CN110798476A - CAN bus data processing method and system of fuel cell system - Google Patents
CAN bus data processing method and system of fuel cell system Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/02—Network architectures or network communication protocols for network security for separating internal from external traffic, e.g. firewalls
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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Abstract
The invention discloses a CAN bus data processing method and a system of a fuel cell system, wherein the CAN bus data processing method comprises the following steps: acquiring CAN bus data of the fuel cell system in a preset period; classifying the CAN bus data according to ID; and encapsulating the classified CAN bus data into a data packet. According to the invention, the data on the CAN bus is encapsulated in a big data packet and then transmitted, so that the transmission efficiency is greatly improved; the original data on the CAN bus is collected during network transmission, so that the problem of data safety during data transmission of the fuel cell system is solved.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a CAN bus data processing method and system of a fuel cell system.
Background
With the increasing application of fuel cell vehicles, the range of motion is also increasing, and developers of fuel cell systems and operators of vehicles are expected to grasp the operating state of the systems in real time, obtain key operating parameters in time and provide support for operation and maintenance. The bus of a common automobile is a Controller Area Network (CAN) bus, but the number of devices which CAN monitor the CAN bus and remotely transmit data through a mobile network in the market is small, the remote data transmission of the fuel cell system at present lacks relevant standards, and the devices usually acquire one frame of CAN message and transmit one frame of CAN message, so that the efficiency is extremely low, once the acquired data cannot be transmitted in time, the operating parameters of the fuel cell system are lost, and the condition of key data loss occurs during fault analysis. In the prior art, a CAN communication protocol adopted is the CAN2.0b standard, and the existing CAN format message contains many different functional units. Effective data collected by a fuel cell system is placed in a data field behind an ID (identifier), each ID CAN carry the data length of 8 bytes at most according to the standard specification, because the data length is limited, signals are frequently not enough, all signals in the system CAN be carried by using messages of different IDs, the data transmission quantity of a CAN bus is large, meanwhile, a plurality of functional units which are not concerned by a user exist in the existing CAN messages, the data transmission quantity is further increased, when the data cannot be transmitted in time, the operating parameters of the fuel cell system are lost, and key data loss occurs during fault analysis.
The prior fuel cell remote monitoring system technology, for example, patent (CN 109638318A), relates to a fuel cell remote monitoring system and method, including a monitoring terminal device, configured to obtain data information of different fuel cell systems based on different data acquisition manners, and send the data information to a platform processing device.
Therefore, aiming at the characteristics of the fuel cell system, a set of big data remote transmission protocol is developed, the access of thousands of sets of fuel cell system data is met, and the data of each system is transmitted to the enterprise server efficiently through the terminal encapsulation protocol.
Disclosure of Invention
The invention aims to overcome the defects of large data volume, low remote transmission efficiency and data safety of a CAN bus of a fuel cell system in the prior art, and provides a CAN bus data processing method and a CAN bus data processing system of the fuel cell system.
The invention solves the technical problems through the following technical scheme:
a CAN bus data processing method of a fuel cell system comprises the following steps:
acquiring CAN bus data of the fuel cell system in a preset period;
classifying the CAN bus data according to ID;
and encapsulating the classified CAN bus data into a data packet.
Preferably, the step of classifying the CAN bus data according to ID specifically includes:
and extracting the ID of each frame of message in the CAN bus data and the signal data of the data field corresponding to the ID, and storing the signal data corresponding to the ID in a unified manner.
Preferably, the data packet includes a plurality of sequentially arranged data blocks, and different data blocks correspond to different IDs;
each of the data blocks includes the corresponding ID and the signal data corresponding to the ID.
Preferably, the step of acquiring CAN bus data of the fuel cell system in a preset period specifically includes:
collecting CAN bus data of the fuel cell system in a preset period through a collecting terminal;
acquiring a terminal number of the acquisition terminal corresponding to the fuel cell system and GPS (global positioning system) data of the acquisition terminal;
the data packet further includes the terminal number and the GPS data.
Preferably, the GPS data includes GPS longitude data and GPS latitude data;
the CAN bus data processing method further comprises the following steps:
judging whether the GPS data is in a preset longitude and preset latitude numerical range, if not, discarding the GPS data, and if so, keeping the GPS data; and/or the presence of a gas in the gas,
the CAN bus data processing method further comprises the following steps:
and storing the data packet in the acquisition terminal according to a first-in first-out rule.
Preferably, the step of extracting the ID of each frame of packet in the CAN bus data and the signal data of the data field corresponding to the ID specifically includes:
comparing the ID of the extracted message with a preset ID needing filtering, and if the ID is the same as the preset ID needing filtering, discarding the ID and the signal data corresponding to the ID;
if the ID is different from the preset ID to be filtered, reserving the ID and the signal data corresponding to the ID;
and classifying the reserved CAN bus data according to the ID.
Preferably, the data blocks in the data packet are arranged according to the sequence of the receiving time of the message to which the corresponding ID belongs; and/or the presence of a gas in the gas,
each data block further comprises a start delimiter, a data length, a check code and an end delimiter;
the start delimiter is used for identifying the start position of the data block;
the data length is used for representing the total byte number of the signal data in the data block;
the check code is used for verifying the correctness of the signal data in the data block;
the end delimiter is used to identify an end position of the data block.
Preferably, the CAN bus data processing method further includes:
and transmitting the data packet to an external server in a wireless communication mode.
A CAN bus data processing system of a fuel cell system, comprising:
the acquisition module is used for acquiring CAN bus data of the fuel cell system in a preset period;
the classification module is used for classifying the CAN bus data according to ID;
and the packaging module is used for packaging the classified CAN bus data into a data packet.
Preferably, the classification module comprises an extraction unit;
the extraction unit is used for extracting the ID of each frame of message in the CAN bus data and the signal data of the data field corresponding to the ID, and storing the signal data corresponding to the ID in a unified way.
Preferably, the data packet includes a plurality of sequentially arranged data blocks, and different data blocks correspond to different IDs;
each of the data blocks includes the corresponding ID and the signal data corresponding to the ID.
Preferably, the acquisition module is used for acquiring the CAN bus data of the fuel cell system in a preset period through an acquisition terminal;
the acquisition module is further used for acquiring the terminal number of the acquisition terminal corresponding to the fuel cell system and the GPS data of the acquisition terminal.
The data packet further includes the terminal number and the GPS data.
Preferably, the GPS data includes GPS longitude data and GPS latitude data;
the CAN bus data processing system also comprises a GPS judgment module;
the GPS judgment module is used for judging whether the GPS data is in a preset longitude and preset latitude numerical range, if not, discarding the GPS data, and if so, keeping the GPS data; and/or the presence of a gas in the gas,
the CAN bus data processing system also comprises a storage module;
the storage module is used for storing the data packet in the acquisition terminal according to a first-in first-out rule.
Preferably, the extracting unit includes an ID comparing unit;
the ID comparing unit is used for comparing the ID of the extracted message with a preset ID needing filtering, and if the ID is the same as the preset ID needing filtering, discarding the ID and the signal data corresponding to the ID;
if the ID is different from the preset ID to be filtered, reserving the ID and the signal data corresponding to the ID;
and classifying the reserved CAN bus data according to the ID.
Preferably, the data blocks in the data packet are arranged according to the sequence of the receiving time of the message to which the corresponding ID belongs; and/or the presence of a gas in the gas,
each data block further comprises a start delimiter, a data length, a check code and an end delimiter;
the start delimiter is used for identifying the start position of the data block;
the data length is used for representing the total byte number of the signal data in the data block;
the check code is used for verifying the correctness of the signal data in the data block;
the end delimiter is used to identify an end position of the data block.
Preferably, the CAN bus data processing system further comprises a sending module;
the sending module is used for transmitting the data packet to an external server in a wireless communication mode.
The positive progress effects of the invention are as follows: the problems of large data volume and low remote transmission efficiency of the CAN bus of the fuel cell system are solved by encapsulating the data on the CAN bus in a large data packet and then transmitting the data; the data sampling amount is limited by setting a data acquisition period by a user so as to determine the size of the encapsulated data packet; the problem that the same ID is put into a data packet for multiple times is solved by storing the collected CAN bus data in a classified manner according to different IDs; signal data on the preset ID blacklist is discarded through the preset ID blacklist, and when the data volume on the CAN bus is too large, unnecessary IDs and data thereof CAN be filtered when the data of some IDs are not important; the problem of data safety during data transmission of a fuel cell system is solved by acquiring original data on a CAN bus; the packaged data packet contains the serial number of the terminal and the GPS positioning data, so that a receiving end of the server can conveniently distinguish which set of fuel cell system sends back data and the real-time position of the fuel cell system.
Drawings
Fig. 1 is a flowchart of a CAN bus data processing method of a fuel cell system according to embodiment 1 of the present invention.
Fig. 2 is a schematic diagram of a data packet encapsulated by the CAN bus data processing method of the fuel cell system according to embodiment 2 of the present invention.
Fig. 3a is a schematic diagram of a data structure in which the first ID collects data received by the terminal within a period of 1 second and stores the data according to ID classification in embodiment 2 of the present invention.
Fig. 3b is a diagram of a complete data block of the first ID in embodiment 2 of the present invention.
Fig. 4a is a schematic diagram of a data structure of a second ID of embodiment 2 of the present invention, in which data received by a terminal is collected within a period of 1 second and is classified and stored according to the ID.
Fig. 4b is a diagram of a complete data block of the second ID in embodiment 2 of the present invention.
Fig. 5 is a schematic diagram of a data packet structure after 5 ID data are encapsulated in embodiment 2 of the present invention.
Fig. 6 is a block diagram of a CAN bus data processing system of a fuel cell system according to embodiment 3 of the present invention.
Fig. 7 is a hardware configuration diagram for remote transmission of data packets of a CAN bus data processing system of a fuel cell system according to embodiment 3 of the present invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the method for processing CAN bus data of a fuel cell system provided in this embodiment includes the following steps:
s1, acquiring CAN bus data of the fuel cell system in a preset period;
s2, classifying the CAN bus data according to ID;
s3, encapsulating the classified CAN bus data into a data packet;
and S4, transmitting the packaged data packet to a server through a mobile data network.
In this embodiment, during a set period (which may be set by a user, for example, 1 second), CAN bus data on the fuel cell system is collected in real time during the period, the CAN bus data is a message adopting a communication protocol CAN2.0B standard, the message has a plurality of different functional units, the data field corresponding to each identifier ID has the data length of 8 bytes, the acquired signal data on the fuel cell system, such as pressure, temperature, flow, concentration, voltage, current, power and other signal data, are placed in the 8-byte data field, because the holding quantity of the 8-byte data field is limited, the fuel cell system collects more signals, the fuel cell system uses messages with different IDs to store the collected signal data, and the message is transmitted frame by frame, the number of the IDs used by the fuel cell system is fixed, and the same ID can be repeatedly used. Collecting CAN bus data of a fuel cell system for 1 second, and classifying the CAN bus data according to ID; packaging the classified CAN bus data into a data packet; and transmitting the encapsulated data packet to a server through a mobile data network.
In the method for processing the CAN bus data of the fuel cell system provided by the embodiment of the invention, a remote data transmission protocol of the CAN bus of the fuel cell system is designed, all data on the CAN bus are packaged in a big data packet according to the protocol and then transmitted, and the transmission efficiency is greatly improved; because CAN raw data is transmitted on the network, the data safety problem does not need to be worried about.
Example 2
The CAN bus data processing method of the fuel cell system of the present embodiment further includes the steps of:
and extracting the ID of each frame of message in the CAN bus data and the signal data of the data field corresponding to the ID, and storing the signal data corresponding to the ID in a unified manner.
In the CAN bus data processing method of the fuel cell system of the present embodiment, the data packet includes a plurality of sequentially arranged data blocks, and different data blocks correspond to different IDs;
each of the data blocks includes the corresponding ID and the signal data corresponding to the ID.
Specifically, for each frame of message in the collected CAN original data of the fuel cell system, the identifier ID and the signal value of the corresponding data field behind are extracted, and other information in the message is discarded, so that the refining degree of the data is greatly improved. The signal data of the data fields with the same identifier ID are uniformly and continuously stored, the signal data and the identifier ID are combined into a data block, the data blocks with different identifier IDs are sequentially arranged and encapsulated into a data packet, a plurality of CAN messages received within 1 second are successfully encapsulated into a data packet, the data packet only contains required signal data, and other irrelevant information in a standard CAN message is not available, so that the capacity of the data packet is greatly reduced, and the efficiency of remotely transmitting the data packet is greatly improved.
The user can set the acquisition period by himself to calibrate the size of the encapsulated data packet. The collected CAN bus data is stored according to different IDs in a classified mode, and the problem that the same ID is placed in a data packet for multiple times CAN be solved.
The step of acquiring the CAN bus data of the fuel cell system in the preset period further comprises the following steps:
collecting CAN bus data of the fuel cell system in a preset period through a collecting terminal;
acquiring a terminal number of the acquisition terminal corresponding to the fuel cell system and GPS data of the acquisition terminal;
the data packet further includes the terminal number and the GPS data.
Specifically, a hardware system is firstly established: the CAN bus data acquisition terminal is connected with the vehicle-mounted fuel cell system; after the hardware system is prepared, the user configures the serial number of the CAN bus acquisition terminal, which corresponds to the serial number of the fuel cell system. For a plurality of fuel cell systems, each fuel cell system corresponds to one acquisition terminal, and the terminal numbers of the acquisition terminals are packaged into data packets, so that a server can distinguish different fuel cell systems conveniently. Each acquisition terminal is provided with a GPS module, and the GPS module is arranged in the acquisition terminal and used for positioning the position of the fuel cell system corresponding to the acquisition terminal on a map. The packaged data packet contains the serial number of the terminal and GPS positioning data, and the receiving end of the server is convenient to distinguish which set of fuel cell system sends back data and the real-time position of the fuel cell system.
In a CAN bus data processing method of a fuel cell system of the present embodiment, the GPS data includes GPS longitude data and GPS latitude data;
the CAN bus data processing method further comprises the following steps:
judging whether the GPS data is in a preset longitude and preset latitude numerical range, if not, discarding the GPS data, and if so, keeping the GPS data;
specifically, if a GPS processing mechanism is configured, if the terminal is configured to work in the eastern hemisphere and the northern hemisphere, the terminal only collects data of east longitude and north latitude according to a rule, other positioning data judges that the GPS data is invalid data, and the current position of the automobile can be displayed on a map after the longitude and latitude are received. Through configuration GPS, only effective to the data in the certain limit, only receive the positioning data in the certain limit, reduced data length, contain the serial number and the GPS positioning data of terminal in the data packet of encapsulation, make the convenient difference of server receiving terminal be which set of fuel cell system send back data and the real-time position at fuel cell system place.
And storing the data packet in the acquisition terminal according to a first-in first-out rule.
In the CAN bus data processing method of the fuel cell system provided in this embodiment, the step of extracting the ID of each frame of the message in the CAN bus data further includes:
comparing the ID of the extracted message with a preset ID needing filtering, and if the ID is the same as the preset ID needing filtering, discarding the ID and the signal data corresponding to the ID;
if the ID is different from the preset ID to be filtered, reserving the ID and the signal data corresponding to the ID;
and classifying the reserved CAN bus data according to the ID.
Specifically, the user may configure the ID to be filtered, if the ID and the data thereof are set, the ID and the data thereof are ignored, like a blacklist, the ID and the data thereof are discarded, a plurality of IDs may be preset, and the ID and the data thereof on the filter list are discarded directly. Specifically, an unnecessary ID is preset, the extracted ID of the packet is compared with a preset ID, and if the extracted ID is the same as the preset ID, the ID and the signal data corresponding to the ID are discarded; if the ID is not the same as the preset ID, reserving the ID and the signal data corresponding to the ID; and classifying the reserved CAN bus data according to the ID and packaging the data into a data packet. When the data amount on the CAN bus is too large and the data of some IDs are not important, the data amount of the CAN bus of the fuel cell system CAN be further reduced by setting and filtering the unneeded IDs and the data thereof, so that the transmission efficiency is improved.
The CAN bus data processing method of the fuel cell system of the present embodiment further includes:
the data blocks in the data packet are arranged according to the receiving time sequence of the message to which the corresponding ID belongs;
because CAN raw data on the fuel cell system is transmitted frame by frame, the sequence of receiving IDs is also in chronological order, the sequence of the IDs in the data packet is ordered according to the ID received first in a set period, each ID is followed by all data received in the set period, and the next ID is the same until all IDs and the data thereof are arranged.
The arrangement order of IDs in the packet according to the present invention is not limited to the embodiment.
In the CAN bus data processing method of the fuel cell system of the present embodiment, the data block composed of the identifier ID and the corresponding signal data further includes a start delimiter, a data length, a check code, and an end delimiter;
the start delimiter is used for identifying the start position of the data block;
the data length is used for representing the total byte number of the signal data in the data block;
the check code is used for verifying the correctness of the signal data in the data block;
the end delimiter is used to identify an end position of the data block.
Specifically, a start delimiter of a data block with a complete ID, which occupies 1 byte, is indicated by 68, and is added at the head of each ID data block; the data length of a data block with complete ID occupies 2 bytes, which is the total number of data bytes received in the set period;
the ID of a data block with complete ID occupies 4 bytes and is compatible with a standard frame and an extended frame;
the data of a data block with complete ID occupies byte number and all the ID data received in the set period are sequentially put into the data block according to the receiving sequence;
checking a data block with complete ID, wherein 1 byte is occupied, and accumulated checking of data received by the ID in the period is realized for the purpose; the data received by the ID in the period are all added according to bytes, the high-order byte is discarded, and only the lowest 8 bits are left as the accumulated sum, namely the check value;
an end delimiter, which occupies 1 byte for a complete ID data block, is added at the end of each ID data block, indicated at 16.
And continuously adding the subsequent data block with complete ID according to the rule till the data blocks with all ID are completely added, filtering out the ID and the data thereof which are not needed, and packaging into a large data packet for transmission.
Fig. 2 is a schematic diagram of a packet encapsulated by the CAN bus data processing method of the fuel cell system according to embodiment 2 of the present invention. This is a sample when the set period is 1 second, and data is arranged from left to right and encapsulated into one big data packet: in particular, the method comprises the following steps of,
the first two bytes of the packet are the start identifier of the packet data, occupy 2 bytes, denoted F1F1, and are added only at the beginning of the packet data;
the number of the terminal is behind the initial identifier of the data packet, occupies 2 bytes, and can be set by a user on the upper computer so as to distinguish that a plurality of terminals are used simultaneously and carry out data classification when data are sent to the server simultaneously;
the data packet GPS longitude occupies 4 bytes, only sends valid positioning longitude data which is east longitude data, and uniformly sends 00000000 for replacement when the positioning is invalid positioning or is west longitude;
the GPS latitude of the data packet occupies 4 bytes, only sends latitude data which is effective positioning and is north latitude, and uniformly sends 00000000 for replacement when the positioning is ineffective positioning or south latitude;
the terminal number and the longitude and latitude in the data packet are added once in the first of the data packet in the 1 second period;
the data packet terminal number, the longitude and the latitude are a plurality of data blocks with complete ID, and one data block with complete ID is composed of a starting separator, a data length, an ID, all data acquired in a set period, and a check and end separator. Different ID data blocks are arranged one section after the previous data block;
a start delimiter of one ID-complete data block, occupying 1 byte, indicated at 68, added at the very front of each ID data block;
the data length of a data block with complete ID occupies 2 bytes, which is the total number of data bytes received in the set period;
the ID of a data block with complete ID occupies 4 bytes and is compatible with a standard frame and an extended frame;
the data of a data block with complete ID occupies byte number and all the ID data received in the set period are sequentially put into the data block according to the receiving sequence, and as shown in the figure, the data of all the ID data received in the period of 1 second are received;
checking a data block with complete ID, wherein 1 byte is occupied, and accumulated checking of data received by the ID in the period is realized for the purpose;
an end separator of a data block with complete ID, which occupies 1 byte and is denoted by 16, is added at the last end of each ID data block;
and continuously adding the subsequent data block with complete ID according to the rules until all the data blocks with the ID are added, filtering out the ID and the data thereof which are not needed, and packaging into a large data packet for transmission.
The number of the terminal in this embodiment is 3113 (2 bytes are occupied, and the 16 th system is 0C 29), the positioning data of the terminal is 120 degrees east longitude (4 bytes are occupied, and the 16 th system is 000E 2707), and 30 degrees north latitude (4 bytes are occupied, and the 16 th system is 80C 3C 901). In this embodiment, there are 5 IDs on the CAN bus for data transmission (data far from 5 IDs in actual vehicle-mounted state), IDs that need to be filtered are not set, the identifier of the 1 st ID is 1 ff 0001, the transmission cycle is 50ms, the identifier of the 2 nd ID is 1f ff 0002, the transmission cycle is 100ms, the identifier of the 3 rd ID is 0201, the transmission cycle is 200ms, the identifier of the 4 th ID is 1f ff 0003, the transmission cycle is 400ms, the identifier of the 5 th ID is 0202, and the transmission cycle is 800 ms. The uploading period of the terminal is set to be 1 second, namely the terminal collects data on the CAN bus in the period of 1 second and extracts data of an identifier ID and a data field in each frame of data, the data are classified according to the ID, and the classified data with the same ID are continuously stored, specifically as follows:
as shown in fig. 3a, in this embodiment, a schematic diagram of a data structure of data received by an acquisition terminal in a period of 1 second by a first ID and data stored in a classified manner according to IDs is shown, a left side portion of fig. 3a is data received by the acquisition terminal in a period of 1 second by the first ID, a transmission period is 50ms, the acquisition terminal receives the data 20 times in total, the data received by the acquisition terminal each time includes the same ID and different data, a data portion 1f ff 0001 is the first ID, and the different data are arranged according to a time sequence received by the acquisition terminal. The right part of fig. 3a is a schematic diagram of the data structure after storage according to ID classification, which includes ID31 and data 32, the data after storage according to ID classification includes only one ID31, and the data 32 is obtained by arranging the data in the left part of fig. 3a in series. The data 32 is calculated to have a length (number of bytes of data segment) of 160 bytes of data, represented as 00a0 in 16 th system, the check code is calculated by adding all the data of the data 32, and the sum value is retained to have a minimum of 1 byte of 9d, so that the first ID forms a complete data block, as shown in fig. 3b, the complete data block diagram of the first ID in this embodiment includes the ID data block start delimiter 33, the data length 34, the ID31, all the ID data 32 received within 1 second, the check code 35, and the ID data block end delimiter 36. In this embodiment, ID data block start delimiter 33 is indicated at 68 and ID data block end delimiter 36 is indicated at 16.
As shown in fig. 4a, in this embodiment, a schematic diagram of a data structure of data received by the acquisition terminal by the second ID in a period of 1 second and data classified and stored according to IDs is shown, a left side portion of fig. 4a is data received by the acquisition terminal by the second ID in a period of 1 second, a transmission period is 100ms, the acquisition terminal receives the data 10 times in total, the data received by the acquisition terminal each time includes the same ID and different data, a data portion 1f 000ff 2 is the second ID, and the different data are arranged according to a time sequence received by the acquisition terminal. The right part of fig. 4a is a schematic diagram of the data structure after storage according to ID classification, which includes ID41 and data 42, the data after storage according to ID classification includes only one ID41, and the data 42 is obtained by arranging the data in the left part of fig. 4a in series. The data 42 is calculated to be of length (number of bytes of data segment), there are 80 bytes of data, denoted by 16-system as 0050, the check code is calculated by adding all the data of the data 42, and the sum value is kept to be f4 with the lowest 1 byte, so that the second ID forms a complete data block, as shown in fig. 4b, the complete data block diagram of the second ID in this embodiment includes the ID data block start delimiter 43, the data length 44, the ID41, all the ID data 42 received within 1 second, the check code 45 and the ID data block end delimiter 46. In this embodiment, ID data block start delimiter 43 is indicated at 68 and ID data block end delimiter 46 is indicated at 16.
The third ID sending period in this embodiment is 200ms, the collecting terminal receives 5 times, the data received by the collecting terminal in the period of 1 second is as follows,
the data received by the acquisition terminal each time comprise the same ID and different data, the data part 0201 is a third ID, and the different data are arranged according to the time sequence received by the acquisition terminal. Data sorted after ID classification storage are 00000201 d14c 0000 e 44 c fc4c d 64 c 0000 e 94 c 014 d db 4c 0000 ee 4c 064d e 04 c 0000 f 34 c 0b 4d e54c 0000 f 84 c 104 d
Wherein 00000201 is ID, the rest is data, and the length (number of bytes of data segment) of the data is calculated, the total number of data is 40 bytes, the 16 th system is 0028, the data is added to calculate the check code, the sum value is reserved with the lowest 1 byte as ae, then the third ID forms a complete data block, and then the complete data block of the third ID is as follows:
68 00 28 00 00 02 01 d1 4c 00 00 e4 4c fc 4c d6 4c 00 00 e9 4c 01 4ddb 4c 00 00 ee 4c 06 4d e0 4c 00 00 f3 4c 0b 4d e5 4c 00 00 f8 4c 10 4d ae 16
the third ID-formed complete data block includes an ID data block start delimiter, denoted by 68, a data length denoted by 0028, and an ID denoted by 00000201, all this ID data received within 1 second being d14c 0000 e 44 c fc4c d 64 c 0000 e 94 c 014 d db 4c 0000 ee 4c 064d e 04 c 0000 f 34 c 0b 4d e54c 0000 f 84 c 104 d, a check code ae, and an ID data block end delimiter 16.
The fourth ID sending period in this embodiment is 400ms, and the collecting terminal can receive data 3 times at most in a period of 1 second, and the collecting terminal receives data 3 times in a period of 1 second in this embodiment, as follows,
the data are sorted as follows when sorted by ID,
wherein 1f ff 0003 is ID, b 45 e 00 f 55 e 00 d 55 e bd 5e 00 fe 5e 00 de 5ec 65 e 00075 f00 e 75 e is data, the length (the number of bytes of a data segment) of the data is calculated, 24 bytes of data are total, 16-ary representation is 0018, all data are added to calculate a check code, and the minimum 1 byte of the sum is reserved as 53, then the fourth ID of the embodiment forms a complete data block as follows:
68 00 18 1f ff 00 03 b4 5e 00 f5 5e 00 d5 5e bd 5e 00 fe 5e 00 de 5ec6 5e 00 07 5f 00 e7 5e 53 16
the fourth ID forming the complete data block includes an ID data block start delimiter, indicated at 68, a data length indicated at 0018, an ID indicated at 1 ff 0003, all this ID data received within 1 second being b 45 e 00 f 55 e 00 d 55 ebd 5e 00 fe 5e 00 de 5e c 65 e 00075 f00 e 75 e, a check code of 53 and an ID data block end delimiter of 16.
The fifth ID sending period in this embodiment is 800ms, and the acquiring terminal can receive 2 times of data at most in a 1 second period, and it is assumed that the acquiring terminal receives 1 time of data in a 1 second period in this embodiment, as follows,
ID data
00 00 02 02 be 3a eb 3a 00 00 cb 3a
The data are sorted as follows when sorted by ID,
00 00 02 02 be 3a eb 3a 00 00 cb 3a
wherein 00000202 is ID, be 3a eb 3a 0000 cb3a is data, the length (number of bytes of data segment) of the data is calculated, there are 8 bytes of data, 16 is 0008, all the data are added to calculate the check code, and the sum value is reserved for at least 1 byte as 2e, then the fifth ID of this embodiment forms a complete data block as follows:
68 00 08 00 00 02 02 be 3a eb 3a 00 00 cb 3a 2e 16
the fifth ID forms a complete data block comprising an ID data block start delimiter, denoted 68, data length 0008, ID 00000202, all this ID data received within 1 second being be 3a eb 3a 0000 cb3a, a check code 2e and an ID data block end delimiter 16.
In this embodiment, the order of arrival of different IDs in a 1-second acquisition period is that the second ID, the first ID, the third ID, the fourth ID, and the fifth ID, in addition to the terminal number and the GPS data collected before, encapsulate the classified CAN bus data into a big data packet, as shown in fig. 5, a schematic diagram of a data packet structure after encapsulation of 5 ID data in this embodiment includes a terminal number 51, a module number 52, GPS longitude data 53, GPS latitude data 54, a second ID data block 55, a first ID data block 56, a third ID data block 57, a fourth ID data block 58, and a fifth ID data block 59. The terminal number 51 is f1f1, the module number 52 is 0C 29, the GPS longitude data 53 is 000E 2707, the GPS latitude data 54 is 80C 3C 901, the first ID data block 56 is fig. 3b, the second ID data block 55 is fig. 4b, the third ID data block 57 is 68002800000201 d14C 0000E 44C fc4C d C0000E 94C d db 4C 0000 ee 4C 064C d E04C 0000 f 34C b 4d E54C 0000 f 84C d ae 16, the fourth ID data block 58 is 6800181 f 0003 b 45E f 3600 f E d 55 bd 84 bd 5E 00 de 5E C65 00075 f 00E 75E 5316, and the fifth ID data block 58 is 68000800000202 be 3a 0000 eb 3a 2C 3a 2E.
Transmitting the encapsulated data packet to an enterprise server every second by utilizing a mobile data network through a TCP (transmission control protocol) C/S (client/server) mode, if the data cannot be sent out due to poor signals, caching the data in a memory of the terminal according to the size of the capacity of the terminal according to a first-in first-out rule, keeping the data continuously updated, and continuously sending the data when the signals are good; the enterprise server receives the data and analyzes the data into signals of the fuel cell system, and the signals are inquired and analyzed by a remote monitoring computer/mobile phone through a wired or mobile network.
Example 3
As shown in fig. 6, the present embodiment provides a CAN bus data processing system of a fuel cell system, including:
the system comprises an acquisition module 1, a storage module and a control module, wherein the acquisition module 1 is used for acquiring CAN bus data of a fuel cell system in a preset period;
the classification module 2 is used for classifying the CAN bus data according to ID;
the packaging module 3 is used for packaging the classified CAN bus data into a data packet;
the GPS judgment module 4 is used for judging whether the GPS data is in a preset longitude and latitude numerical range or not;
the storage module 5 is used for storing the data packet in the acquisition terminal according to a first-in first-out rule;
and the sending module 6 is used for transmitting the data packet to an external server in a wireless communication mode.
In this embodiment, in a set period (this period may be set by a user, for example, 1 second), the obtaining module 1 obtains, in real time, CAN bus raw data on the fuel cell system in the period, where the CAN raw data is a message adopting the can2.0b standard, and a specific message format refers to fig. 1, where the standard message has many different functional units, a data field corresponding to each identifier ID is 8 bytes in data length, signal data on the fuel cell system, such as pressure, temperature, flow rate, concentration, voltage, current, power, and the like, collected is placed in the 8 bytes data field, since the number of the 8 bytes data field is limited, signals collected by the fuel cell system is many, the fuel cell system uses messages with different IDs to store the collected signal data, and transmits the message frame by frame, the number of IDs used by the fuel cell system is fixed, the same ID is reused. The classification module 2 classifies the acquired CAN raw data of the fuel cell system in 1 second according to ID; the packaging module 3 packages the classified CAN bus data into a data packet; the GPS judgment module 4 is used for judging whether the GPS data is in a preset longitude and latitude numerical range; the storage module 5 is used for storing the data packet in the acquisition terminal according to a first-in first-out rule; the sending module 6 is used for transmitting the data packet to an external server in a wireless communication mode.
The present embodiment provides a system for processing CAN bus data of a fuel cell system, which designs a system corresponding to a remote data transmission protocol of a CAN bus of a fuel cell system, and encapsulates all data on the CAN bus in a big data packet according to the protocol and then transmits the data, thereby greatly improving the transmission efficiency; because CAN raw data is transmitted on the network, the data safety problem does not need to be worried about.
In the CAN bus data processing system of the fuel cell system provided by the present embodiment, the classification module 2 includes an extraction unit 21;
the extraction unit 21 is configured to extract an ID of each frame of packet in the CAN bus data and signal data in a data field corresponding to the ID, and store the signal data corresponding to the same ID in a unified manner.
In the CAN bus data processing system of the fuel cell system of the present embodiment, the data packet includes a plurality of data blocks arranged in sequence, and different data blocks correspond to different IDs;
each of the data blocks includes the corresponding ID and the signal data corresponding to the ID.
Specifically, for each frame of message in the collected CAN raw data of the fuel cell system, the extraction unit 21 is used to extract the identifier ID and the signal value of the corresponding data field behind, and other information in the message is discarded, thereby greatly improving the refining degree of the data. The signal data of the data fields with the same identifier ID are uniformly and continuously stored, the signal data and the identifier ID are combined into a data block, the data blocks with different identifier IDs are sequentially arranged and encapsulated into a data packet, a plurality of CAN messages received within 1 second are successfully encapsulated into a data packet, the data packet only contains required signal data, and other irrelevant information in a standard CAN message is not available, so that the capacity of the data packet is greatly reduced, and the efficiency of remotely transmitting the data packet is greatly improved.
The user can set the acquisition period by himself to calibrate the size of the encapsulated data packet. The collected CAN bus data is stored according to different IDs in a classified mode, and the problem that the same ID is placed in a data packet for multiple times CAN be solved.
The acquisition module 1 is used for acquiring CAN bus data of the fuel cell system in a preset period through an acquisition terminal;
the acquisition module 1 is further configured to acquire a terminal number of the acquisition terminal corresponding to the fuel cell system and GPS data of the acquisition terminal.
Specifically, a hardware system is firstly established: the CAN bus data acquisition terminal is connected with the vehicle-mounted fuel cell system; after the hardware system is prepared, the user configures the serial number of the CAN bus acquisition terminal, which corresponds to the serial number of the fuel cell system. For a plurality of fuel cell systems, each fuel cell system corresponds to one acquisition terminal, and the terminal numbers of the acquisition terminals are packaged into data packets, so that a server can distinguish different fuel cell systems conveniently. Each acquisition terminal is provided with a GPS module, the acquisition terminals and the GPS module are connected together in the acquisition terminal and are used for positioning on a map, and the acquisition terminals follow the vehicles to where.
A CAN bus data processing system of a fuel cell system of the present embodiment, the GPS data including GPS longitude data and GPS latitude data;
the GPS judgment module 4 is used for judging whether the GPS data is in a preset longitude and preset latitude numerical range, if not, discarding the GPS data, and if so, keeping the GPS data;
specifically, if a GPS processing mechanism is configured, if the terminal is configured to work in the eastern hemisphere and the northern hemisphere, the terminal only collects data of east longitude and north latitude according to a rule, other positioning data judges that the GPS data is invalid data, and the current position of the automobile can be displayed on a map after the longitude and latitude are received. By configuring the GPS, the data transmission system is only effective to the data in a certain range, and only receives CAN bus transmission data in the certain range, so that invalid data is reduced; the packaged data packet contains the serial number of the terminal and GPS positioning data, so that the receiving end of the server can conveniently distinguish which set of fuel cell system sends back data and the real-time position of the fuel cell system.
In the CAN bus data processing system of the fuel cell system provided in the present embodiment, the extracting unit 21 includes an ID comparing unit 211;
the ID comparison unit is used for comparing the extracted ID of the message with a preset ID needing filtering, and if the extracted ID of the message is the same as the ID needing filtering, discarding the ID and the signal data corresponding to the ID;
if the ID is different from the preset ID to be filtered, reserving the ID and the signal data corresponding to the ID;
and classifying the reserved CAN bus data according to the ID.
Specifically, the user may configure the ID to be filtered, if the ID and the data thereof are set, the ID and the data thereof are ignored, like a blacklist, the ID and the data thereof are discarded, a plurality of IDs may be preset, and the ID and the data thereof on the filter list are discarded directly. Specifically, an unnecessary ID is preset, the ID comparison unit 211 is used to compare the extracted ID of the packet with a preset ID that needs to be filtered, and if the extracted ID is the same as the ID that needs to be filtered, the ID and the signal data corresponding to the ID are discarded; if the ID is different from the preset ID to be filtered, reserving the ID and the signal data corresponding to the ID; and classifying the reserved CAN bus data according to the ID and packaging the data into a data packet. When the data amount on the CAN bus is too large and the data of some IDs are not important, the data amount of the CAN bus of the fuel cell system CAN be further reduced by setting and filtering the unneeded IDs and the data thereof, so that the transmission efficiency is improved.
In the CAN bus data processing system of the fuel cell system of this embodiment, the data blocks in the data packet are arranged according to the sequence of the receiving times of the messages to which the corresponding IDs belong;
because CAN raw data on the fuel cell system is transmitted frame by frame, the sequence of receiving IDs is also in chronological order, the sequence of the IDs in the data packet is ordered according to the ID received first in a set period, each ID is followed by all data received in the set period, and the next ID is the same until all IDs and the data thereof are arranged.
The arrangement order of IDs in the packet according to the present invention is not limited to the embodiment.
In the CAN bus data processing system of the fuel cell system of the present embodiment, the data block formed by the identifier ID and the corresponding signal data further includes a start delimiter, a data length, a check code, and an end delimiter;
the start delimiter is used for identifying the start position of the data block;
the data length is used for representing the total byte number of the signal data in the data block;
the check code is used for verifying the correctness of the signal data in the data block;
the end delimiter is used to identify an end position of the data block. Specifically, the start delimiter of the data block with complete ID occupies 1 byte, indicated by 68, and is added at the head of each ID data block;
the data length of a data block with complete ID occupies 2 bytes, which is the total number of data bytes received in the set period;
the ID of a data block with complete ID occupies 4 bytes and is compatible with a standard frame and an extended frame;
the data of a data block with complete ID occupies byte number and all the ID data received in the set period are sequentially put into the data block according to the receiving sequence;
checking a data block with complete ID, wherein 1 byte is occupied, and accumulated checking of data received by the ID in the period is realized for the purpose; the data received by the ID in the period are all added according to bytes, the high-order byte is discarded, and only the lowest 8 bits are left as the accumulated sum, namely the check value;
an end delimiter, which occupies 1 byte for a complete ID data block, is added at the end of each ID data block, indicated at 16.
And continuously adding the subsequent data block with complete ID according to the rule till the data blocks with all ID are completely added, filtering out the ID and the data thereof which are not needed, and packaging into a large data packet for transmission.
The data packet encapsulated by the CAN bus data processing system employing the fuel cell system of the present embodiment corresponds to the data packet shown in fig. 2.
The sending module 6 transmits the encapsulated data packet to the enterprise server every second through a TCP C/S mode by utilizing a mobile data network, if the data cannot be sent out due to poor signals, the storage module 5 is cached in a memory of the terminal according to the size of the capacity of the terminal according to a first-in first-out rule, the data is kept to be updated continuously, and the data is sent continuously when the signals are good; the enterprise server receives the data and analyzes the data into signals of the fuel cell system, and the signals are inquired and analyzed by a remote monitoring computer/mobile phone through a wired or mobile network.
As shown in fig. 7, which is a schematic diagram of a hardware structure of remote data packet transmission of a CAN bus data processing system of a fuel cell system according to embodiment 3 of the present invention, a CAN bus data acquisition terminal is connected to a vehicle-mounted fuel cell system, acquires different CAN messages on the fuel cell system, encapsulates the different CAN messages into a data packet according to the protocol, and transmits the data packet to an enterprise server through a mobile network (4G/3G), and the enterprise server receives the data packet, analyzes the data packet into signals of the fuel cell system, and provides the signals to a remote monitoring computer/mobile phone for query and analysis through a wired or mobile network.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (16)
1. A CAN bus data processing method of a fuel cell system is characterized by comprising the following steps:
acquiring CAN bus data of the fuel cell system in a preset period;
classifying the CAN bus data according to ID;
and encapsulating the classified CAN bus data into a data packet.
2. The CAN bus data processing method of a fuel cell system according to claim 1, wherein the step of classifying the CAN bus data by ID specifically includes:
and extracting the ID of each frame of message in the CAN bus data and the signal data of the data field corresponding to the ID, and storing the signal data corresponding to the ID in a unified manner.
3. The CAN bus data processing method of a fuel cell system according to claim 2, wherein the data packet includes a plurality of sequentially arranged data blocks, different ones of the data blocks corresponding to different ones of the IDs;
each of the data blocks includes the corresponding ID and the signal data corresponding to the ID.
4. The CAN bus data processing method of a fuel cell system according to claim 1, wherein the step of acquiring CAN bus data of the fuel cell system in a preset period specifically includes:
collecting CAN bus data of the fuel cell system in a preset period through a collecting terminal;
acquiring a terminal number of the acquisition terminal corresponding to the fuel cell system and GPS data of the acquisition terminal;
the data packet further includes the terminal number and the GPS data.
5. The CAN bus data processing method of a fuel cell system according to claim 4, wherein the GPS data includes GPS longitude data and GPS latitude data;
the CAN bus data processing method further comprises the following steps:
judging whether the GPS data is in a preset longitude and preset latitude numerical range, if not, discarding the GPS data, and if so, keeping the GPS data; and/or the presence of a gas in the gas,
the CAN bus data processing method further comprises the following steps:
and storing the data packet in the acquisition terminal according to a first-in first-out rule.
6. The CAN bus data processing method of a fuel cell system according to claim 2, wherein the step of extracting the ID of each frame message in the CAN bus data and the signal data of the data field corresponding to the ID specifically includes:
comparing the ID of the extracted message with a preset ID needing filtering, and if the ID is the same as the preset ID needing filtering, discarding the ID and the signal data corresponding to the ID;
if the ID is different from the preset ID to be filtered, reserving the ID and the signal data corresponding to the ID;
and classifying the reserved CAN bus data according to the ID.
7. The CAN bus data processing method of a fuel cell system according to claim 3, wherein the data blocks in the data packet are arranged in the order of the reception time of the message to which the corresponding ID belongs; and/or the presence of a gas in the gas,
each data block further comprises a start delimiter, a data length, a check code and an end delimiter;
the start delimiter is used for identifying the start position of the data block;
the data length is used for representing the total byte number of the signal data in the data block;
the end delimiter is used to identify an end position of the data block.
8. The CAN bus data processing method of a fuel cell system according to claim 1, further comprising:
and transmitting the data packet to an external server in a wireless communication mode.
9. A CAN bus data processing system of a fuel cell system, comprising:
the acquisition module is used for acquiring CAN bus data of the fuel cell system in a preset period;
the classification module is used for classifying the CAN bus data according to ID;
and the packaging module is used for packaging the classified CAN bus data into a data packet.
10. The CAN bus data processing system of a fuel cell system as set forth in claim 9, wherein the classification module includes an extraction unit;
the extraction unit is used for extracting the ID of each frame of message in the CAN bus data and the signal data of the data field corresponding to the ID, and storing the signal data corresponding to the ID in a unified way.
11. The CAN bus data processing system of a fuel cell system according to claim 10, wherein the data packet includes a plurality of sequentially arranged data blocks, different ones of the data blocks corresponding to different ones of the IDs;
each of the data blocks includes the corresponding ID and the signal data corresponding to the ID.
12. The CAN bus data processing system of a fuel cell system according to claim 9, wherein the acquisition module is configured to acquire CAN bus data of the fuel cell system in a preset period through an acquisition terminal;
the acquisition module is also used for acquiring the terminal number of the acquisition terminal corresponding to the fuel cell system and the GPS data of the acquisition terminal;
the data packet further includes the terminal number and the GPS data.
13. The CAN bus data processing system of a fuel cell system as set forth in claim 12, wherein the GPS data includes GPS longitude data and GPS latitude data;
the CAN bus data processing system also comprises a GPS judgment module;
the GPS judgment module is used for judging whether the GPS data is in a preset longitude and preset latitude numerical range, if not, discarding the GPS data, and if so, keeping the GPS data; and/or the presence of a gas in the gas,
the CAN bus data processing system also comprises a storage module;
the storage module is used for storing the data packet in the acquisition terminal according to a first-in first-out rule.
14. The CAN bus data processing system of a fuel cell system according to claim 10, wherein the extracting unit includes an ID comparing unit;
the ID comparing unit is used for comparing the ID of the extracted message with a preset ID needing filtering, and if the ID is the same as the preset ID needing filtering, discarding the ID and the signal data corresponding to the ID;
if the ID is different from the preset ID to be filtered, reserving the ID and the signal data corresponding to the ID;
and classifying the reserved CAN bus data according to the ID.
15. The CAN bus data processing system of a fuel cell system according to claim 11, wherein the data blocks in the data packet are arranged in the order of the reception time of the message to which the corresponding ID belongs; and/or the presence of a gas in the gas,
each data block further comprises a start delimiter, a data length, a check code and an end delimiter;
the start delimiter is used for identifying the start position of the data block;
the data length is used for representing the total byte number of the signal data in the data block;
the end delimiter is used to identify an end position of the data block.
16. The CAN bus data processing system of a fuel cell system as set forth in claim 9, further comprising a transmitting module;
the sending module is used for transmitting the data packet to an external server in a wireless communication mode.
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