAN routing restoration then receives the heartbeat message that first node is sent on heartbeat signal network.

Specifically, after backup network restores communication, still on heartbeat signal network and continue to monitor on primary network The heartbeat message that first node is sent, if receiving first node on heartbeat signal network in preset first heart beat cycle Heartbeat message, then know first node the first CAN routing restoration communication, then receive first node on heartbeat signal network The heartbeat message of transmission.

S607 continues to monitor the heartbeat message that first node is sent on heartbeat signal network and on primary network, if The heartbeat message for receiving first node in preset first heart beat cycle on primary network, then know the second of first node The communication of CAN routing restoration is then switched to and receives the data that first node is sent on primary network.

Specifically, after backup network restores communication, continue on heartbeat signal network and continue to monitor on primary network The heartbeat message that first node is sent, if receiving the heart of first node on primary network in preset first heart beat cycle Message is jumped, then knows the 2nd CAN routing restoration communication of first node, thus, it is switched on primary network and receives first node The data of transmission.

S608 continues to monitor the heartbeat message that first node is sent on heartbeat signal network, if in preset first heart The heartbeat message for receiving first node in hop cycle on heartbeat signal network, then know the first channel CAN of first node Restore communication, then receives the heartbeat message that first node is sent on heartbeat signal network.

Specifically, continue to monitor the heartbeat message that first node is sent on heartbeat signal network, if preset first The heartbeat message for receiving first node in heart beat cycle on heartbeat signal network then knows that the first CAN of first node is logical Road restores communication, then the communication mechanism of the transmission of heartbeat message and data in order to balance, receives first on heartbeat signal network The heartbeat message that node is sent.

It is emphasized that the description based on above embodiments is it is found that in the embodiment of the present invention, for heartbeat message It is still the switching of network to be carried out, for other normal transmission hearts for the node that CAN channel failure occurs in transmission mechanism The node for jumping message, still can receive its heartbeat message in original network, further increase train net of the present invention as a result, The redundancy effect of network.

That is, when some or it is certain from node in heartbeat signal net drop, being switched to that primary network receives should The heartbeat message of part of nodes, other nodes are still received in heartbeat signal on the net, when its primary net drop, are switched to standby Heartbeat message of the part from node is received with network, still (heartbeat signal net is former on primary network from node data for other Barrier) or heartbeat signal receive on the net, ensure that the complete reception to correlation from node data, ensure that the good fortune of vehicle Row, improves the redundancy effect of train network.

In conclusion the train network data transmission method based on CANopen agreement of the embodiment of the present invention, according to train The real-time condition of network carries out the selection of heartbeat signal net, primary network and backup network, and is monitoring node to relevant operation Personnel are shown accordingly, improve the stability and reusability of train network data transmission method.

In order to more clearly illustrate the train network transmission side data based on CANopen agreement of the embodiment of the present invention Method concentrates on describing from node side below in this way.

Wherein, as follows for the design requirement from node:

After receiving movable host node enabled instruction after powering on from node, into mode of operation, according to itself function and tie Conjunction activity host node synchronous package frequency sends PDO data, it is desirable that sends number simultaneously from node to primary network and backup network According to, but default situations lower from special objects messages such as synchronous package, the timestamps of primary network reception activity host node, only exists When continuous 5 message periods do not receive movable host node special object message on primary network, it can just be switched to backup network It goes to receive, if still continuous 5 message periods do not receive movable host node special object message in backup network, this When respectively enter treatment on special problems mode from node.

Figure 10 is the train network data transmission method based on CANopen agreement of the 7th embodiment according to the present invention Flow chart, as shown in Figure 10, being somebody's turn to do the train network data transmission method based on CANopen agreement includes:

S701, monitored on heartbeat signal network according to preconfigured network node list to from the relevant each section of node The heartbeat message that point is sent by the first channel CAN.

It is appreciated that according to network topological diagram establish with from the corresponding network node list of node, wherein network node arranges Table include: to from the relevant each node identification of node and corresponding heartbeat timer.

In turn, the first channel CAN of reception activity host node transmission network-control instruction starting enters heartbeat message operation mould Formula, and start to from the corresponding heartbeat timer of the relevant each node of node.

Specifically, heartbeat message monitoring mechanism is executed, from node according to topological diagram from node after own operating state A node listing (including movable host node, configurable) associated there is established, i.e., these interdependent nodes Node ID is arranged in the index memory space of the special object in its object dictionary, can be for relative each node all from node One heartbeat timer is set, and from node after entering mode of operation, each heartbeat timer just will do it countdown, from node The heartbeat message received is parsed corresponding node ID, is then matched again with the node ID table in its own object dictionary, then The corresponding heartbeat timer set of node matched, reclocking.

In practical applications, each under default conditions to be monitored on heartbeat signal network from node according to network node list Correlation sends situation from the heartbeat message of node.

S702, according to the reception feelings with the timing situation of heartbeat timer and heartbeat message that are respectively correspondingly arranged from node Condition, judgement respectively from the first channel CAN of node whether failure.

It specifically,, can be just from node within the regular hour if the first CAN tunneling traffic from node is good The related heartbeat message sent from node is often received, otherwise, related the first CAN tunneling traffic failure from node.

Certainly, in some cases, probably due to some other reasons lead to not normally receiving correlation from node from section The heartbeat message that point is sent, for example, network signal is by unexpected interference etc., thus in order to avoid erroneous judgement, it is accurate determine respectively from First channel CAN of node whether failure, the timing situation and the heart of the heartbeat timer that comprehensive consideration is respectively correspondingly arranged from node The reception condition for jumping message, judge it is related respectively from the first channel CAN of node whether failure.

For example, when there is 5 heart beat cycles not monitor the heartbeat message of some node, judge this from node One channel CAN possible breakdown.

S703, if judgement is informed in the heartbeat for receiving second node in preset heart beat cycle on heartbeat signal network Message then parses the working condition that heartbeat message checks the 2nd channel CAN and the 3rd channel CAN of second node.

Wherein, to be any one relevant from node or movable host node to from node for second node.

It is appreciated that in practical application, if judgement is informed in the heart for receiving second node in preset heart beat cycle Message is jumped, then knows that the first channel CAN of second node is normal, thus, it maintains and receives second node on heartbeat signal network Heartbeat message.

In turn, with continued reference to meshed network status protocol as shown in Table 1 it is found that passing through the signal in parsing heartbeat message Value can know the working condition in the corresponding channel CAN.

S704 receives second node hair if inquiry knows that the 2nd channel CAN of second node is normal on primary network The data sent.

S705, if the 2nd CAN channel failure of second node is known in inquiry and the 3rd channel CAN is normal, in spare net The data that second node is sent are received on network.

Specifically, if inquiry know that the 2nd channel CAN of second node is normal, such as parsing the 2nd channel CAN in it is right The pulse rate answered is 0x0, then inquires meshed network status protocol as shown in Table 1, it is known that the 2nd channel CAN of second node is just Often, also, know that corresponding pulse rate is 0x1 in the 3rd CAN channel failure, such as the 3rd channel CAN of parsing, then inquiry such as table Meshed network status protocol shown in 1, it is known that the 3rd CAN channel failure of second node, then in order to normally receive second node The data of transmission receive the data that second node is sent on primary network.

If corresponding heartbeat in the 2nd CAN channel failure of second node, such as the 2nd channel CAN of parsing is known in inquiry Value is 0x1, then inquires meshed network status protocol as shown in Table 1, it is known that the 2nd CAN channel failure of second node, also, Know that the 3rd channel CAN is normal, for example corresponding pulse rate is 0x0 in the 3rd channel CAN of parsing, then inquires as shown in Table 1 Meshed network status protocol, it is known that the 3rd channel CAN of second node is normal, then in order to normally receive second node transmission number According to, be switched in backup network receive second node send data.

As a result, in heartbeat signal transfers on network heartbeat message, according to the work shape in the 2nd channel CAN and the 3rd channel CAN State selects primary network or backup network to transmit data and avoids hereby it is achieved that data and heartbeat message separately transmit Competition during two kinds of information transmission to network line, heartbeat message and data all have sufficient resource transmission data, The stability of train network is maintained, response speed is improved.

In addition, it is necessary to, it is emphasized that in an embodiment of the present invention, in transmission mechanism for data, according to primary net The specific works state of network and backup network receives data to the node handover network to go offline, for other normal transmission data Node, still position original network receive data, increase the redundancy effect of train network.

Certainly, the above-mentioned description to the embodiment of the present invention, defaults primary network and backup network communicates no failure, in reality Border in application, primary network and backup network are likely to occur failure, thus, after entering mode of operation from node itself, also hold Row bus fault verification mechanism.

That is, (passing through error counter reality from the node meeting primary network of real-time monitoring and backup network bus state It is existing), when from the failure of the 2nd channel CAN of node (CAN line voltage is abnormal, erroneous frame excessively leads to busoff etc.), stand It is all from node data to go to backup network processing, while will record primary network from node and being currently at bus communication exception Malfunction, if bus failure equally also occurs in current backup network, communication network enters state of paralysis, all nodes Into vehicle special operation state.

Specifically, if from node transmission error counter or receive error counter be added to default value, Then know primary network failure, is then switched to backup network and is communicated with other nodes.

In conclusion the train network data transmission method based on CANopen agreement of the embodiment of the present invention, according to preparatory The network node list of configuration monitors on heartbeat signal network and passes through the first channel CAN from the relevant each node of node and send Heartbeat message, according to the reception condition with the timing situation of heartbeat timer and heartbeat message that are respectively correspondingly arranged from node, Judgement respectively from the first channel CAN of node whether failure, if judgement is informed in preset heart beat cycle in heartbeat signal network On receive the heartbeat message of second node, then parse heartbeat message and check that the 2nd channel CAN of second node and the 3rd CAN are logical The working condition in road receives second node hair if inquiry knows that the 2nd channel CAN of second node is normal on primary network The data sent, if the 2nd CAN channel failure of second node is known in inquiry and the 3rd channel CAN is normal, on the backup route Receive the data that second node is sent.Heartbeat message and data are transmitted in different routes as a result, improve data biography The response speed of defeated efficiency and train network, and when some or it is certain from node in primary net drop, be switched to spare net Network receives data of the part from node, other are still received on primary network from node data, ensure that correlation from section The complete reception of point data ensure that the good operation of vehicle, improve the redundancy effect of train network.

Based on above embodiments, in order to further increase the train network data transmission method based on CANopen agreement Stability and reusability, from nodes records send data the case where real-time exhibition current train network fault message, in order to Relevant operation personnel repair as early as possible according to fault message.

Figure 11 is the train network data transmission method based on CANopen agreement of the 8th embodiment according to the present invention Flow chart as shown in figure 11, should the train network data transmission method based on CANopen agreement after above-mentioned steps S702 Include:

S801, if judgement, which is informed in preset heart beat cycle, is not received by second node on heartbeat signal network Heartbeat message, then know the first CAN channel failure of second node, and is switched to the heart that primary network monitoring second node is sent Jump message.

Specifically, if it is determined that being informed in preset heart beat cycle, such as in five heart beat cycles, in heartbeat signal It is not received by the heartbeat message of second node on network, then shows the first CAN channel failure of second node, thus, in order to The normal operation in train network is maintained, is switched to and monitors the heartbeat message that second node is sent on primary network.

At this time, it may be necessary to fall by force, the node of heartbeat message normally can be sent on the net in heartbeat signal for other, still The transmission of heartbeat message is so carried out on heartbeat signal network.

S802, if the heartbeat message of second node transmission is received on primary network in preset heart beat cycle, The data that second node is sent then are received on primary network.

Specifically, if in preset heart beat cycle, the heartbeat report of second node transmission is received on primary network Text, although then showing the CAN1 channel failure of second node, the channel CAN2 of second node is normal, at this time in primary network The upper data for receiving second node and sending.

S803 records the current failure message in the first channel CAN of second node.

Specifically, record the current failure message in the first channel CAN of second node, with stop in heartbeat signal net to Second node requests related data, avoids the waste of resource, is convenient for timely handover network, to get second node transmission Related data.

S804 continues to monitor the heartbeat message that second node is sent on heartbeat signal network, if in preset heartbeat week The heartbeat message for receiving second node in phase on heartbeat signal network, then know the first CAN routing restoration of second node Communication is then switched to and receives the heartbeat message that second node is sent on signal heartbeat network.

Specifically, continue to monitor the heartbeat message that second node is sent on heartbeat signal network, if midway failure First CAN routing restoration is normal, i.e., receives the heartbeat of second node on heartbeat signal network in preset heart beat cycle Message then knows the first CAN routing restoration communication of second node, is then switched on signal heartbeat network and receives second node hair The heartbeat message sent.

S805, if not receiving the heartbeat report of second node transmission on primary network in preset heart beat cycle Text is then switched to backup network and monitors the heartbeat message that second node is sent.

Specifically, in one embodiment of the invention, if received on primary network in preset heart beat cycle Less than the heartbeat message that second node is sent, then show that event occurs for the first channel CAN of second node and the 2nd channel CAN Barrier, thus, in order to get the related data of second node, it is switched to backup network and monitors the heartbeat report that second node is sent Text.

S806, if receiving the heartbeat message of second node transmission on the backup route in preset heart beat cycle, The data that second node is sent then are received on the backup route.

Specifically, if receiving the heartbeat report of second node transmission on the backup route in preset heart beat cycle Text then shows that the 3rd channel CAN of second node is normal, thus, the data that second node is sent are received on the backup route.

It should be noted that carrying out cutting for network using handover mechanism same as second node from node for other Change, for can normally in the node that heartbeat signal sends heartbeat message on the net for, be still maintained at heartbeat signal net send the heart Message is jumped, for defining for data can be being sent on primary network, sends data etc. on still early primary network.

S807 records the current failure message in the first channel CAN and the 2nd channel CAN of second node.

Specifically, if second node can only normally send data in the 3rd channel CAN, the first of second node is recorded The current failure message in the channel CAN and the 2nd channel CAN carries out the maintenance of failure in order to relevant operation personnel.

S808 continues to monitor the heartbeat message that second node is sent on heartbeat signal network and primary network, if pre- If heart beat cycle in the heartbeat message of second node is received on heartbeat signal network, then know the first of second node The communication of CAN routing restoration is then switched to and receives the heartbeat message that second node is sent on signal heartbeat network.

Specifically, continue to monitor the heartbeat message that second node is sent on heartbeat signal network and primary network, thus, If the first CAN routing restoration of second node communicates, i.e., received on heartbeat signal network in preset heart beat cycle The heartbeat message of second node is then known the first CAN routing restoration communication of second node, is then switched on signal heartbeat network Receive the heartbeat message that second node is sent.

S809 continues to monitor the heartbeat message that second node is sent on heartbeat signal network and primary network, if pre- If heart beat cycle in the heartbeat message of second node is received on primary network, then know that the 2nd CAN of second node is logical Road restores communication, then is switched to and receives the data that second node is sent on primary network.

Specifically, continue to monitor the heartbeat message that second node is sent on heartbeat signal network and primary network, if obtaining The 2nd CAN routing restoration communication for knowing second node, i.e., receive the second section in preset heart beat cycle on primary network The heartbeat message of point then knows the 2nd CAN routing restoration communication of second node, is then switched on primary network and receives the second section The data that point is sent.

S810 continues to monitor the heartbeat message that second node is sent on heartbeat signal network, if in preset heartbeat week The heartbeat message for receiving second node in phase on heartbeat signal network, then know the first CAN routing restoration of second node Communication is then switched to and receives the heartbeat message that second node is sent on heartbeat signal network.

Certainly, in an embodiment of the present invention, if the 2nd CAN routing restoration of second node communicates, but the first CAN Channel restores to communicate not yet, then continues to monitor the heartbeat message that second node is sent on heartbeat signal network, thus, if The heartbeat message for receiving second node in preset heart beat cycle on heartbeat signal network, then know the first of second node The communication of CAN routing restoration is switched to and receives the heartbeat message that second node is sent on heartbeat signal network.

In another embodiment of the present invention, second node is not all received on heartbeat signal net, primary network After heartbeat message, the heartbeat message of second node may not be received on the backup route yet, at this time, it may be necessary to according to restoring to communicate Network concrete condition, carry out the selection of communication network.

Figure 12 is the train network data transmission method based on CANopen agreement of the 9th embodiment according to the present invention Flow chart as shown in figure 12, should the train network data transmission method based on CANopen agreement after above-mentioned steps S805 Include:

S901, if not receiving the heartbeat report of second node transmission on the backup route in preset heart beat cycle Text then records the first channel CAN of second node, the current failure message in the 2nd channel CAN and the 3rd channel CAN.

Specifically, if in the spare heartbeat report for also not receiving second node transmission on the net in preset heart beat cycle Text then shows that the first channel CAN, the 2nd channel CAN and the 3rd channel CAN of second node are broken down, thus, in order to It is overhauled in time convenient for relevant operation personnel and train network carries out relevant treatment in time, the first CAN for recording second node is logical The current failure message in road, the 2nd channel CAN and the 3rd channel CAN.

S902 continues to monitor the heartbeat report that second node is sent in heartbeat signal network, primary network and backup network Text knows second if receiving the heartbeat message of second node on heartbeat signal network in preset heart beat cycle First CAN routing restoration of node communicates, then the heartbeat message that second node is sent is received on heartbeat signal network.

Specifically, in order to restore the normal operation of train network in time, in heartbeat signal network, primary network and standby The heartbeat message sent with monitoring second node is continued on network, thus, if in heartbeat signal in preset heart beat cycle The heartbeat message of second node is received on network, then knows the first CAN routing restoration communication of second node, then believe in heartbeat The heartbeat message that second node is sent is received on number network.

S903 continues to monitor the heartbeat report that second node is sent in heartbeat signal network, primary network and backup network Text knows second node if receiving the heartbeat message of second node on primary network in preset heart beat cycle The 2nd CAN routing restoration communication, then on primary network receive second node send heartbeat message and data.

Specifically, in one embodiment of the invention, it is possible to restore logical first in the 2nd channel CAN of second node Letter continues to monitor the heartbeat message that second node is sent in heartbeat signal network, primary network and backup network, if default Heart beat cycle in the heartbeat message of second node is received on primary network, then know that the 2nd CAN of second node is logical Road restores communication, then heartbeat message and data that second node is sent are received on primary network.

S904 continues to monitor the heartbeat message that second node is sent on heartbeat signal network, if in preset heartbeat week The heartbeat message for receiving second node in phase on heartbeat signal network, then know the first CAN routing restoration of second node Communication then receives the heartbeat message that second node is sent on heartbeat signal network.

Specifically, even if the 2nd CAN routing restoration of second node communicates, in order to restore the stabilization of train network as early as possible Property, still continue on heartbeat signal network monitor second node send heartbeat message, if in preset heart beat cycle The heartbeat message of second node is received on heartbeat signal network, then knows the first CAN routing restoration communication of second node, then The heartbeat message that second node is sent is received on heartbeat signal network.

S905 continues to monitor the heartbeat report that second node is sent in heartbeat signal network, primary network and backup network Text knows second node if receiving the heartbeat message of second node on the backup route in preset heart beat cycle The communication of 3rd CAN routing restoration then receives the data that second node is sent on the backup route.

Specifically, in one embodiment of the invention, it is possible to restore logical first in the 3rd channel CAN of second node Letter continues to monitor the heartbeat message that second node is sent in heartbeat signal network, primary network and backup network, if pre- If heart beat cycle in receive the heartbeat message of second node on the backup route, then know that the 3rd CAN of second node is logical Road restores communication, then receives the data that second node is sent on the backup route.

S906 continues to monitor the heartbeat message that second node is sent on heartbeat signal network and on primary network, if The heartbeat message for receiving second node in preset heart beat cycle on heartbeat signal network, then know the first of second node The communication of CAN routing restoration then receives the heartbeat message that second node is sent on heartbeat signal network.

Specifically, even if the 3rd CAN routing restoration of second node communicates, in order to restore in the embodiment of the present invention as early as possible The stability of train network continues to monitor the heartbeat message that second node is sent on heartbeat signal network and on primary network, If receiving the heartbeat message of second node on heartbeat signal network in preset heart beat cycle, second node is known The communication of first CAN routing restoration then receives the heartbeat message that second node is sent on heartbeat signal network.

S907 continues to monitor the heartbeat message that second node is sent on heartbeat signal network and on primary network, if The heartbeat message for receiving second node in preset heart beat cycle on primary network, then know the 2nd CAN of second node Routing restoration communication is then switched to and receives the data that second node is sent on primary network.

Specifically, after the 3rd CAN routing restoration communication of second node, if higher 2nd channel CAN of priority Restore communication, is then switched to and receives the data that second node is sent on primary network.

S908 continues to monitor the heartbeat message that second node is sent on heartbeat signal network, if in preset heartbeat week The heartbeat message for receiving second node in phase on heartbeat signal network, then know the first CAN routing restoration of second node Communication then receives the heartbeat message that second node is sent on heartbeat signal network.

Specifically, after the 2nd CAN routing restoration communication of second node, if higher first channel CAN of priority Restore communication, is then switched to and receives the data that second node is sent on heartbeat signal network.

It is emphasized that the train network data based on CANopen agreement for concentrating on movable host node side description pass Transmission method, it is corresponding with the above-mentioned train network data transmission method based on CANopen agreement for concentrating on describing from node side, Realization principle is similar, and unpub details in the present embodiment, details are not described herein.

In order to realize above-described embodiment, the invention also provides a kind of movable host nodes.Figure 13 is according to the present invention first The structural schematic diagram of the movable host node of a embodiment, as shown in figure 13, the activity host node include: the first monitoring module 101, First judgment module 102, the first parsing module 103 and the first receiving module 104.

Wherein, first module 101 is monitored, for supervising on heartbeat signal network according to preconfigured network node list Listen the heartbeat message for respectively passing through the transmission of the first channel CAN from node relevant to movable host node.

Figure 14 is the structural schematic diagram of the movable host node of second embodiment according to the present invention, as shown in figure 14, such as On the basis of shown in Figure 13, the activity host node further include:

First establishes module 105 and first processing module 106.

Wherein, first module 105 is established, for establishing network node corresponding with movable host node according to network topological diagram List, wherein network node list includes: relevant respectively from node identification and corresponding heartbeat timer to movable host node.

First processing module 106 controls the first CAN from node for sending network-control instruction from node to all Channel enters heartbeat message operation mode, and starts relevant respectively from the corresponding heartbeat timer of node to movable host node.

First judgment module 102, for according to the timing situation and the heart with the heartbeat timer being respectively correspondingly arranged from node Jump message reception condition, judgement respectively from the first channel CAN of node whether failure.

First parsing module 103, for being informed in preset first heart beat cycle in judgement in heartbeat signal network When receiving the heartbeat message of first node transmission, parsing heartbeat message checks the 2nd channel CAN and the 3rd CAN of first node The working condition in channel, wherein first node is that any one is relevant to movable host node from node.

First receiving module 104, when the 2nd channel CAN for knowing first node in inquiry is normal, in primary network The upper data for receiving first node and sending.

In one embodiment of the invention, the first receiving module 104 is also used to know the second of first node in inquiry When CAN channel failure and normal the 3rd channel CAN, the data that first node is sent are received on the backup route.

Figure 15 is the structural schematic diagram of the movable host node of third embodiment according to the present invention, as shown in figure 15, such as On the basis of shown in Figure 13, the activity host node further include: second knows module 107, the first switching module 108 and the second switching Module 109.

Wherein, second knows module 107, by movable host node transmission error counter or receive mistake based on When number device is added to default value, primary network failure is known.

First switching module 108 is communicated for being switched to backup network with other nodes.

Second switching module 109, for being switched to standby host node and other phases when detecting movable host node failure The slave node closed carries out data interaction.

In conclusion the movable host node of the embodiment of the present invention, believes according to preconfigured network node list in heartbeat The respectively heartbeat message from node by the transmission of the first channel CAN relevant with movable host node is monitored on number network, according to it is each The timing situation for the heartbeat timer being correspondingly arranged from node and the reception condition of heartbeat message judge respectively from the first of node The channel CAN whether failure, if judgement, which is informed in preset first heart beat cycle, receives first segment on heartbeat signal network The heartbeat message that point is sent, then parse the work shape that heartbeat message checks the 2nd channel CAN and the 3rd channel CAN of first node State receives the data that first node is sent if inquiry knows that the 2nd channel CAN of first node is normal on primary network, If the 2nd CAN channel failure of first node is known in inquiry and the 3rd channel CAN is normal, first segment is received on the backup route The data that point is sent.Heartbeat message and data are transmitted in different routes as a result, improve data transmission efficiency and column The response speed of vehicle network, and when some or it is certain from node in primary net drop, be switched to backup network and receive the portion Point from the data of node, other are still received on primary network from node data, ensure that correlation from the complete of node data Whole reception ensure that the good operation of vehicle, improve the redundancy effect of train network.

Figure 16 is the structural schematic diagram of the movable host node of the 4th embodiment according to the present invention, as shown in figure 16, such as On the basis of shown in Figure 13, the activity host node, further includes: the first sending module 110.

Wherein, the first sending module 110 is not believed in heartbeat for being informed in preset first heart beat cycle in judgement When number network receives the heartbeat message of first node, reset instruction is sent from primary network to first node.

First monitors module 101, is also used to continue on heartbeat signal network to monitor the heartbeat message that first node is sent；

First parsing module 103 is also used to receive on heartbeat signal network in preset second heart beat cycle When the heartbeat message of one node, parsing heartbeat message checks the working condition in the 2nd channel CAN and third channel of first node.

First receiving module 104, be also used to inquiry know first node the 2nd channel CAN it is normal when, in primary net The data that first node is sent are received on network.

First receiving module 104 is also used to know the 2nd CAN channel failure of first node in inquiry and the 3rd CAN is logical When road is normal, the data that first node is sent are received on the backup route.

Figure 17 is the structural schematic diagram of the movable host node of the 5th embodiment according to the present invention, as shown in figure 17, such as On the basis of shown in Figure 16, the activity host node, further includes: first knows module 111.

Wherein, first knows module 111, for not connecing on heartbeat signal network in preset second heart beat cycle When receiving the heartbeat message of first node, the first CAN channel failure of first node is known.

First monitors module 101, is also used to be switched to the heartbeat message that primary network monitoring first node is sent.

First receiving module 104 is also used to receive first segment on primary network in preset first heart beat cycle When the heartbeat message that point is sent, the data that first node is sent are received on primary network.

Figure 18 is the structural schematic diagram of the movable host node of the 6th embodiment according to the present invention, as shown in figure 18, such as On the basis of shown in Figure 17, the activity host node, further includes: third sending module 112.

Wherein, third sending module 112, for being not received by primary network in preset first heart beat cycle When the heartbeat message that first node is sent, reset instruction is sent from primary network to first node.

First monitors module 101, is also used to continue on primary network to monitor the heartbeat message that first node is sent.

First receiving module 104 is also used to receive first segment on primary network in preset second heart beat cycle When the heartbeat message of point, the data that first node is sent are received on primary network.

In one embodiment of the invention, first knows module 112, is also used in preset second heart beat cycle When being not received by the heartbeat message of first node on primary network, the 2nd CAN channel failure of first node is known.

First monitors module 101, is also used to be switched to backup network and monitors the heartbeat message that first node is sent.

First receiving module 104 is also used to receive first segment on the backup route in preset first heart beat cycle When the heartbeat message that point is sent, the data that first node is sent are received on the backup route.

Figure 19 is the structural schematic diagram of the movable host node of the 7th embodiment according to the present invention, as shown in figure 19, such as On the basis of shown in Figure 17, the activity host node, further includes: the 4th sending module 113.

Wherein, the 4th sending module 113, for being not received by the backup route in preset first heart beat cycle When the heartbeat message that first node is sent, reset instruction is sent from backup network to first node.

First monitors module 101, is also used to continue on the backup route to monitor the heartbeat message that first node is sent.

First receiving module 104 is also used to receive first segment on the backup route in preset second heart beat cycle When the heartbeat message of point, the data that first node is sent are received on the backup route.

In conclusion the movable host node of the embodiment of the present invention, in order to avoid the wave of resource caused by unnecessary switching Take, send reset instruction to the channel CAN of failure, with according to the reception condition of heartbeat message after reset, really whether judgement current It breaks down in fact, when only really breaking down, just carries out the switching in the channel CAN, improve column into the stability and reality of network The property used.

Figure 20 is the structural schematic diagram of the movable host node of the 8th embodiment according to the present invention, as shown in figure 20, such as On the basis of shown in Figure 17, the activity host node, further includes: the second sending module 114.

Wherein, the second sending module 114, for receiving first on primary network in preset first heart beat cycle After the heartbeat message that node is sent, the current failure message in the first channel CAN of first node is sent to operation monitoring node, And it is shown to operator, prompt current failure maintenance.

First monitors module 101, the heartbeat message sent for continuing monitoring first node on heartbeat signal network.

First knows module 112, is also used to receive the heartbeat message of first node in preset first heart beat cycle When, know the first CAN routing restoration communication of first node.

First receiving module 104 is also used to be switched to the heartbeat message that first node transmission is received on heartbeat signal network.

Figure 21 is the structural schematic diagram of the movable host node of the 9th embodiment according to the present invention, as shown in figure 21, such as On the basis of shown in Figure 18, the activity host node, further includes: the first cue module 115.

Wherein, the first cue module 115, for receiving first on the backup route in preset first heart beat cycle After the heartbeat message that node is sent, to the first channel CAN and the 2nd channel CAN for running monitoring node transmission first node Current failure message, and it is shown to operator, prompt current failure maintenance.

In one embodiment of the invention, first module 101 is monitored, be also used on heartbeat signal network and primary net Continue to monitor the heartbeat message that first node is sent on network.

First parsing module 103 is also used to receive on heartbeat signal network in preset first heart beat cycle When the heartbeat message of one node, the first CAN routing restoration communication of first node is known.

First parsing module 103 is also used to receive first segment on primary network in preset first heart beat cycle When the heartbeat message of point, the 2nd CAN routing restoration communication of first node is known.

First receiving module 104 is also used to be switched to the heartbeat message sum number that first node transmission is received on primary network According to.

First monitors module 101, is also used to continue on heartbeat signal network to monitor the heartbeat message that first node is sent.

It should be noted that the aforementioned train network number based on CANopen agreement for concentrating on movable host node side description According to transmission method, it is also applied for the movable host node of the embodiment of the present invention, realization principle is similar, and the present invention is to movable host node Description in unpub details, details are not described herein.

In conclusion the movable host node of the embodiment of the present invention carries out heartbeat signal according to the real-time condition of train network The selection of net, primary network and backup network, and shown accordingly in monitoring node to relevant operation personnel, improve column The stability and reusability of vehicle network data transmission method.

In order to realize above-described embodiment, the invention also provides one kind from node, and Figure 22 is first reality according to the present invention Apply the structural schematic diagram of the slave node of example.It as shown in figure 22, should include: the second monitoring module 201, the second judgment module from node 202, the second parsing module 203 and the second receiving module 204.

Wherein, second module 201 is monitored, for supervising on heartbeat signal network according to preconfigured network node list It listens and passes through the heartbeat message that the first channel CAN is sent to from the relevant each node of node.

Second judgment module 202, for according to the timing situation and the heart with the heartbeat timer being respectively correspondingly arranged from node Jump message reception condition, judgement respectively from the first channel CAN of node whether failure.

Second parsing module 203 receives on heartbeat signal network for being informed in preset heart beat cycle in judgement To second node heartbeat message when, parsing heartbeat message check second node the 2nd channel CAN and the 3rd channel CAN work Make state, wherein it is relevant from node or movable host node to from node that second node is any one.

Second receiving module 204, when the 2nd channel CAN for knowing second node in inquiry is normal, in primary network The upper data for receiving second node and sending.

Second receiving module 204 is also used to know the 2nd CAN channel failure of second node in inquiry and the 3rd CAN is logical When road is normal, the data that second node is sent are received on the backup route.

Figure 23 is the structural schematic diagram of the slave node of second embodiment according to the present invention.As shown in figure 23, in such as Figure 22 Shown on the basis of, should further include second establishing module 205 and Second processing module 206 from node.

Wherein, second establish module 205, for according to network topological diagram establish with from node corresponding network node column Table, wherein network node list include: to from the relevant each node identification of node and corresponding heartbeat timer.

Second processing module 206 sends network-control instruction starting the first channel CAN entrance for receiving movable host node Heartbeat message operation mode, and start to from the corresponding heartbeat timer of the relevant each node of node.

Figure 24 is the structural schematic diagram of the slave node of third embodiment according to the present invention.As shown in figure 24, in such as Figure 22 Shown on the basis of, should from node further include third switching module 207.

Wherein, third switching module 207, for from node transmission error counter or receive error counter When being added to default value, primary network failure is known, be switched to backup network and communicated with other nodes.

In conclusion the slave node of the embodiment of the present invention, according to preconfigured network node list in heartbeat signal net Monitored on network with the heartbeat message from the relevant each node of node by the transmission of the first channel CAN, according to it is respectively corresponding from node The timing situation of the heartbeat timer of setting and the reception condition of heartbeat message, judgement respectively from the first channel CAN of node whether Failure, if judgement is informed in the heartbeat message for receiving second node in preset heart beat cycle on heartbeat signal network, Parsing heartbeat message checks the working condition in the 2nd channel CAN and the 3rd channel CAN of second node, if the second section is known in inquiry 2nd channel CAN of point is normal, then the data that second node is sent are received on primary network, if second node is known in inquiry 2nd CAN channel failure and the 3rd channel CAN is normal then receives the data that second node is sent on the backup route.As a result, will Heartbeat message and data are transmitted in different routes, improve the response speed of data transmission efficiency and train network, and When some or it is certain from node in primary net drop, be switched to backup network and receive data of the part from node, other It is still received on primary network from node data, ensure that the complete reception to correlation from node data, ensure that vehicle Good operation, improves the redundancy effect of train network.

Figure 25 is the structural schematic diagram of the slave node of the 4th embodiment according to the present invention.As shown in figure 25, in such as Figure 22 Shown on the basis of, should from node further include the first logging modle 208.

In one embodiment of the invention, described second module 201 is monitored, is also used to be informed in the preset heart in judgement In hop cycle when being not received by the heartbeat message of the second node on the heartbeat signal network, second section is known First CAN channel failure of point is then switched to the heartbeat message of the transmission of second node described in primary network monitoring.

Second receiving module 204 is also used in preset heart beat cycle receive institute on the primary network When stating the heartbeat message of second node transmission, the data that the second node is sent are received on the primary network.

First logging modle 208 is sent for receiving second node on primary network in preset heart beat cycle Heartbeat message after, record the current failure message in the first channel CAN of second node.

Second monitors module 201, is also used to continue on heartbeat signal network to monitor the heartbeat message that second node is sent.

Second receiving module 204 is also used to receive the second section on heartbeat signal network in preset heart beat cycle When the heartbeat message of point, knows the first CAN routing restoration communication of second node, be then switched on signal heartbeat network and receive the The heartbeat message that two nodes are sent.

In one embodiment of the invention, second module 201 is monitored, be also used in preset heart beat cycle primary The heartbeat message that second node transmission is not received on network is switched to backup network and monitors the heartbeat report that second node is sent Text.

Second receiving module 204 is also used to receive second node hair on the backup route in preset heart beat cycle The heartbeat message sent receives the data that second node is sent on the backup route.

Figure 26 is the structural schematic diagram of the slave node of the 5th embodiment according to the present invention.As shown in figure 26, in such as Figure 22 Shown on the basis of, should from node further include the second logging modle 209.

Wherein, the second logging modle 209, for record second node the first channel CAN and the 2nd channel CAN it is current Failure message.

Second monitors module 201, is also used to continue on heartbeat signal network and primary network to monitor second node and sends Heartbeat message.

Second receiving module 204 is also used to receive the second section on heartbeat signal network in preset heart beat cycle When the heartbeat message of point, knows the first CAN routing restoration communication of second node, be switched on signal heartbeat network and receive second The heartbeat message that node is sent.

Figure 27 is the structural schematic diagram of the slave node of the 6th embodiment according to the present invention.As shown in figure 27, in such as Figure 22 Shown on the basis of, should from node further include third logging modle 210.

Wherein, third logging modle 210, for record second node the first channel CAN and the 2nd channel CAN it is current Failure message.

Second receiving module 204 is also used to receive second node on primary network in preset heart beat cycle When heartbeat message, knows the 2nd CAN routing restoration communication of second node, be then switched on primary network and receive second node hair The data sent.

Second receiving module 204 is also used to receive the second section on heartbeat signal network in preset heart beat cycle When the heartbeat message of point, knows the first CAN routing restoration communication of second node, be switched on heartbeat signal network and receive second The heartbeat message that node is sent.

Figure 28 is the structural schematic diagram of the slave node of the 7th embodiment according to the present invention.As shown in figure 28, in such as Figure 22 Shown on the basis of, should from node further include the 4th logging modle 211.

Wherein, the 4th logging modle 211, for not receiving institute in the backup network in preset heart beat cycle When stating the heartbeat message of second node transmission, the first channel CAN, the 2nd channel CAN and the 3rd channel CAN of second node are recorded Current failure message.

In one embodiment of the invention, second module 201 is monitored, be also used in heartbeat signal network, primary network With the heartbeat message for continuing monitoring second node transmission in backup network.

Second receiving module 204 is also used to receive second on heartbeat signal network in preset heart beat cycle When the heartbeat message of node, knows the first CAN routing restoration communication of second node, the second section is received on heartbeat signal network The heartbeat message that point is sent.

Second monitors module 201, is also used to continue monitoring second in heartbeat signal network, primary network and backup network The heartbeat message that node is sent.

Second receiving module 204 is also used to receive second node on primary network in preset heart beat cycle Heartbeat message when, know second node the 2nd CAN routing restoration communication, on primary network receive second node send Heartbeat message and data.

Second receiving module 204 is also used to receive the second section on heartbeat signal network in preset heart beat cycle When the heartbeat message of point, knows the first CAN routing restoration communication of second node, receive second node on heartbeat signal network The heartbeat message of transmission.

Second receiving module 204 is also used to receive second node on the backup route in preset heart beat cycle When heartbeat message, the 3rd CAN routing restoration communication of second node is known, receive the number that second node is sent on the backup route According to.

Second monitors module 201, is also used on heartbeat signal network and continues to monitor second node hair on primary network The heartbeat message sent.

Second receiving module 204 is also used to receive second node on primary network in preset heart beat cycle When heartbeat message, knows the 2nd CAN routing restoration communication of second node, be switched on primary network and receive second node transmission Data.

It should be noted that the aforementioned train network data based on CANopen agreement for concentrating on describing from node side pass Transmission method is also applied for the slave node of the embodiment of the present invention, and realization principle is similar, and the present invention is not to public from the description of node The details of cloth, details are not described herein.

In conclusion the slave node of the embodiment of the present invention, according to the real-time condition of train network, carry out heartbeat signal net, The selection of primary network and backup network, and shown accordingly in monitoring node to relevant operation personnel, improve train The stability and reusability of network data transmission method.

In order to realize above-described embodiment, the invention also provides a kind of, and the train network data based on CANopen agreement are passed Defeated system, Figure 29 are the knots of the train network data transmission system according to an embodiment of the invention based on CANopen agreement Structure schematic diagram, as shown in figure 29, should include based on train network data transmission system of CANopen agreement movable host node 100, From node 200, primary network 300 and backup network 400 and heartbeat signal net 500.

Wherein, each node carries out the interaction of heartbeat message by the first channel CAN and heartbeat signal network 500, by the Two channels CAN and the primary network carry out data interaction, carry out data friendship by the 3rd channel CAN and the backup network Mutually.

Wherein, to movable host node 100 and from the description of node 200, it can refer to above-described embodiment, details are not described herein.

In order to more clearly illustrate the train network data transmission system based on CANopen agreement of the embodiment of the present invention Technical effect, be described below with reference to the comparison with the prior art.

In the related technology, the mistake for using CAN bus to consider as the design of redundant network used in the train of communication network It is few to imitate model comparision, all nodes all send data in primary network and backup network simultaneously, but can only select one of net Network receives data, and regardless of which node has gone offline on primary network, with its, relevant node is uniformly switched in backup network Reception handles the go offline data of node and the data of other associated nodes, therefore occurs when multiple node difference channel failures Part of nodes data can not normally receive, and then influence vehicle operation, and redundancy effect is just had a greatly reduced quality, and not embody redundancy master Order justice.Also, since the communication mechanism of heartbeat message and data is not identical, the two is transmitted in the same network, may be led The competition to transport network resources is caused, the response effect of train network is influenced.

The present invention optimizes software realization strategy in legacy network Redundancy Design framework, according to bus error detection machine While switching between the primary network of formulation justice and backup network, also movable host node is wanted to from node proposition is corresponding respectively Ask, establish a cyberrelationship list in respective object dictionary respectively, so as to corresponding node heartbeat message in bus into Row comparison, and then whether predicate node goes offline, when some or it is certain from node in primary net drop, be switched to backup network The data of the part of nodes are received, other node datas still receive on primary network, and it is extensive to also define a set of communication The system of answering a pager's call (referring to the description of above-described embodiment, details are not described herein).Meanwhile in addition being arranged to unite as one and jumping signal net, in heartbeat Heartbeat message is individually transmitted in signal net, ensure that the abundance of heartbeat message and data transport network resources, improves train net The response speed and response accuracy of network.

In order to more clearly illustrate the train network data transmission system based on CANopen agreement of the embodiment of the present invention Workflow, be exemplified below, in the following example, use heartbeat packet indicate heartbeat message:

Wherein, in this example, set up in network two movable host nodes, one be stir yourself host node, one is Backup activity host node (default do not work), five from node A, B, C, D, E, now definition activity host node receive from node A, B, C heartbeat packet.

It as shown in figure 30,, can if detected in preset heart beat cycle when from the first CAN channel failure of node A To receive the heartbeat packet from node A on primary network, then the heartbeat packet from node A is received on primary network, meanwhile, still It maintains heartbeat signal and receives heartbeat packet from node B and C on the net.

In the present embodiment, host node does not receive the heartbeat from node A in continuous three heart beat cycles of heartbeat signal net Packet, the reset instruction for first passing through network-control are first resetted the node, monitor two heart beat cycles again later, at this time Two heart beat cycles cannot still restore normally from the heartbeat packet of node A, then host node can go to major network and go to monitor from node A Heartbeat packet, and its heartbeat packet is sent on major network.

As shown in figure 31, it does not receive from node B, from node C in continuous five heart beat cycles of heartbeat signal net from node A Heartbeat packet, primary network can be gone to and go to monitor the heartbeat packet from node A, and send its heartbeat packet on major network.

Wherein, it is received if definition activity host node is received from node A, B, C heartbeat packet from node A with continued reference to Figure 31 From node B, C, D heartbeat packet, from Node-B receiver from node A, E heartbeat packet, receive from node C from node A, D heartbeat packet, then from Node A receives the heartbeat packet from node B, C, D on primary network, receives on primary network from section from node B and from node C The heartbeat packet of point A.It is received respectively on the net in heartbeat signal from node E and from the heartbeat packet of node D from node B and from node C.

Continue to define host node and receive from node A, B, C heartbeat packet, receives from node A from node B, C, D heartbeat packet, from Node-B receiver receives for node A, D heartbeat packet from node A, E heartbeat packet from node C, referring to Figure 32, from node A's CAN1 and two path deteriorations of CAN2 can not send heartbeat packet from node A in heartbeat signal net, and can not send heartbeat in major network Packet, at this time can be by the channel CAN3 in spare online transmission heartbeat packet from node A.

In this example, host node does not receive the heartbeat packet from node A in continuous three heart beat cycles of heartbeat signal net, The reset instruction for first passing through network-control is first resetted the node, monitors two heart beat cycles again later, and at this time two A heart beat cycle cannot still restore normally from the heartbeat packet of node A, then host node can go to major network and go to monitor the heart from node A Packet is jumped, same host node is also monitored in major network less than the heartbeat packet from node A, and then goes to the heart of the backup net monitoring from node A Jump packet, wherein host node is still received from node B from heartbeat signal net with from the heartbeat packet of node C, is received from major network from node B and the data from node C.

In this example, if can not receive the heartbeat packet from node A, two go to major network from node simultaneously and go to monitor from section The heartbeat packet of point A is still monitored in major network less than the heartbeat packet from node A, and then goes to heartbeat of the backup net monitoring from node A Packet listens to after the heartbeat packet of node A from node B with from node C and can send on the net its heartbeat packet in backup.From node B according to The heartbeat packet from node E so is received from heartbeat signal net, receives the data from node E from major network, is still believed from node C from heartbeat Number net is received from the heartbeat packet of node D, receives the data (not shown) from node D from major network.

Meanwhile the data sent in spare online reception from node A referring to Figure 33, movable host node, it is connect on the net primary Receive the data sent from node B and C.

In conclusion the train network data based on CANopen agreement of the embodiment of the present invention of the embodiment of the present invention pass Heartbeat message and data are transmitted in different routes, improve the sound of data transmission efficiency and train network by defeated system Answer speed, and when some or it is certain from node in primary net drop, be switched to backup network and receive the part from node Data, other are still received on primary network from node data, ensure that the complete reception to correlation from node data, are guaranteed The good operation of vehicle, improves the redundancy effect of train network.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples It closes and combines.

Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned Embodiment is changed, modifies, replacement and variant.

Claims

1. a kind of train network data transmission method based on CANopen agreement, which is characterized in that the method is applied in activity Host node, comprising the following steps:

Monitored on heartbeat signal network according to preconfigured network node list it is relevant to the movable host node respectively from Node passes through the heartbeat message that the first channel CAN is sent；

According to the reception condition of timing situation and the heartbeat message with the heartbeat timer being respectively correspondingly arranged from node, Judge it is described respectively from the first channel CAN of node whether failure；

If judgement is informed in preset first heart beat cycle receives the first node hair on the heartbeat signal network The heartbeat message sent then parses the work that the heartbeat message checks the 2nd channel CAN and the 3rd channel CAN of the first node Make state, wherein the first node is that any one is relevant from node to the movable host node；

If inquiry knows that the 2nd channel CAN of the first node is normal, the first node hair is received on primary network The data sent；

If the 2nd CAN channel failure of the first node is known in inquiry and the 3rd channel CAN is normal, in backup network The upper data for receiving the first node and sending.

2. the method as described in claim 1, which is characterized in that further include:

If judgement, which is informed in preset first heart beat cycle, does not receive the first node in the heartbeat signal network Heartbeat message, then from the primary network to the first node send reset instruction；

Continue to monitor the heartbeat message that the first node is sent on the heartbeat signal network, if in preset second heartbeat The heartbeat message for receiving the first node in period on the heartbeat signal network, then parse the heartbeat message and check The working condition in the 2nd channel CAN and third channel of the first node；

3. method according to claim 2, which is characterized in that further include:

If the heartbeat of the first node is not received by the heartbeat signal network in preset second heart beat cycle Message, then know the first CAN channel failure of the first node, and is switched to first node described in the primary network monitoring The heartbeat message of transmission；

If the heartbeat report that the first node is sent is received on the primary network in preset first heart beat cycle Text then receives the data that the first node is sent on the primary network.

4. method as claimed in claim 3, which is characterized in that in the primary net in preset first heart beat cycle After the heartbeat message for receiving the first node transmission on network, further includes:

The current failure message in the first channel CAN of the first node is sent to operation monitoring node, and is shown to operator, Prompt current failure maintenance；

Continue to monitor the heartbeat message that the first node is sent on the heartbeat signal network, if in preset first heartbeat The heartbeat message of the first node is received in period, then knows the first CAN routing restoration communication of the first node, then It is switched to and receives the heartbeat message that the first node is sent on the heartbeat signal network.

5. method as claimed in claim 3, which is characterized in that further include:

If the heart that the first node is sent is not received by the primary network in preset first heart beat cycle Message is jumped, then sends reset instruction from the primary network to the first node；

Continue to monitor the heartbeat message that the first node is sent on the primary network, if in preset second heart beat cycle The heartbeat message that the first node is received on the inherent primary network, then receive described first on the primary network The data that node is sent.

6. method as claimed in claim 5, which is characterized in that further include:

If the heartbeat message of the first node is not received by the primary network in preset second heart beat cycle, Then know the 2nd CAN channel failure of the first node, and is switched to the backup network and monitors the first node transmission Heartbeat message；

If the heartbeat report that the first node is sent is received in the backup network in preset first heart beat cycle Text then receives the data that the first node is sent in the backup network.

7. method as claimed in claim 6, which is characterized in that in the spare net in preset first heart beat cycle After the heartbeat message for receiving the first node transmission on network, further includes:

The current failure message in the first channel CAN and the 2nd channel CAN of the first node is sent to operation monitoring node, and It is shown to operator, prompts current failure maintenance.

8. the method for claim 7, which is characterized in that further include:

Continue to monitor the heartbeat message that the first node is sent on the heartbeat signal network and on the primary network, if The heartbeat message for receiving the first node on the heartbeat signal network in preset first heart beat cycle, then know First CAN routing restoration of the first node communicates, then is switched on the heartbeat signal network and receives the first node The heartbeat message of transmission.

9. the method for claim 7, which is characterized in that further include:

Continue to monitor the heartbeat message that the first node is sent on the heartbeat signal network and on the primary network, if The heartbeat message for receiving the first node on the primary network in preset first heart beat cycle is then known described 2nd CAN routing restoration of first node communicates, then is switched to and receives the heart that the first node is sent on the primary network Jump message and data；

Continue to monitor the heartbeat message that the first node is sent on the heartbeat signal network, if in preset first heartbeat The heartbeat message for receiving the first node in period on the heartbeat signal network then knows the of the first node The communication of one CAN routing restoration is then switched to and receives the heartbeat message that the first node is sent on the heartbeat signal network.

10. method according to claim 8, which is characterized in that further include:

If the heart that the first node is sent is not received by the backup network in preset first heart beat cycle Message is jumped, then sends reset instruction from the backup network to the first node；

Continue to monitor the heartbeat message that the first node is sent in the backup network, if in preset second heart beat cycle The heartbeat message that the first node is received in the inherent backup network, then receive described first in the backup network The data that node is sent.

11. method as claimed in claim 10, which is characterized in that further include:

If the heartbeat message of the first node is not received by the backup network in preset second heart beat cycle, Then the current of the first channel CAN of the first node, the 2nd channel CAN and the 3rd channel CAN is sent to operation monitoring node Failure message, and it is shown to operator, prompt current failure maintenance.

12. method as claimed in claim 11, which is characterized in that further include:

Continue to monitor what the first node was sent in the heartbeat signal network, the primary network and the backup network Heartbeat message, if receiving the heartbeat of the first node on the heartbeat signal network in preset first heart beat cycle Message then knows the first CAN routing restoration communication of the first node, then receives described the on the heartbeat signal network The heartbeat message that one node is sent.

13. method as claimed in claim 11, which is characterized in that further include:

Continue to monitor what the first node was sent in the heartbeat signal network, the primary network and the backup network Heartbeat message, if receiving the heartbeat report of the first node on the primary network in preset first heart beat cycle Text then knows the 2nd CAN routing restoration communication of the first node, then receives the first node on the primary network The data of transmission；

Continue to monitor the heartbeat message that the first node is sent on the heartbeat signal network, if in preset first heartbeat The heartbeat message for receiving the first node in period on the heartbeat signal network then knows the of the first node The communication of one CAN routing restoration then receives the heartbeat message that the first node is sent on the heartbeat signal network.

14. method as claimed in claim 11, which is characterized in that further include:

Continue to monitor what the first node was sent in the heartbeat signal network, the primary network and the backup network Heartbeat message, if receiving the heartbeat report of the first node in the backup network in preset first heart beat cycle Text then knows the 3rd CAN routing restoration communication of the first node, then receives the first node in the backup network The data of transmission；

Continue to monitor the heartbeat message that the first node is sent on the heartbeat signal network and on the primary network, if The heartbeat message for receiving the first node on the heartbeat signal network in preset first heart beat cycle, then know First CAN routing restoration of the first node communicates, then receives the first node on the heartbeat signal network and send Heartbeat message.

15. method as claimed in claim 11, which is characterized in that further include:

Continue to monitor the heartbeat message that the first node is sent on the heartbeat signal network and on the primary network, if The heartbeat message for receiving the first node on the primary network in preset first heart beat cycle is then known described 2nd CAN routing restoration of first node communicates, then is switched to and receives the number that the first node is sent on the primary network According to；

16. the method as described in claim 1, which is characterized in that it is described according to preconfigured network node list in the heart Jump monitored on signal network it is relevant with the movable host node respectively from node by the heartbeat message of the first channel CAN transmission it Before, further includes:

Network node list corresponding with the activity host node is established according to network topological diagram, wherein the network node column Table includes: relevant respectively from node identification and corresponding heartbeat timer to the movable host node；

Network-control instruction is sent from node to all, control is described to enter heartbeat message operation from the first channel CAN of node Mode, and start relevant respectively from the corresponding heartbeat timer of node to the movable host node.

17. the method as described in claim 1, which is characterized in that further include:

If the transmission error counter or reception error counter in the activity host node are added to default value, know The primary network failure is switched to the backup network and is communicated with other nodes.

18. the method as described in claim 1-17 is any, which is characterized in that further include:

If detecting the movable host node failure, it is relevant to other from node progress data friendship to be switched to standby host node Mutually.

19. a kind of train network data transmission method based on CANopen agreement, which is characterized in that the method apply from Node, comprising the following steps:

Monitored on heartbeat signal network according to preconfigured network node list to it is described logical from the relevant each node of node Cross the heartbeat message of the first channel CAN transmission；

If judgement is informed in the heartbeat message for receiving second node in preset heart beat cycle on the heartbeat signal network, Then parse the working condition that the heartbeat message checks the 2nd channel CAN and the 3rd channel CAN of the second node, wherein The second node be any one to it is described relevant from node or movable host node from node；

If inquiry knows that the 2nd channel CAN of the second node is normal, the second node hair is received on primary network The data sent；

If the 2nd CAN channel failure of the second node is known in inquiry and the 3rd channel CAN is normal, described spare The data that the second node is sent are received on network.

20. method as claimed in claim 19, which is characterized in that further include:

If judgement is informed in preset heart beat cycle and is not received by the second node on the heartbeat signal network Heartbeat message, then know the first CAN channel failure of the second node, and is switched to second node described in primary network monitoring The heartbeat message of transmission；

If the heartbeat message that the second node is sent is received on the primary network in preset heart beat cycle, The data that the second node is sent are received on the primary network.

21. method as claimed in claim 20, which is characterized in that in the primary network in the preset heart beat cycle On receive the heartbeat message that the second node is sent after, further includes:

Record the current failure message in the first channel CAN of the second node；

Continue to monitor the heartbeat message that the second node is sent on the heartbeat signal network, if in preset heart beat cycle The heartbeat message that the second node is received on the inherent heartbeat signal network, then know the first of the second node The communication of CAN routing restoration is then switched to and receives the heartbeat message that the second node is sent on the signal heartbeat network.

22. method as claimed in claim 20, which is characterized in that further include:

If the heartbeat message that the second node is sent is not received on the primary network in preset heart beat cycle, It is then switched to backup network and monitors the heartbeat message that the second node is sent；

If the heartbeat message that the second node is sent is received in the backup network in preset heart beat cycle, The data that the second node is sent are received in the backup network.

23. method as claimed in claim 20, which is characterized in that in the backup network in the preset heart beat cycle On receive the heartbeat message that the second node is sent after, further includes:

Record the current failure message in the first channel CAN and the 2nd channel CAN of the second node；

Continue to monitor the heartbeat message that the second node is sent on the heartbeat signal network and the primary network, if The heartbeat message for receiving the second node in preset heart beat cycle on the heartbeat signal network then knows described the First CAN routing restoration of two nodes communicates, then is switched to and receives what the second node was sent on the signal heartbeat network Heartbeat message.

24. method as claimed in claim 20, which is characterized in that in the backup network in the preset heart beat cycle On receive the heartbeat message that the second node is sent after, further includes:

Continue to monitor the heartbeat message that the second node is sent on the heartbeat signal network and the primary network, if The heartbeat message for receiving the second node in preset heart beat cycle on the primary network, then know second section The 2nd CAN routing restoration communication of point, then be switched to and receive the data that the second node is sent on the primary network；

Continue to monitor the heartbeat message that the second node is sent on the heartbeat signal network, if in preset heart beat cycle The heartbeat message that the second node is received on the inherent heartbeat signal network, then know the first of the second node The communication of CAN routing restoration is then switched to and receives the heartbeat message that the second node is sent on the heartbeat signal network.

25. method as claimed in claim 20, which is characterized in that further include:

If the heartbeat message that the second node is sent is not received in the backup network in preset heart beat cycle, Then record the first channel CAN of the second node, the current failure message in the 2nd channel CAN and the 3rd channel CAN.

26. method as claimed in claim 25, which is characterized in that further include:

Continue to monitor what the second node was sent in the heartbeat signal network, the primary network and the backup network Heartbeat message, if receiving the heartbeat report of the second node on the heartbeat signal network in preset heart beat cycle Text then knows the first CAN routing restoration communication of the second node, then receives described second on the heartbeat signal network The heartbeat message that node is sent.

27. method as claimed in claim 25, which is characterized in that further include:

Continue to monitor what the second node was sent in the heartbeat signal network, the primary network and the backup network Heartbeat message, if the heartbeat message of the second node is received on the primary network in preset heart beat cycle, The 2nd CAN routing restoration communication for then knowing the second node then receives the second node hair on the primary network The heartbeat message and data sent；

Continue to monitor the heartbeat message that the second node is sent on the heartbeat signal network, if in preset heart beat cycle The heartbeat message that the second node is received on the inherent heartbeat signal network, then know the first of the second node The communication of CAN routing restoration then receives the heartbeat message that the second node is sent on the heartbeat signal network.

28. method as claimed in claim 25, which is characterized in that further include:

Continue to monitor what the second node was sent in the heartbeat signal network, the primary network and the backup network Heartbeat message, if the heartbeat message of the second node is received in the backup network in preset heart beat cycle, The 3rd CAN routing restoration communication for knowing the second node, then receive the second node in the backup network and send Data；

Continue to monitor the heartbeat message that the second node is sent on the heartbeat signal network and on the primary network, if The heartbeat message for receiving the second node on the heartbeat signal network in preset heart beat cycle is then known described First CAN routing restoration of second node communicates, then the heart that the second node is sent is received on the heartbeat signal network Jump message.

29. method as claimed in claim 25, which is characterized in that further include:

Continue to monitor the heartbeat message that the second node is sent on the heartbeat signal network and on the primary network, if The heartbeat message for receiving the second node on the primary network in preset heart beat cycle, then know described second 2nd CAN routing restoration of node communicates, then is switched to and receives the data that the second node is sent on the primary network；

30. method as claimed in claim 19, which is characterized in that it is described according to preconfigured network node list in the heart It jumps and is monitored on signal network with described before the heartbeat message that the relevant each node of node is sent by the first channel CAN, gone back Include:

It is established with described according to network topological diagram from the corresponding network node list of node, wherein the network node list packet It includes: to described from the relevant each node identification of node and corresponding heartbeat timer；

Reception activity host node sends the first channel CAN of network-control instruction starting and enters heartbeat message operation mode, and starts To described from the corresponding heartbeat timer of the relevant each node of node.

31. the method as described in claim 19-30 is any, which is characterized in that further include:

If the transmission error counter or reception error counter from node is added to default value, know described Primary network failure is switched to the backup network and is communicated with other nodes.

32. a kind of activity host node characterized by comprising

First monitors module, for being monitored on heartbeat signal network according to preconfigured network node list and the activity Host node is relevant respectively to pass through the heartbeat message that the first channel CAN is sent from node；

First judgment module, timing situation and the heart for basis with the heartbeat timer being respectively correspondingly arranged from node Jump message reception condition, judge it is described respectively from the first channel CAN of node whether failure；

First parsing module receives on the heartbeat signal network for being informed in preset first heart beat cycle in judgement To the first node send heartbeat message when, parse the 2nd channel CAN that the heartbeat message checks the first node With the working condition in the 3rd channel CAN, wherein the first node is that any one is relevant from section to the movable host node Point；

First receiving module connects on primary network when the 2nd channel CAN for knowing the first node in inquiry is normal Receive the data that the first node is sent；

First receiving module is also used to know the 2nd CAN channel failure of the first node and the third in inquiry When the channel CAN is normal, the data that the first node is sent are received on the backup route.

33. activity host node as claimed in claim 32, which is characterized in that further include:

First sending module does not connect in the heartbeat signal network for being informed in preset first heart beat cycle in judgement When receiving the heartbeat message of the first node, reset instruction is sent from the primary network to the first node；

Described first monitors module, is also used to continue to monitor on the heartbeat signal network heartbeat that the first node is sent Message；

First parsing module is also used to receive institute on the heartbeat signal network in preset second heart beat cycle When stating the heartbeat message of first node, parses the heartbeat message and check that the 2nd channel CAN of the first node and third are logical The working condition in road；

First receiving module, be also used to inquiry know the first node the 2nd channel CAN it is normal when, in primary net The data that the first node is sent are received on network；

34. activity host node as claimed in claim 33, which is characterized in that further include:

First knows module, described for being not received by the heartbeat signal network in preset second heart beat cycle When the heartbeat message of first node, the first CAN channel failure of the first node is known；

Described first monitors module, is also used to be switched to the heartbeat message of the transmission of first node described in the primary network monitoring；

First receiving module is also used in preset first heart beat cycle receive described on the primary network When the heartbeat message that one node is sent, the data that the first node is sent are received on the primary network.

35. activity host node as claimed in claim 34, which is characterized in that further include:

Second sending module, for receiving the first node on the primary network in preset first heart beat cycle After the heartbeat message of transmission, the current failure message in the first channel CAN of the first node is sent to operation monitoring node, And it is shown to operator, prompt current failure maintenance；

Described first monitors module, the heartbeat report sent for continuing to monitor the first node on the heartbeat signal network Text；

Described first knows module, is also used to receive the heartbeat message of the first node in preset first heart beat cycle When, know the first CAN routing restoration communication of the first node；

First receiving module is also used to be switched to the heartbeat that the first node transmission is received on the heartbeat signal network Message.

36. activity host node as claimed in claim 34, which is characterized in that further include:

Third sending module, for being not received by described first on the primary network in preset first heart beat cycle When the heartbeat message that node is sent, reset instruction is sent from the primary network to the first node；

Described first monitors module, is also used to continue to monitor on the primary network heartbeat report that the first node is sent Text；

First receiving module is also used in preset second heart beat cycle receive described on the primary network When the heartbeat message of one node, the data that the first node is sent are received on the primary network.

37. activity host node as claimed in claim 36, which is characterized in that

Described first knows module, is also used to be not received by institute on the primary network in preset second heart beat cycle When stating the heartbeat message of first node, the 2nd CAN channel failure of the first node is known；

Described first monitors module, is also used to be switched to the backup network and monitors the heartbeat message that the first node is sent；

First receiving module is also used to receive described in the backup network in preset first heart beat cycle When the heartbeat message that one node is sent, the data that the first node is sent are received in the backup network.

38. activity host node as claimed in claim 37, which is characterized in that further include:

First cue module, for receiving the first node in the backup network in preset first heart beat cycle After the heartbeat message of transmission, the first channel CAN and the 2nd channel CAN of the first node are sent to operation monitoring node Current failure message, and it is shown to operator, prompt current failure maintenance.

39. activity host node as claimed in claim 38, which is characterized in that

Described first monitors module, be also used on the heartbeat signal network and the primary network on continue to monitor described the The heartbeat message that one node is sent；

First parsing module is also used to receive institute on the heartbeat signal network in preset first heart beat cycle When stating the heartbeat message of first node, the first CAN routing restoration communication of the first node is known；

40. activity host node as claimed in claim 38, which is characterized in that described first monitors module, is also used to described Continue to monitor the heartbeat message that the first node is sent on heartbeat signal network and on the primary network；

First parsing module is also used in preset first heart beat cycle receive described on the primary network When the heartbeat message of one node, the 2nd CAN routing restoration communication of the first node is known；

First receiving module is also used to be switched to the heartbeat message that the first node transmission is received on the primary network And data；

41. activity host node as claimed in claim 39, which is characterized in that further include:

4th sending module, for being not received by described first in the backup network in preset first heart beat cycle When the heartbeat message that node is sent, reset instruction is sent from the backup network to the first node；

Described first monitors module, is also used to continue to monitor in the backup network heartbeat report that the first node is sent Text；

First receiving module is also used to receive described in the backup network in preset second heart beat cycle When the heartbeat message of one node, the data that the first node is sent are received in the backup network.

42. activity host node as claimed in claim 41, which is characterized in that further include:

Second cue module, for being not received by described in the backup network in preset second heart beat cycle When the heartbeat message of one node, to operation monitoring node send the first channel CAN of the first node, the 2nd channel CAN and The current failure message in the 3rd channel CAN, and it is shown to operator, prompt current failure maintenance.

43. activity host node as claimed in claim 42, which is characterized in that

It is described first monitor module, be also used in the heartbeat signal network, the primary network and the backup network after The continuous heartbeat message monitoring the first node and sending；

First receiving module is also used to receive institute on the heartbeat signal network in preset first heart beat cycle When stating the heartbeat message of first node, the first CAN routing restoration communication of the first node is known, then in the heartbeat signal The heartbeat message that the first node is sent is received on network.

44. activity host node as claimed in claim 42, which is characterized in that

First receiving module is also used in preset first heart beat cycle receive described on the primary network When the heartbeat message of one node, knows the 2nd CAN routing restoration communication of the first node, then connect on the primary network Receive the data that the first node is sent；

45. activity host node as claimed in claim 42, which is characterized in that

First receiving module is also used to receive described in the backup network in preset first heart beat cycle When the heartbeat message of one node, knows the 3rd CAN routing restoration communication of the first node, received in the backup network The data that the first node is sent；

46. activity host node as claimed in claim 42, which is characterized in that

First receiving module is also used to receive described in the backup network in preset first heart beat cycle When the heartbeat message of one node, knows the 3rd CAN routing restoration communication of the first node, then connect in the backup network Receive the data that the first node is sent；

First receiving module is also used in preset first heart beat cycle receive described on the primary network When the heartbeat message of one node, knows the 2nd CAN routing restoration communication of the first node, be switched on the primary network Receive the data that the first node is sent；

First receiving module is also used to receive institute on the heartbeat signal network in preset first heart beat cycle When stating the heartbeat message of first node, the first CAN routing restoration communication of the first node is known, in the heartbeat signal net The heartbeat message that the first node is sent is received on network.

47. activity host node as claimed in claim 32, which is characterized in that further include:

First establishes module, for establishing network node list corresponding with the activity host node according to network topological diagram, In, the network node list includes: relevant respectively from node identification and corresponding heartbeat timer to the movable host node；

First processing module, for sending network-control instruction from node to all, control is described from the first channel CAN of node Into heartbeat message operation mode, and start relevant respectively from the corresponding heartbeat timer of node to the movable host node.

48. activity host node as claimed in claim 32, which is characterized in that further include:

Second knows module, and for the transmission error counter in the movable host node or to receive error counter cumulative When to default value, the primary network failure is known；

First switching module is communicated for being switched to the backup network with other nodes.

49. the movable host node as described in claim 32-48 is any, which is characterized in that further include:

Second switching module, for it is related to other to be switched to standby host node when detecting the movable host node failure Slave node carry out data interaction.

50. a kind of from node characterized by comprising

Second monitors module, is used to be monitored on heartbeat signal network according to preconfigured network node list and described from section The relevant each node of point passes through the heartbeat message that the first channel CAN is sent；

Second judgment module, timing situation and the heart for basis with the heartbeat timer being respectively correspondingly arranged from node Jump message reception condition, judge it is described respectively from the first channel CAN of node whether failure；

Second parsing module receives for being informed in preset heart beat cycle in judgement on the heartbeat signal network When the heartbeat message of two nodes, the 2nd channel CAN and the 3rd channel CAN that the heartbeat message checks the second node are parsed Working condition, wherein the second node be any one to it is described relevant from node or movable host node from node；

Second receiving module connects on primary network when the 2nd channel CAN for knowing the second node in inquiry is normal Receive the data that the second node is sent；

Second receiving module is also used to know the 2nd CAN channel failure of the second node and the third in inquiry When the channel CAN is normal, the data that the second node is sent are received in the backup network.

51. as claimed in claim 50 from node, which is characterized in that further include:

Described second monitors module, is also used to be informed in preset heart beat cycle in judgement and does not have on the heartbeat signal network When having the heartbeat message for receiving the second node, knows the first CAN channel failure of the second node, be then switched to master The heartbeat message that the second node described in network monitoring is sent；

Second receiving module is also used in preset heart beat cycle receive second section on the primary network When the heartbeat message that point is sent, the data that the second node is sent are received on the primary network.

52. as claimed in claim 51 from node, which is characterized in that further include:

First logging modle is sent for receiving the second node on the primary network in preset heart beat cycle Heartbeat message after, record the current failure message in the first channel CAN of the second node；

Described second monitors module, is also used to continue to monitor on the heartbeat signal network heartbeat that the second node is sent Message；

Second receiving module is also used in preset heart beat cycle receive described on the heartbeat signal network When the heartbeat message of two nodes, knows the first CAN routing restoration communication of the second node, be then switched to the signal heartbeat The heartbeat message that the second node is sent is received on network.

53. as claimed in claim 51 from node, which is characterized in that

Described second monitors module, is also used in preset heart beat cycle not receive described second on the primary network The heartbeat message that node is sent is switched to backup network and monitors the heartbeat message that the second node is sent；

Second receiving module is also used in preset heart beat cycle receive second section in the backup network The heartbeat message that point is sent receives the data that the second node is sent in the backup network.

54. as claimed in claim 53 from node, which is characterized in that further include:

Second logging modle, the current failure for the first channel CAN and the 2nd channel CAN that record the second node disappear Breath；

Described second monitors module, is also used to continue to monitor described second on the heartbeat signal network and the primary network The heartbeat message that node is sent；

Second receiving module is also used in preset heart beat cycle receive described on the heartbeat signal network When the heartbeat message of two nodes, knows the first CAN routing restoration communication of the second node, be switched to the signal heartbeat net The heartbeat message that the second node is sent is received on network.

55. as claimed in claim 51 from node, which is characterized in that further include:

Third logging modle, the current failure for the first channel CAN and the 2nd channel CAN that record the second node disappear Breath；

Second receiving module is also used in preset heart beat cycle receive second section on the primary network When the heartbeat message of point, knows the 2nd CAN routing restoration communication of the second node, be then switched on the primary network and connect Receive the data that the second node is sent；

Second receiving module is also used in preset heart beat cycle receive described on the heartbeat signal network When the heartbeat message of two nodes, knows the first CAN routing restoration communication of the second node, be switched to the heartbeat signal net The heartbeat message that the second node is sent is received on network.

56. as claimed in claim 51 from node, which is characterized in that further include:

4th logging modle, for not receiving the second node hair in the backup network in preset heart beat cycle When the heartbeat message sent, the current event in the first channel CAN, the 2nd channel CAN and the 3rd channel CAN of the second node is recorded Hinder message.

57. as claimed in claim 51 from node, which is characterized in that

It is described second monitor module, be also used in the heartbeat signal network, the primary network and the backup network after The continuous heartbeat message monitoring the second node and sending；

Second receiving module is also used in preset heart beat cycle receive on the heartbeat signal network described When the heartbeat message of second node, the first CAN routing restoration communication of the second node is known, in the heartbeat signal network The upper heartbeat message for receiving the second node and sending.

58. as claimed in claim 56 from node, which is characterized in that

Second receiving module is also used to receive described second on the primary network in preset heart beat cycle When the heartbeat message of node, knows the 2nd CAN routing restoration communication of the second node, receive institute on the primary network State the heartbeat message and data of second node transmission；

Second receiving module is also used in preset heart beat cycle receive described on the heartbeat signal network When the heartbeat message of two nodes, the first CAN routing restoration communication of the second node is known, on the heartbeat signal network Receive the heartbeat message that the second node is sent.

59. as claimed in claim 56 from node, which is characterized in that

Second receiving module is also used in preset heart beat cycle receive second section in the backup network When the heartbeat message of point, the 3rd CAN routing restoration communication of the second node is known, in the backup network described in reception The data that second node is sent；

Described second monitors module, be also used on the heartbeat signal network and the primary network on continue to monitor described the The heartbeat message that two nodes are sent；

60. as claimed in claim 56 from node, which is characterized in that

Second receiving module is also used in preset heart beat cycle receive second section on the primary network When the heartbeat message of point, knows the 2nd CAN routing restoration communication of the second node, be switched on the primary network and receive The data that the second node is sent；

61. as claimed in claim 50 from node, which is characterized in that further include:

Second establishes module, for being established with described according to network topological diagram from the corresponding network node list of node, wherein institute Stating network node list includes: to described from the relevant each node identification of node and corresponding heartbeat timer；

Second processing module enters heartbeat report for receiving the first channel CAN of movable host node transmission network-control instruction starting Literary operation mode, and start to described from the corresponding heartbeat timer of the relevant each node of node.

62. the slave node as described in claim 50-61 is any, which is characterized in that further include:

Third switching module, it is pre- for being added in the transmission error counter from node or reception error counter If when numerical value, knowing the primary network failure, it is switched to the backup network and is communicated with other nodes.

63. a kind of train network data transmission system based on CANopen agreement characterized by comprising

Heartbeat signal network, primary network, backup network, and

Such as the described in any item movable host nodes of claim 32-49；

As claim 50-62 is described in any item from node；

Wherein, each node carries out the interaction of heartbeat message by the first channel CAN and the heartbeat signal network, passes through second The channel CAN and the primary network carry out data interaction, carry out data interaction by the 3rd channel CAN and the backup network.

64. a kind of computer equipment, which is characterized in that including memory, processor and store on a memory and can handle The computer program run on device, wherein the processor realizes that claim 1-18 such as appoints when executing the computer program Based on the train network data transmission method of CANopen agreement described in one.

65. a kind of computer equipment, which is characterized in that including memory, processor and store on a memory and can handle The computer program run on device, wherein the processor realizes that claim 19-31 such as appoints when executing the computer program Based on the train network data transmission method of CANopen agreement described in one.

66. a kind of storage medium, which is characterized in that for storing application program, the application program is for executing as right is wanted Seek any train network data transmission method based on CANopen agreement of 1-18.

67. a kind of storage medium, which is characterized in that for storing application program, the application program is for executing as right is wanted Seek any train network data transmission method based on CANopen agreement of 19-31.