CN113300925B

CN113300925B - CAN bus network access unit of linear type transfer machine and related method thereof

Info

Publication number: CN113300925B
Application number: CN202010591207.6A
Authority: CN
Inventors: 邓嘉
Original assignee: Hema China Co Ltd
Current assignee: Hema China Co Ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2024-05-17
Anticipated expiration: 2040-06-24
Also published as: CN118400216A; CN113300925A; WO2021259234A1

Abstract

The disclosure provides a CAN bus network access unit of a linear type transfer machine and a related method. The linear CAN bus network access unit comprises a first CAN bus, a second CAN bus, a first port and a third port, wherein the connection line direction of the first port and the third port is consistent with the conveying direction of a conveying section where the linear CAN bus network access unit is located, the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus or the second CAN bus through a switch. The embodiment of the disclosure provides a CAN bus switching technology, thereby clearing obstacles for unitizing an electrical control system of a conveying line.

Description

CAN bus network access unit of linear type transfer machine and related method thereof

Technical Field

The present disclosure relates to the field of automatic control, and more particularly, to a CAN bus network access unit for a linear and transfer machine and a related method thereof.

Background

Modern logistics merchant background logistics sorting and ex-warehouse generally adopts conveyor line products. The conveyor line is a sum of all conveying apparatuses such as a conveyor belt and a conveyor that complete the conveyance of the article. A continuous conveying line is formed by connecting a plurality of belt conveyors, roller conveyors and the like in an end-to-end manner at sites surrounding a warehouse, a production workshop and a packaging workshop. Since the conveying line is required to have not only the physical equipment for actual conveying but also an electric control signal for controlling the conveying of the conveying line, a corresponding electric control system is also arranged in the conveying line.

The electric control system of the conveying line which is widely used in the market at present adopts a Programmable Logic Controller (PLC) for centralized control, and has the main defects of single-point or multi-point control, complex wiring and difficult on-site deployment, and each new store needs a great deal of on-site debugging work, which is not beneficial to quick store opening. The electric control system of another improved conveying line adopts a singlechip, only solves the problem of high cost of the PLC, and has the defects of difficult on-site deployment and unfavorable rapid store opening. If the electrical control system of the transmission line is unitized, how each unit switches the connected CAN bus at will becomes a technical obstacle.

Disclosure of Invention

In view of this, the present disclosure aims to propose a CAN bus switching technique to clear obstacles for unitizing the electrical control system of the transmission line.

According to an aspect of the present disclosure, there is provided a linear Controller Area Network (CAN) bus network access unit, including a first CAN bus, a second CAN bus, a first port, and a third port, where a connection line direction of the first port and the third port is consistent with a conveying direction of a conveying section where the linear CAN bus network access unit is located, the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus, or connected to the second CAN bus through a switch.

Optionally, the switch is a first single-pole double-throw switch, one end of the first single-pole double-throw switch is connected with the third port, and the other end of the first single-pole double-throw switch is switched between being connected with the first CAN bus and being connected with the second CAN bus.

Optionally, the switch includes a first switch connected to the first CAN bus and a second switch connected to the second CAN bus.

Optionally, in the first, second, third and fourth scan periods of the networking phase, the third port is connected to the second CAN bus through the switch.

Optionally, in the continuous first scanning period, second scanning period, third scanning period and fourth scanning period, the first port and the third port send notification messages, where the notification messages include an identifier of the CAN bus network access unit, a port number for sending the notification messages, and a bus number of a port connection for sending the notification messages.

Optionally, the third port is connected to the second CAN bus through the switch during a first quiet period prior to the first scan period; and a second quiet period subsequent to the fourth scan period, the third port being connected to the second CAN bus through the switch.

Optionally, the linear type CAN bus network access unit further comprises a second port, a fourth port and a microcontroller MCU.

Optionally, if the first port or the third port receives a notification message containing an identifier of the CAN bus network access unit, a bus number 1, and a port number 1 during a continuous first scan period, a second scan period, a third scan period, and a fourth scan period, the MCU determines that the first port or the third port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, and the connected port of the connected linear CAN bus network access unit is the first port, and the connected first port is the portal.

Optionally, if the first port or the third port receives a notification message containing an identifier of the CAN bus network access unit, a bus number 2, and a port number 3 during a continuous first scan period, a second scan period, a third scan period, and a fourth scan period, the MCU determines that the first port or the third port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, the connected port of the connected linear CAN bus network access unit is a third port, and the connected third port is an outlet.

Optionally, if the first port or the third port receives a notification message containing an identifier of the CAN bus network access unit, a bus number 1 and a specific flag bit in the first scanning period, the MCU determines that the first port or the third port is connected to a transfer machine CAN bus network access unit, records the identifier of the connected CAN bus network access unit, and the connected port of the connected transfer machine CAN bus network access unit is the first port, and the connected first port is the inlet.

Optionally, if the first port or the third port receives a notification message containing an identifier of the CAN bus network access unit, a bus number 1 or 2, and a specific flag bit in the second scanning period, the MCU determines that the first port or the third port is connected to a transfer machine CAN bus network access unit, and after sending a port query request to the CAN bus network access unit that sends the notification message, the received response indicates that the port number is 2, records the identifier of the connected CAN bus network access unit, the connected port of the transfer machine CAN bus network access unit is a second port, and in the case of the bus number 1, the connected second port is an outlet.

Optionally, in the case of bus number 2, the second port connected to is an inlet; if the first port or the third port receives a notification message containing an identifier of a CAN bus network access unit, a bus number 1 or 2 and a specific flag bit in the third scanning period, the MCU determines that the first port or the third port is connected to a transfer machine CAN bus network access unit, and after sending a port query request to the CAN bus network access unit sending the notification message, the received response indicates that the port number is 3, records the identifier of the connected CAN bus network access unit, the connection port of the transfer machine CAN bus network access unit connected to is the third port, and in the case of the bus number 1, the connected third port is an outlet.

Optionally, in the case of bus number 2, the third port connected to is an inlet; if the first port or the third port receives a notification message containing an identifier of a CAN bus network access unit, a bus number 1 or 2 and a specific flag bit in the fourth scanning period, the MCU determines that the first port or the third port is connected to a transfer machine CAN bus network access unit, and after sending a port query request to the CAN bus network access unit sending the notification message, the received response indicates that the port number is 4, the identifier of the connected CAN bus network access unit is recorded, the connection port of the connected transfer machine CAN bus network access unit is a fourth port, and in the case of the bus number 1, the fourth port is an outlet; in the case of bus number 2, this fourth port is the entry.

Optionally, in a use phase, the third port is connected to the first CAN bus or the second CAN bus by the switch according to field requirements.

According to an aspect of the disclosure, there is further provided a transfer machine Controller Area Network (CAN) bus network access unit, including a first CAN bus, a second CAN bus, a first port, a second port, a third port and a fourth port, where a connection direction of the first port and the third port, and a connection direction of the second port and the fourth port are perpendicular to each other, where the first port is connected to the first CAN bus, and at least one of the second port, the third port and the fourth port is connected to the first CAN bus or to the second CAN bus through respective switches.

Optionally, the switch includes a second, third, and fourth single pole double throw switch, where one end of the second single pole double throw switch is connected to a second port, and the other end is connected to the first CAN bus, or to the second CAN bus; one end of the third single-pole double-throw switch is connected with a third port, and the other end of the third single-pole double-throw switch is connected with the first CAN bus or the second CAN bus; and one end of the fourth single-pole double-throw switch is connected with a fourth port, and the other end of the fourth single-pole double-throw switch is connected with the first CAN bus or the second CAN bus.

Optionally, the switch includes a fifth single pole double throw switch, a third switch, a fourth switch and a fifth switch, wherein one end of the third switch, one end of the fourth switch and one end of the fifth switch are respectively connected with the second port, the third port and the fourth port, the other end of the third switch and the fourth switch are commonly connected to one end of the fifth single pole double throw switch, and the other end of the fifth single pole double throw switch is switched between being connected with the first CAN bus and being connected with the second CAN bus.

Optionally, during a first scanning period of the networking stage, the first port is connected to a first CAN bus, and the second, third and fourth ports are connected to a second CAN bus through the switch; in a second scanning period, the first, third and fourth ports are connected to a first CAN bus and the second port is connected to a second CAN bus through the switch; in a third scanning period, the first, second and fourth ports are connected to a first CAN bus, and the third port is connected to a second CAN bus; in a fourth scan period, the first, second and third ports are connected to a first CAN bus and the fourth port is connected to a second CAN bus.

Optionally, in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, each port of the CAN bus network access unit of the transfer machine sends a notification message, and the notification message contains an identifier of the CAN bus network access unit, a bus number connected with the port for sending the notification message, and a specific flag bit.

Optionally, a first quiet period preceding the first scan period, connecting the first port to a first CAN bus, and connecting the second, third, and fourth ports to a second CAN bus; and a second quiet period subsequent to the fourth scan period, connecting the first, second, and third ports to the first CAN bus, and connecting the fourth port to the second CAN bus.

Optionally, the transfer machine CAN bus network access unit further comprises a micro control unit MCU.

Optionally, if the port of the CAN bus network access unit of the transfer machine receives a notification message containing an identifier of the CAN bus network access unit, a bus number 1 and a port number 1 during a continuous first scanning period, a second scanning period, a third scanning period and a fourth scanning period, the MCU determines that the port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, and the connection port of the connected linear CAN bus network access unit is a first port, and the connected first port is an inlet.

Optionally, if the port of the CAN bus network access unit of the transfer machine receives a notification message containing an identifier of the CAN bus network access unit, a bus number 2 and a port number 3 during a continuous first scanning period, a second scanning period, a third scanning period and a fourth scanning period, the MCU determines that the port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, and the connected port of the connected linear CAN bus network access unit is a third port, and the connected third port is an outlet.

Optionally, in a use stage, on or off of a switch connected with at least one of the second port, the third port and the fourth port is controlled according to field requirements respectively.

According to an aspect of the present disclosure, there is also provided a switch control method of a linear Controller Area Network (CAN) bus access unit, wherein the linear CAN bus access unit includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port, wherein the first port is connected to the first CAN bus, and the third port is connected to the first CAN bus, or is connected to the second CAN bus, through a switch, the method including:

In a networking stage, connecting the third port to the second CAN bus through the switch;

in the use stage, the third port is connected to the first CAN bus or the second CAN bus according to the field requirement through the switch.

According to an aspect of the present disclosure, there is also provided a switch control method of a transfer machine Controller Area Network (CAN) bus access unit, the transfer machine CAN bus access unit including a first CAN bus, a second CAN bus, a first port, a second port, a third port and a fourth port, wherein the first port is connected to the first CAN bus, and at least one of the second port, the third port and the fourth port is connected to the first CAN bus or to the second CAN bus through respective switches, the method including:

In a first scanning period of the networking stage, the first port is connected to a first CAN bus, and the second, third and fourth ports are connected to a second CAN bus through the switch; in a second scanning period, the first, third and fourth ports are connected to a first CAN bus and the second port is connected to a second CAN bus through the switch; in a third scanning period, the first, second and fourth ports are connected to a first CAN bus and the third port is connected to a second CAN bus through the switch; in a fourth scanning period, the first, second and third ports are connected to a first CAN bus and the fourth port is connected to a second CAN bus through the switch;

And in the use stage, respectively controlling the on or off of a switch connected with at least one of the second port, the third port and the fourth port according to the field requirement.

According to an aspect of the present disclosure, there is provided a remote visual CAN bus networking unit assembling method, including:

receiving a networking request of a user at a remote visual interface;

The CAN bus network access unit in the electrical control system of the transmission line is identified, and comprises a first CAN bus, a second CAN bus, a first port, a second port, a third port, a fourth port and a switch;

Remotely controlling the switch to connect at least one of the first, second, third, and fourth ports to at least one of the first and second CAN buses.

Optionally, the remote control of the switch connects at least one of the first port, the second port, the third port, the fourth port to at least one of the first CAN bus, the second CAN bus, comprising: for the identified linear CAN bus networking unit, remotely controlling the switch of the linear CAN bus networking unit to connect the third port to the second CAN bus.

Optionally, the remote control of the switch connects at least one of the first port, the second port, the third port, the fourth port to at least one of the first CAN bus, the second CAN bus, comprising: for the identified CAN bus network access unit of the transfer machine, remotely controlling the switch of the CAN bus network access unit of the transfer machine in a first scanning period, and connecting the first port to a first CAN bus; in a second scanning period, remotely controlling the switch of the CAN bus network access unit of the transfer machine to connect the second port to a second CAN bus; in a third scanning period, remotely controlling the switch of the CAN bus network access unit of the transfer machine to connect the third port to a second CAN bus; and in a fourth scanning period, the fourth port is connected to a second CAN bus by remotely controlling the switch of the CAN bus network access unit of the transfer machine.

Optionally, after remotely controlling the switch to connect at least one of the first port, the second port, the third port, the fourth port to at least one of the first CAN bus, the second CAN bus, the method further comprises: and controlling the CAN bus network access unit to send a notification message in the continuous first scanning period, second scanning period, third scanning period and fourth scanning period.

Optionally, the controlling the CAN bus network access unit to send the notification message in the continuous first scanning period, second scanning period, third scanning period, and fourth scanning period includes: and for the identified linear CAN bus network access unit, controlling the first port and the third port of the linear CAN bus network access unit to send notification messages in the continuous first scanning period, second scanning period, third scanning period and fourth scanning period, wherein the notification messages comprise the identification of the CAN bus network access unit, the port number for sending the notification messages and the bus number connected with the port for sending the notification messages.

Optionally, the controlling the CAN bus network access unit to send the notification message in the continuous first scanning period, second scanning period, third scanning period, and fourth scanning period includes: and controlling each port of the CAN bus network access unit of the transfer machine to send a notification message in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, wherein the notification message contains the identification of the CAN bus network access unit, the bus number connected with the port for sending the notification message and a specific flag bit.

Optionally, after the first scan period, the second scan period, the third scan period, and the fourth scan period are consecutive, the method further includes:

receiving the identifier, the connection port number and the connection port property of the detected connected CAN bus network access unit sent by the CAN bus network access unit, and generating a CAN bus network access unit connection layout of the electrical control system;

and displaying the CAN bus network access unit connection layout of the electrical control system.

Optionally, after displaying the CAN bus access unit connection layout of the electrical control system, the method comprises:

receiving an on-site connection requirement instruction of a CAN bus network access unit input by a user at a remote visual interface;

and controlling the switch of the CAN bus network access unit according to the field connection requirement indication so as to connect at least one of the first port, the second port, the third port and the fourth port to at least one of the first CAN bus and the second CAN bus.

In the embodiment of the disclosure, in order to standardize (unitize) an electrical control system used in a transmission line, the electrical control system is divided into two units, namely a linear type CAN bus network access unit and a transfer machine CAN bus network access unit. For the linear CAN bus network access unit, the first port is always connected to the first CAN bus, and the third port CAN be connected to the first CAN bus and the second CAN bus through a switch to switch the bus switching mechanism, so that the linear bus network access unit CAN realize that either two ends are connected with the same CAN bus or different CAN buses are connected through the switch of the switch. The transfer machine CAN bus network access unit is arranged in such a way that a first port is connected to the first CAN bus, at least one of a second port, a third port and a fourth port is connected to the first CAN bus or the second CAN bus through respective switches, so that the transfer machine CAN bus network access unit CAN realize signal reversing to different directions through the switching of the switches. The linear CAN bus network access unit and the transfer machine CAN bus network access unit CAN be flexibly combined to form an electrical control system in the conveying line. The present disclosure designs such a CAN bus switching mechanism to unitize the electrical control system of the conveyor line to clear the barrier.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent by describing embodiments thereof with reference to the following drawings in which:

fig. 1A is a diagram of a conveyor line in the field according to one embodiment of the present disclosure.

Fig. 1B is an illustration of a rectilinear conveying segment according to one embodiment of the present disclosure.

Fig. 1C is an illustration of a transfer machine transport section according to one embodiment of the present disclosure.

Fig. 2 is a schematic diagram of the overall structure of a conveyor line and its electrical control system according to one embodiment of the present disclosure.

Fig. 3 is an overall physical block diagram of a CAN bus networking unit without a switch portion according to one embodiment of the present disclosure.

Fig. 4A is a physical block diagram of a linear CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 4B is another physical block diagram of a linear CAN bus access unit according to one embodiment of the present disclosure.

Fig. 4C is a logic block diagram of a linear CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 4D is another logical block diagram of a linear CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 5A is a connection diagram of a networking phase of a linear CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 5B is a connection diagram of a use phase of a linear CAN bus access unit according to one embodiment of the present disclosure.

Fig. 6A is a physical block diagram of a transfer machine CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 6B is another physical block diagram of a transfer machine CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 6C is a logic block diagram of a transfer machine CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 6D is another logic block diagram of a transfer machine CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 7A-D are connection diagrams of networking phases of a transfer machine CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 7E is a connection diagram of a stage of use of a transfer machine CAN bus networking unit according to one embodiment of the present disclosure.

Fig. 8 shows a flowchart of a method of controlling switching of a linear CAN bus access unit according to one embodiment of the present disclosure.

Fig. 9 shows a flowchart of a method of controlling the switching of a transfer machine CAN bus access unit according to one embodiment of the present disclosure.

Fig. 10 illustrates a flowchart of a remote visual CAN bus networking unit assembly method according to one embodiment of the present disclosure.

Fig. 11 shows an architecture diagram of an environment in which CAN bus access unit 110 is applied according to one embodiment of the present disclosure.

Fig. 12A-F illustrate interface change diagrams when a remote visualization control 199 remotely controls connections between CAN bus access units 110 according to one embodiment of the present disclosure.

Detailed Description

The present disclosure is described below based on embodiments, but the present disclosure is not limited to only these embodiments. In the following detailed description of the present disclosure, certain specific details are set forth in detail. The present disclosure may be fully understood by one skilled in the art without a description of these details. Well-known methods, procedures, and flows have not been described in detail so as not to obscure the nature of the disclosure. The figures are not necessarily drawn to scale.

The logistics sorting and delivery in the background of modern logistics merchants commonly employ a conveyor line 100, as shown in fig. 1A. The conveyor line 100 is a sum of all conveying devices such as a conveyor belt and a conveyor that complete the conveyance of the article. At the sites surrounding the warehouse, production shop and packaging shop, there is provided a conveyor chain composed of a plurality of belt conveyors, roller conveyors, etc., which are connected end to form a continuous conveyor line 100. Since the conveyor line 100 requires not only the physical equipment used for the actual conveyance, but also electrical control signals to control the conveyance of the conveyor line, there is a corresponding electrical control system in the conveyor line (inside the conveyor line of fig. 1A).

The electrical control system of the conveyor line 100, which is widely used in the market at present, adopts a Programmable Logic Controller (PLC) for centralized control, and has the main defects of single-point or multi-point control, complex wiring, difficult on-site deployment, easy assembly errors and no benefit for quick store opening. Another improved electrical control system for the conveyor line 100 employs a single-chip microcomputer, which only solves the problem of high PLC cost, but has the disadvantages of difficult on-site deployment, easy assembly errors, and unfavorable rapid store opening.

In order to facilitate on-site deployment, one solution idea is to unitize an electrical control system of a conveyor line, the conveyor line is divided into a conveyor section of one section, and the corresponding electrical control system is also divided into units (CAN bus network access units), i.e. one CAN bus network access unit is arranged in one conveyor section. Thus, the conveying line and the electric control system in the conveying line are divided into units in a building block-like mode, and each unit adopts a similar structure. Each CAN bus network access unit CAN be in communication connection with an adjacent CAN bus network access unit, so that an electrical control system is formed. Therefore, no matter how long the conveying line is, the whole electric control system can be constructed like building blocks by the units, and the standardization of the electric control part used in the conveying line is realized.

In the standardized method, the control part of each conveying section is accessed to the bus through the standard CAN bus access unit, so that the control part is a distributed control structure, centralized polling is not needed, the instantaneity is ensured, the time delay is reduced, a centralized structure is not needed, and the control part is very easy to deploy.

The electrical control system of the conveying line is unitized, and one obstacle is how to complete switching of the CAN bus in the unit, so that the unit CAN be connected in the same CAN, and CAN also complete connection of multiple CAN in multiple directions. The present disclosure is primarily directed to providing a mechanism for bus switching within a CAN bus access unit.

Figures 1B-C show illustrations of two types of conveying sections 102 (i.e., a linear conveying section and a transfer conveying section), respectively. The linear conveying section and the transfer machine conveying section are connected according to the field requirement, and like building blocks are built, various conveying lines 100 are built according to the field requirement. The linear conveyor section shown in fig. 1B is characterized by the fact that only left and right directions can connect other conveyor sections 102, typically for conveyance without changing the direction of conveyance. The transfer machine conveying section 102 shown in fig. 1C includes a drum 1021 and a conveyor 1023, the rolling of the drum 1021 moving the goods thereon in a first direction (e.g., up-down direction), and the conveying of the conveyor 1023 moving the goods thereon in a second direction (e.g., left-right direction). The first direction is perpendicular to the second direction, so that the transfer machine conveying section 102 is controlled to enable the rollers 1021 to roll or enable the conveyor belt 1023 to convey the goods on the transfer machine conveying section to achieve the effect of enabling the goods on the transfer machine conveying section to advance in the first direction or the second direction, and the steering can be achieved. If the load that would otherwise move in the left-right direction reaches the transfer section 102, it may instead move in the up-down direction. Whereas a straight conveyor section does not achieve steering. The transfer machine conveying section can only be connected with the linear conveying section.

In each conveying section 102 of the conveying line 100, there is a CAN-bus network access unit 110 as an electrical control part. Which is internal to the conveying section 102 and is not shown in fig. 1A-C. Since it is the electrically controlled part in the conveying section 102, its shape also corresponds to the shape of the conveying section 102 in which it is located. The CAN bus network access unit 110 in the linear transport section is a linear CAN bus network access unit, and only the left and right directions CAN be used to connect with the CAN bus network access unit 110 in the adjacent transport section 102. The CAN bus network access unit 110 in the transfer machine conveying section is a transfer machine CAN bus network access unit, and four directions of front, back, left and right CAN be used for connecting with the CAN bus network access unit 110 in the adjacent conveying section 102. Fig. 2 shows a schematic diagram of the overall topology of a conveyor line 100. In fig. 2, the conveyor lines 110 are divided into conveyor segments 102, each of which has a CAN-bus networking unit 110 as an electrical control section, all CAN-bus networking units 110 being connected in the order of the corresponding conveyor lines 110 to form an electrical control system 119. The electrical control system 119 is an electrical control portion of the entire conveyor line 110. It should be appreciated that although the conveying sections 102 are all shown in fig. 2 as being sequentially connected in a straight line, in practice, due to the presence of transfer machine conveying sections, it may occur that the conveying sections 102 extend in other directions (e.g., extend some of the conveying sections 102 up and down).

In each transport section 102 there may be control elements 113 connected to the CAN-bus access unit 110 of that transport section 102, through the CAN-bus access unit 110 to the whole electrical control system 119, communicating with the control elements 113 in the other transport sections 102. The CAN bus access unit 110 actually functions as an interface for the control units 113 of the whole network to communicate with each other, so that control signals are transferred between these control units 113 to make the transmission line 100 operate in coordination.

The electrical control system 119 in the conveyor line 100 of fig. 2 includes a plurality of Controller Area Networks (CAN) 114, each Controller Area Network (CAN) 114 being an oval portion located in one of the thick line cells of fig. 2. The first CAN 1141, the second CAN 1142, and the third CAN1143 are illustrated, but those skilled in the art will appreciate that the electrical control system 119 may include other numbers of CANs, such as 2,4, 5, etc.

CAN is an abbreviation for controller area network (Controller Area Network, CAN), which is one of the more widely used field buses internationally. Within a CAN, a message of one node is broadcast to all other nodes in the CAN. Thus, it CAN be considered that messages within one CAN are sent over the same CAN bus to all nodes within that CAN. Messages within different CAN's are sent using different CAN buses. Since the length of the transport line may be up to several kilometers, and may include thousands or even tens of thousands of CAN bus access units 110, the coverage distance of one CAN may not reach such a length, and thus, in the embodiment of the present disclosure, a form in which a plurality of CANs 114 are connected in series is employed, in which two adjacent CANs 114 are connected by one routing CAN bus access unit 112. The routing CAN bus access unit 112 belongs to two adjacent CANs 114 at the same time and is responsible for forwarding (broadcasting) messages of one CAN 114 to the other CAN 114. Because the CAN buses used for the transmission of messages by the two CAN 114 are different, it is often desirable for the routing CAN bus access unit 112 to be able to connect two CAN buses simultaneously and to be able to forward messages on one CAN bus onto the other CAN bus. The routing CAN bus access unit 112 shown in fig. 2 includes C4, C8, C11, where CX is the identity of the X-th CAN bus access unit in the figure.

In addition to routing CAN bus access units 112, another type of CAN bus access unit 110 is an internal CAN bus access unit 111, i.e., a unit within one CAN 114 that is not a routing CAN bus access unit 112. Because the same CAN bus is used to transmit messages within one CAN 114, it is not required to be able to forward messages on one CAN 114 to another CAN 114. The internal CAN bus access unit 111 shown in fig. 2 includes C1, C2, C3, C5, C6, C7, C9, C10.

The detailed structure (except for the switching control portion) of the CAN bus access unit 110 according to one embodiment of the present disclosure is described in detail below with reference to fig. 3.

As described above, the CAN bus access unit 110 is a component responsible for connection of the control component 113 to the electrical control system 119 in one of the conveying sections 102 of the conveying line 100. The control unit 113 is a unit in the lane area 102 that can monitor bus messages and send out bus messages when appropriate to communicate with the control units 113 in other lane areas 102. The electrical control system 119 refers to the electrical control portion of the conveyor line 100 for delivering control signals to the physical conveying equipment within the conveyor line 100.

As shown in fig. 3, the CAN bus access unit 110 includes: the first CAN bus 121, the second CAN bus 122, the first CAN bus transceiver 123, the second CAN bus transceiver 124, the first port 131, and the plurality of variable connection ports 130 including the second port 132, the third port 133, and the fourth port 134. At least one of the plurality of variable connection ports 130 may be connected to either one of the first CAN bus 121 and the second CAN bus 122, or may not be connected to both of these buses. As described above, when the CAN bus network unit 110 is used as the routing CAN bus network unit 112, it is necessary to connect different CAN buses, and at this time, one of the second port 132, the third port 133 and the fourth port 134 CAN be connected to the second CAN bus 122, and the first port 131 is always connected to the first CAN bus 121, so as to achieve the purpose of connecting different CAN buses. When the CAN bus network unit 110 is used as the internal CAN bus network unit 111, the same CAN bus needs to be connected, and at this time, the second port 132, the third port 133 and the fourth port 134 CAN be connected to the first CAN bus 121, and the first port 131 is always connected to the first CAN bus 121, so that the purpose of connecting the same CAN bus is achieved.

Although the plurality of variable connection ports 130 are exemplarily described above as including the second port 132, the third port 133, the fourth port 134, in fact, it may include other numbers of ports, for example, may include fifth, sixth ports, etc. as needed, or may include only the second port 132, the third port 133, etc.

The first CAN bus transceiver 123 is connected to the first CAN bus 121 for communication with the first CAN bus transceiver 123 of the other CAN bus access units 110 in the electrical control system 119, thereby establishing a first CAN communication. The second CAN bus transceiver 124 is connected to the second CAN bus 122 for communication with the second CAN bus transceiver 124 of the other CAN bus access units 110 in the electrical control system 119. It should be noted that although it is shown in fig. 1 that the plurality of CAN bus access units 110 are sequentially connected in each CAN (e.g., CAN bus access unit C1 is connected to CAN bus access unit C2, CAN bus access unit C2 is connected to CAN bus access unit C3), in practice, after one CAN bus access unit 110 transmits a message through its first CAN bus transceiver 123 or second CAN bus transceiver 124, either the first CAN bus transceiver 123 or the second CAN bus transceiver 124 of the other CAN bus access unit 110 connected to the first bus or the second bus may receive the message. The transmitted message may be considered a broadcast, as long as it is connected to a bus. Thus, in fig. 2, if CAN-bus networking unit C2 sends a message, since CAN-bus networking units C1, C3, C4 are all connected to first CAN-bus 121, they all receive the message, i.e. the message is broadcast to CAN-bus networking units C1, C3, C4.

As shown in fig. 3, the first port 131 is connected to the first CAN bus 121. At least one variable connection port 130 of the plurality of variable connection ports 130 is connected to one of the first CAN bus 121, the second CAN bus 122 (connected through a switch structure, not shown in fig. 3), or is not connected to both the first CAN bus 121 and the second CAN bus 122, so that the CAN bus networking unit 110 has different types, i.e., a line type CAN bus networking unit and a transfer CAN bus networking unit.

The linear CAN bus network access unit and the transfer machine CAN bus network access unit are described in detail below.

The CAN bus network access unit 110 shown in fig. 3 is a linear CAN bus network access unit if only the first port 131 and the third port 133 are used and the second port 132 and the fourth port 134 are not used (the second port 132 and the fourth port 134 are shielded by physical devices, for example, are closed by a cover plate). The connection direction of the first port 131 and the third port 133 is identical to the conveying direction of the conveying section where the linear CAN bus network access unit 110 is located. The CAN bus network access unit 110 is an electrical control part of the transport section, and its connection shape should be adapted to the overall connection mode of the transport section. If the conveying section where the linear CAN bus network access unit 110 is located is a left-right direction as shown in fig. 1B, the connection between the first port 131 and the third port 133 is also a left-right direction, so that connection with other CAN bus network access units 110 in the left-right direction CAN be ensured.

At this time, the first port 131 is fixedly connected to the first CAN bus 121, which is necessarily an entry of an electric control signal in the electric control network 119, and the third port 133 is also connected to the first CAN bus 121 only as an exit of the electric control signal, because if it is connected to the second CAN bus 122, a signal flowing in from the first port 131 cannot flow out, and thus it is connected to the first CAN bus 121 only as an exit of the signal flowing in from the first port 131. Neither the second port 132 nor the fourth port 134 is connected to the first CAN bus 121 nor the second CAN bus 122.

In the above-described linear CAN bus network access unit, the first port 131 is connected to the first CAN bus 121, and the third port 133 may be connected to the first CAN bus 121 or may be connected to the second CAN bus 122. In the disclosed embodiment, the third port 133 is switched by a switch between being connected to the first CAN bus 121 and being connected to the second CAN bus 122.

In one embodiment, as shown in fig. 4A, the switch is a first single pole double throw switch D1. The first single pole double throw switch D1 has one end connected to the third port 133 and the other end switched between being connected to the first CAN bus 121 and being connected to the second CAN bus 122. When the other end is connected to the first CAN bus 121, connection of the third port 133 to the first CAN bus 121 is achieved. When the other end is connected to the second CAN bus 122, connection of the third port 133 to the second CAN bus 122 is achieved.

In another embodiment, as shown in fig. 4B, the switches include a first switch K1 connected to the first CAN bus 121, and a second switch connected to the second CAN bus 122. K2. In this way, when the first switch K1 is closed and the second switch K2 is opened, the connection of the third port 133 to the first CAN bus 121 is achieved. When the first switch K1 is opened and the second switch K2 is closed, the connection of the third port 133 to the second CAN bus 122 is achieved.

Through the above, the CAN bus switching mechanism of the linear CAN bus network access unit is realized, and the barrier is cleared for unitizing the electric control system of the conveying line.

Fig. 4C-D are logical block diagrams of the linear CAN bus access unit 110 of fig. 4A-B, respectively. These logical block diagrams obscure the internal connections in the CAN-bus networking unit 110 of fig. 4A-B, regarding its internal connections as a black box, considering only the CAN-bus networking unit 110 as having four logical ports 131-134, the connection of each logical port 131-134 to either the first CAN-bus 121 or the second CAN-bus 122 being hidden. Logical ports 131-134 may be either inlets or outlets. The portal means that a certain port is a portal if it is connected to the first CAN bus 121 or the second CAN bus 122 from the port and an input signal is provided thereto. The outlet means that if a signal is connected to the first CAN bus 121 or the second CAN bus 122 from a certain port and output from the CAN bus to the port, the port is an outlet. Since the first port 131 is fixedly connected to the first CAN bus 121, it CAN only be an entry. Since the second port 132, the third port 133 and the fourth port 134 are all capable of being connected to the first CAN bus 121 or the second CAN bus 122, when they are connected to the first CAN bus 121, the outlets of the signals corresponding to the inlets of the first port 131 are just formed, namely the outlets; when it is connected to the second CAN bus 122, it is connected to a new CAN bus, and is an input signal, i.e. an entry.

The CAN bus network access unit 110 shown in fig. 3 is a transfer machine CAN bus network access unit if the first port 131, the second port 132, the third port 133, and the fourth port 134 CAN be used. In the transfer machine CAN bus network access unit 110, the connection line direction of the first port 131 and the third port 133, and the connection line direction of the second port 132 and the fourth port 134 are perpendicular to each other. The CAN bus network access unit 110 is an electrical control part of the transport section, and its connection shape should be adapted to the overall connection mode of the transport section. As the conveying section where the CAN bus network unit 110 of the transfer machine is located is as shown in fig. 1C, the CAN bus network unit 110 of the transfer machine needs to be capable of transmitting in four directions, and correspondingly, the CAN bus network unit 110 of the transfer machine needs to be capable of realizing connection in four directions, wherein the first port 131 and the third port 133 CAN realize connection in the left-right direction, and the second port 132 and the fourth port 134 CAN realize connection in the up-down direction. Thus, the connection direction of the first port 131 and the third port 133 and the connection direction of the second port 132 and the fourth port 134 are required to be perpendicular to each other.

At this time, the first port 131 is fixedly connected to the first CAN bus 121, and must be an inlet, and the second port 132, the third port 133, and the fourth port 134 may be connected to the first CAN bus 121 as an outlet, or may be connected to the second CAN bus 122 as an inlet. The second port 132, the third port 133, and the fourth port 134 are connected to the first CAN bus 121 or the second CAN bus 122 by a switching mechanism. At least one of the second port 132, the third port 133, and the fourth port 134 is connected to the first CAN bus 121, or to the second CAN bus 122 through respective switches.

In one implementation of the switching mechanism described above, the switch includes second, third, and fourth single pole double throw switches D2-4, as shown in fig. 6A, with the second single pole double throw switch D2 having one end connected to the second port 132 and the other end connected to the first CAN bus 121 or to the second CAN bus 122. The second port 132 CAN thus be switched between being connected to the first CAN bus 121 and being connected to the second CAN bus 122. Similarly, a third single pole double throw switch D3 has one end connected to the third port 133 and the other end connected to the first CAN bus 121 or to the second CAN bus 122. The third port 133 CAN thus be switched between being connected to the first CAN-bus 121 and being connected to the second CAN-bus 122. The fourth single pole double throw switch D4 has one end connected to the fourth port 134 and the other end connected to the first CAN bus 121 or to the second CAN bus 122. The fourth port 134 CAN thus be switched between being connected to the first CAN-bus 121 and being connected to the second CAN-bus 122.

In one implementation of the above switching mechanism, as shown in fig. 6B, the switch includes a fifth single pole double throw switch D5, a third switch K3-5, where one end of the third switch K3-5 is connected to the second port 132, the third port 133 and the fourth port 134, and the other end is commonly connected to one end of the fifth single pole double throw switch D5, and the other end of the fifth single pole double throw switch D5 is switched between being connected to the first CAN bus 121 and being connected to the second CAN bus 122.

Since the second port 132 is connected to the first CAN bus 121 or the second CAN bus 122 through the third switch K3 and the fifth single pole double throw switch D5, when the other end of the fifth single pole double throw switch D5 is switched to be connected to the first CAN bus 121 and the third switch K3 is closed, the second port 132 is connected to the first CAN bus 121; when the other end of the fifth single pole double throw switch D5 is switched to be connected to the second CAN bus 122 and the third switch K3 is closed, the second port 132 is connected to the second CAN bus 122.

Similarly, when the other end of the fifth single pole double throw switch D5 is switched to be connected to the first CAN bus 121 and the fourth switch K4 is closed, the third port 133 is connected to the first CAN bus 121; when the other end of the fifth single pole double throw switch D5 is switched to be connected to the second CAN bus 122 and the fourth switch K4 is closed, the third port 133 is connected to the second CAN bus 122.

Similarly, when the other end of the fifth single pole double throw switch D5 is switched to connect with the first CAN bus 121 and the fifth switch K5 is closed, the fourth port 134 is connected to the first CAN bus 121; when the other end of the fifth single pole double throw switch D5 is switched to be connected to the second CAN bus 122 and the fifth switch K5 is closed, the fourth port 133 is connected to the second CAN bus 122.

In addition, the linear CAN bus network access unit may be connected to the linear CAN bus network access unit, such as each CAN bus network access unit 110 in fig. 5A-B, or may be connected to the transfer machine CAN bus network access unit, where the fig. is connected to the upper, lower, left and right 4 linear CAN bus network access units 110 in fig. 7A-E, and the transfer machine CAN bus network access unit 110 in the middle. However, the transfer machine CAN bus network access unit 110 CAN only be connected to the linear CAN bus network access unit 110, and the transfer machine CAN bus network access unit 110 in the middle of fig. 7A-E CAN only be connected to the upper, lower, left and right 4 linear CAN bus network access units 110.

The above describes the switch structure inside the in-line CAN bus access unit 110 and the transfer machine CAN bus access unit 110. The working process of the switch structure in the networking and use stages is described below in connection with the switch structure.

A large-sized transmission line 100 has thousands of control parts 113 and thousands of CAN bus network access units 110 thereon, thereby accomplishing electrical control of the devices on the entire large-sized transmission line 100. These CAN bus network access units 110 include a linear CAN bus network access unit and a transfer machine CAN bus network access unit. In addition, the connection modes of the ports are various, and particularly, the port connection modes of the transfer machine are very flexible. If the connection structure of the entire electrical control system 119 is manually checked, a great deal of labor cost is required. The networking phase is a phase in which the CAN bus networking units 110 are assembled together into the electrical control system 119. In the networking phase, the identity, port number (first, second, third or fourth port) and whether the connected port is an ingress or egress of the CAN-bus networking unit 110 connected to itself CAN be found by each CAN-bus networking unit 110.

In the disclosed embodiment, a plurality of sequential scan periods are set during the networking phase. In each scan period, the connection relationship between each port in each CAN bus network access unit 110 and the first CAN bus 121 or the second CAN bus 122 is set, and each port sends a message according to a predetermined rule, where the message indicates the port number and the connection relationship between the port and the first CAN bus 121 or the second CAN bus 122. The port of the other CAN bus network access unit 110 connected with the port receives the message, and recognizes the information of the connected CAN bus network access unit 110, the connected port number, whether the port is an inlet or an outlet, and the like, so that the connection condition of each port of the CAN bus network access unit 110 is automatically obtained, manual investigation is not needed, and the efficiency of checking the connection condition of each port of the CAN bus network access unit 110 is improved.

From the above, it is known to check the connection condition of each port of the CAN bus access unit 110, on one hand, each port of the CAN bus access unit 110 is connected with the first CAN bus 121 or the second CAN bus 122 according to a predetermined rule in a plurality of sequential scan periods to send a status notification message, i.e., a status notification, and on the other hand, the connection condition is processed after receiving the status notification messages of other CAN bus access units 110. In practice, each port of each CAN bus access unit 110 completes both the former and the latter. The former is done to allow the adjacent CAN bus access unit 110 to find its own status, and the latter is done to ascertain the status of the adjacent CAN bus access unit 110. The two complement each other. The following description will be made with respect to the state notification of the in-line type and transfer machine CAN bus network access unit and the connection state detection of the CAN bus network access unit, respectively, as described above.

In order to enable the above-described status notification and connection status detection by the local area network CAN bus access units synchronously, the transmission status notification and connection status detection may be initiated by a unified scan promoter type CAN control message. And defining a detection start CAN bus network access unit in each local area network CAN bus network access unit, and specially used for sending out the message. The unified message is used to initiate the state notification and state detection of the entire CAN bus network access unit, so that, on the one hand, the state notification and state detection CAN be synchronized (because only one of the two connected CAN bus network access units 110 performs state notification and the other performs state detection, only the coordination work) in order to coordinate the actions of each CAN bus network access unit 110 in the entire electrical control system 119, and on the other hand, a unified time reference is provided for the first, second, third and fourth scanning periods mentioned below.

The detection and start CAN bus access unit is a CAN bus access unit 110 preset in the electrical control system 119, and the whole network sends a scan start sub-type CAN control message, so that after the whole network CAN bus access unit 110 receives the CAN control message, a first scan period, a second scan period, a third scan period and a fourth scan period which are mentioned later are set based on the time of receiving the CAN control message or a timestamp in the received CAN control message, connection states of different ports and the first CAN bus 121 or the second CAN bus 122 are set in the first scan period, the second scan period, the third scan period and the fourth scan period, different messages are sent, other CAN bus access units 110 connected by the ports of the whole network CAN bus access unit receive the messages, and connection states of the adjacent CAN bus access units 110 and the ports are identified based on the messages.

The CAN control message is a message for transmitting a whole network control instruction in the entire electrical control system 119, which is prescribed in advance (for example, prescribed by a protocol). Such a whole network control instruction is not limited to the scan start, but other types of control such as timing control may be performed. CAN control messages for different types of control may be distinguished by subtype. The CAN control message for scan initiation for connection status detection of the CAN bus access unit of the embodiments of the present disclosure is a scan promoter type, the CAN control message for timing control is a timing control subtype, and so on. The subtype may be embodied as one field of a CAN control message. When a CAN bus access unit 110 receives a CAN control message, it looks at the field indicating the subtype, and if the field indicates the scanning sub-type, it starts to prepare for the first, second, third, and fourth scanning periods mentioned later, sets the connection states of the different ports to the first CAN bus 121 or the second CAN bus 122, and sends different messages.

The detection of the start CAN bus access unit sending a scan promoter type CAN control message to all CAN bus access units 110 of the whole network may be performed by: the detection start CAN bus network access unit broadcasts the CAN control message to all other detection start CAN bus network access units in the CAN where the detection start CAN bus network access unit is located, after the routing CAN bus network access unit receives the CAN control message between the CAN and other CAN, the CAN control message is identified as a scanning promoter type, the scanning promoter type is broadcasted to all other CAN bus network access units in the other CAN, and the like until all CAN bus network access units in all CAN in the electrical control system 119 obtain the CAN control message.

Taking the electrical control system 119 of fig. 2 as an example. Let C2 be the detection start CAN bus access unit. Since C2 is located in the first CAN 1141, it broadcasts a CAN control message to the other CAN bus access units 110 within the first CAN 1141, i.e., C1, C3, C4, the subtype field of which indicates the scan promoter type. After the routing CAN bus network access unit C4 between the first CAN 1141 and the second CAN 1142 receives the CAN control message, the subtype field of the CAN control message is identified to indicate the scanning promoter type, and the scanning promoter type is broadcasted to all other CAN bus network access units in the second CAN 1142, namely C5-C8. After the routing CAN bus network access unit C8 between the second CAN 1142 and the second CAN1143 receives the CAN control message, the subtype field of the CAN control message is identified to indicate the scanning promoter type, and the scanning promoter type is broadcasted to all other CAN bus network access units in the third CAN1143, namely C9-C11. Thus, C1-C11 all obtain the CAN control message, so that the following first, second, third and fourth scan periods CAN be set based on the time of receiving the CAN control message or the time stamp of the CAN control message, and the state notification and the state detection described later CAN be performed.

Although in the above process, the time when each CAN bus access unit in the electrical control system 119 receives a CAN control message is not synchronized but slightly different, the first, second, third, and fourth scan periods are typically on the order of about 5s, and thus the time difference in receiving a CAN control message is negligible compared to 5 s. Accordingly, the subsequent first, second, third, and fourth scan periods may be set based on the time at which the CAN control message is received. In addition, a time stamp may be set in the CAN control message. The time stamp is added when the CAN control message is generated and is not changed along with the time that each CAN bus network access unit receives the CAN control message, so that if the subsequent first, second, third and fourth scanning periods are set based on the time stamp, the accuracy of setting the scanning periods CAN be improved, and the detection effect CAN be improved.

In addition, a first quiet period may be set before the first scan period; after the fourth scan period, a second quiet period may be set. The lengths of the first and second quiet periods may be set to be substantially the same as each of the first, second, third, and fourth scan periods, i.e., about 5 s. The connection state of each port to the first CAN bus 121 or the second CAN bus 122 in the first quiet period is the same as the first scan period, and the transmitted message is also the same as the first scan period (the connection state of each port to the first CAN bus 121 or the second CAN bus 122 and the transmitted message in the first scan period will be described later). The connection state of each port with the first CAN bus 121 or the second CAN bus 122 in the second quiet period is the same as that in the fourth scan period, and the transmitted message is also the same as that in the fourth scan period (the connection state of each port with the first CAN bus 121 or the second CAN bus 122 and the transmitted message will be described later).

The effect of setting the first quiet period is, on the one hand, to give some CAN-bus access units 110 that are not yet ready to start changing states according to the first, second, third and fourth scan periods' port-to-CAN-bus connection state change rules, and to have sufficient time to prepare for messaging, since only messages received in the first, second, third and fourth scan periods (detailed in connection state detection below) are considered in the subsequent connection state detection, the first quiet period is not active, and therefore the first quiet period serves as a buffer. On the other hand, the first quiet period is set to compensate for the time difference in which each CAN bus access unit 110 receives the above-described scan sub-type CAN control message. Thus, even if there is a time difference, only the length of the first silence period is affected, and the first, second, third and fourth scanning periods can still be synchronously started and ended.

The second silent period is set to function similarly to the first silent period, and the state of the fourth scan period is maintained in the second silent period, so that a state buffering function is realized. Meanwhile, if the CAN bus network access unit 110 fails to detect in the fourth scan period, the detection may be continued in this buffer state.

The on-off states of the on-off mechanisms of the linear CAN bus network access unit and the CAN bus network access unit of the transplanter in the first, second, third and fourth scanning periods and the sent notification messages are described below.

For a linear CAN bus networking unit, the third port 133 is connected to the second CAN bus 122 through a switch in successive first, second, third, and fourth scan periods of the networking phase. Specifically, in the embodiment of fig. 4A, the first single pole double throw switch D1 has one end connected to the third port 133 and the other end switched to be connected to the second CAN bus 122, so that the third port 133 is connected to the second CAN bus 122. In the embodiment of fig. 4B, the first switch K1 connected to the first CAN bus 121 is open and the second switch K2 connected to the second CAN bus 122 is closed.

In addition, a first quiet period before the first scan period, and a second quiet period after the fourth scan period, the third port 133 is also connected to the second CAN bus 122 through a switch. Specifically, in the embodiment of fig. 4A, the first single pole double throw switch D1 has one end connected to the third port 133 and the other end switched to connect to the second CAN bus 122. In the embodiment of fig. 4B, the first switch K1 connected to the first CAN bus 121 is open and the second switch K2 connected to the second CAN bus 122 is closed.

This is because, when the linear CAN bus networking unit actually works, only the first port 131 and the third port 133 are in operation, so that the first port 131 is connected to the first CAN bus 121, and the third port 133 is connected to the second CAN bus 122, it is clear whether the first port 131 is connected or the third port 133 is connected to the other CAN bus networking unit 110.

Fig. 5A shows a schematic diagram of a plurality of linear CAN bus network access units connected to each other during a networking phase to form an electrical control system 119. A CAN network is formed between two adjacent linear CAN bus network access units in fig. 5A, as shown by the dashed box in fig. 5A.

In one embodiment, in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, the first port 131 and the third port 133 of the linear CAN bus network access unit send a notification message, where the notification message includes an identifier of the linear CAN bus network access unit, a port number for sending the notification message, and a bus number of a port connection for sending the notification message.

The identity of the CAN-bus networking unit is a unique identifier assigned to the CAN-bus networking unit that uniquely distinguishes the identity "who" the CAN-bus networking unit is. In the notification message, this flag is used to notify the other CAN bus access unit 110 connected to the CAN bus access unit 110, which CAN bus access unit 110 port is connecting to the other.

The port number for transmitting the notification message means which port of the first port 131, the second port 132, the third port 133, and the fourth port 134 the port for transmitting the notification message is. For example, the first port 131 may be denoted by 1, the second port 132 may be denoted by 2, the third port 133 may be denoted by 3, and the fourth port 134 may be denoted by 4.

The bus number of the port connection that transmits the notification message refers to whether the port that transmits the notification message is connected to the first CAN bus 121 or the second CAN bus 122. For example, the first CAN bus 121 may be denoted by 1 and the second CAN bus 122 may be denoted by 2.

For a linear CAN bus access unit, in the networking stage, the first port is connected to the first CAN bus, and the third port is connected to the second CAN bus, so that the first CAN bus transceiver 123 is used for sending a message, and the identity of the CAN bus access unit, the bus number 1 (because the first CAN bus 121 is connected to the first CAN bus transceiver 123) and the port number 1 (because the first port 131 is connected to the first CAN bus 121) are notified through the first port 131 connected to the first CAN bus transceiver 123; the second CAN bus transceiver 124 is used to send a message, and the identification of the CAN bus access unit, bus number 2 (because the second CAN bus 122 is connected to the second CAN bus transceiver 124), and port number 3 (because the third port 133 is connected to the second CAN bus 122) are notified via the third port 133 connected to the second CAN bus transceiver 124.

Thus, as long as the adjacent CAN bus network access unit receives a notification message containing the identity of the CAN bus network access unit, the bus number 1 and the port number 1, the adjacent CAN bus network access unit determines that the first port or the third port is connected to a linear CAN bus network access unit, records the identity of the connected CAN bus network access unit, and CAN determine that the first port 131 of the linear CAN bus network access unit is connected from the port number 1. Since the first port 131 is connected to the first CAN bus 121 and functions as an entry, it is determined that the connected first port is an entry. If a message is received that contains an identification of the linear CAN bus access unit, bus number 2, port number 3, it CAN be determined from port number 3 that the third port 133 of the linear CAN bus access unit is connected. Since the third port 133 is connected to the second CAN bus 122, which functions as an outlet, the third port 133 is an outlet. In this way, the connection state of the CAN bus network access unit is notified to the adjacent CAN bus network access units through the switching of the internal switching mechanism and the notification message sent during the first scanning period, the second scanning period, the third scanning period and the fourth scanning period.

For the transfer machine CAN bus network access unit, in the first scanning period, the first port 131 is connected to the first CAN bus 121; during a second scan period, the second port 132 is connected to the second CAN bus 122 through a switch; during the third scan period, the third port 133 is connected to the second CAN bus 122 through a switch; during the fourth scan period, the fourth port 134 is connected to the second CAN bus 122.

In the embodiment of fig. 6A, the first port 131 is connected to the first CAN bus 121. During the first scanning period, the second, third and fourth single-pole double-throw switches D2-4 are respectively switched to be connected with the second CAN bus 122; in the second scanning period, the third single-pole double-throw switch D3-4 and the fourth single-pole double-throw switch D2 are respectively switched to be connected with the first CAN bus 121, and the second single-pole double-throw switch D2 is switched to be connected with the second CAN bus 122; in the third scanning period, the second single-pole double-throw switch D2 and the fourth single-pole double-throw switch D4 are respectively switched to be connected with the first CAN bus 121, and the third single-pole double-throw switch D3 is switched to be connected with the second CAN bus 122; in the fourth scanning period, the second and third single-pole double-throw switches D2-3 are respectively switched to be connected to the first CAN bus 121, and the fourth single-pole double-throw switch D4 is switched to be connected to the second CAN bus 122.

In the embodiment of fig. 6B, during the first scan period, the fifth single pole double throw switch D5 is switched to connect to the first CAN bus 121 and the third, fourth, and fifth switches K3-5 are opened; in the second scanning period, the fifth single-pole double-throw switch D5 is switched to be connected with the second CAN bus 122, the third switch K3 is closed, and the fourth and fifth switches K4-5 are opened; in the third scanning period, the fifth single-pole double-throw switch D5 is switched to be connected with the second CAN bus 122, the fourth switch K4 is closed, and the third switch K3 and the fifth switch K5 are opened; in the fourth scanning period, the fifth single-pole double-throw switch D5 is switched to be connected with the second CAN bus 122, the fifth switch K5 is closed, and the third switch K3-4 and the fourth switch K4 are opened.

Fig. 7A-D show a first, second, third, and fourth scan period switch state diagram of the transfer machine CAN bus network access unit during the networking phase. Fig. 7A shows a first scan period in which the second, third, and fourth single pole double throw switches D2-4 are respectively switched to connect with the second CAN bus 122; fig. 7B shows a second scan period in which the third and fourth single pole double throw switches D3-4 are respectively switched to connect with the first CAN bus 121 and the second single pole double throw switch D2 is switched to connect with the second CAN bus 122; fig. 7C shows a third scan period in which the second and fourth single pole double throw switches D2, D4 are switched to connect to the first CAN bus 121, respectively, and the third single pole double throw switch D3 is switched to connect to the second CAN bus 122; fig. 7D shows a fourth scan period in which the second and third single pole double throw switches D2-3 are respectively switched to connect to the first CAN bus 121 and the fourth single pole double throw switch D4 is switched to connect to the second CAN bus 122.

In the first scanning period, the first port 131 is connected to the first CAN bus 121, which means that, in normal use, the first port 131 should be connected to the first CAN bus 121 for the transfer machine CAN bus access unit. The first port 131 is connected to the first CAN bus 121 and the second, third and fourth ports 132-134 are connected to the second CAN bus 122 by means of switches, so that if the bus number corresponding to the transceiver in the notification message is 1 during the first scan period, it is necessarily the first port 131 that sends out, thereby clearly indicating to the other CAN bus network entry unit 110 to which the ports are connected that the first port 131 is connected to each other.

If it is said that in the first scan period the first port 131 is connected to the first CAN bus 121 in order to clearly distinguish whether the first port 131 is connected to the first CAN bus 121, then in the second scan period the second port 132 is connected to the second CAN bus 122 in order to clearly distinguish whether the second port 132 is connected to the second CAN bus 122. Since only the second port 132 is connected to the second CAN bus 122 at this time in the second scan period, the other ports are connected to either the first CAN bus 121 or not, and therefore if a certain CAN bus networking unit 110 receives a notification message indicating that the bus number is 2 in the second scan period, it CAN be clearly known that the second port 132 of the other CAN bus networking unit 110 is connected thereto.

Similarly, during the third scan period, the third port 133 is connected to the second CAN bus 122 in order to clearly distinguish whether the third port 133 is connected to the second CAN bus 122. In the fourth scan period, the fourth port 134 is connected to the second CAN bus 122, so as to clearly distinguish whether the fourth port 134 is connected to the second CAN bus 122, which will not be described again.

For the CAN bus network access unit of the transfer machine, the connection relation between each port and the first CAN bus 121 or the second CAN bus 122 has different setting modes in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, and the port number is difficult to be notified in the message, so that the notification message is sent by each port of the CAN bus network access unit of the transfer machine in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, and the notification message contains the identification of the CAN bus network access unit, the bus number and the specific flag bit connected with the port for sending the notification message and does not contain the port number. Then, the CAN bus network access unit 110 that receives the message sends a port inquiry request to the current CAN bus network access unit 110, and the current CAN bus network access unit 110 responds to the request, and the response indicates the port number of the bus connection. Thus, if the message is a message sent by the first CAN bus transceiver 123, the message contains the identifier of the CAN bus network access unit, the bus number 1, and a specific flag bit, where the bus number 1 indicates that the bus connected to the port for sending the notification message is the first CAN bus 121, and the specific flag bit indicates that the message is sent by the transfer machine CAN bus network access unit, for example, is 0. In the case of a message sent by the second CAN-bus transceiver 124, the message contains an identification of the CAN-bus access unit, a bus number 2, a specific flag bit, where bus number 2 indicates that the bus to which the port sending the notification message is connected is the second CAN-bus 122.

After the CAN bus network access units of the linear type and the transplanting machine send the notification messages, the notification messages of other connected CAN bus network access units are received at the same time, and the connection state of the other CAN bus network access units is determined based on the notification messages.

The CAN bus network access unit internally comprises a micro control unit (MCU, not shown) for completing logic judgment and processing in the CAN bus network access unit.

For the linear CAN-bus network access unit, the linear CAN-bus network access unit or the transplanter CAN-bus network access unit is connected with the linear CAN-bus network access unit, so that the connection state of the adjacent CAN-bus network access units is determined according to the following process.

As described above, for the linear type CAN bus network access unit, there is no specific flag bit in the notification message, and for the transfer machine CAN bus network access unit, there is a specific flag bit in the notification message, so whether the adjacent CAN bus network access unit is a linear type CAN bus network access unit or a transfer machine CAN bus network access unit CAN be determined from whether there is a specific flag bit.

If no specific bit is available, the port to be detected is connected with a linear CAN bus network access unit, and it CAN be further determined which port of the linear CAN bus network access unit is connected, and the port is an inlet or an outlet. Specifically, if a message including an identification of the linear CAN bus network access unit, a bus number 1, and a port number 1 is received, it may be determined from the port number 1 that the first port 131 of the linear CAN bus network access unit is connected. Since the first port 131 is connected to the first CAN bus 121, it functions as an inlet, and thus is an inlet. If a message is received that contains an identification of the linear CAN bus access unit, bus number 2, port number 3, it CAN be determined from port number 3 that the third port 133 of the linear CAN bus access unit is connected. Since the third port 133 is connected to the second CAN bus 122, it functions as an outlet, and thus as an outlet.

Since the connection states of the ports of the first scan period, the second scan period, the third scan period, and the fourth scan period and the CAN bus are the same for the line-type CAN bus network access unit, the above-described process may be performed at any time in the first scan period, the second scan period, the third scan period, and the fourth scan period, but in one embodiment, it may be provided that the above-described process is performed only in the first scan period, or that the above-described process is performed in any other scan period.

Therefore, if the first port 131 or the third port 133 of the linear CAN bus network access unit receives the notification message including the identifier, the bus number 1, and the port number 1 of the CAN bus network access unit during the continuous first scan period, the second scan period, the third scan period, and the fourth scan period, the MCU of the linear CAN bus network access unit determines that the first port 131 or the third port 133 is connected to one linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, determines that the connection port of the connected linear CAN bus network access unit is the first port 131, and the connected first port 131 is the entrance; if the first port 131 or the third port 133 of the linear CAN bus network access unit receives a notification message containing an identifier of the CAN bus network access unit, a bus number 2 and a port number 3 during a continuous first scan period, a second scan period, a third scan period and a fourth scan period, the MCU of the linear CAN bus network access unit determines that the first port 131 or the third port 133 is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, the connection port of the connected linear CAN bus network access unit is the third port 133, and the connected third port 133 is an outlet.

If a specific flag bit exists, the port to be detected is connected with a CAN bus network access unit of the transfer machine, and the port to be detected CAN be respectively combined with four scanning periods to determine which port of the CAN bus network access unit of the transfer machine is connected, and the port is an inlet or an outlet. As described above, during the first scan period, the first port 131 is connected to the first CAN bus 121, the second, third, and fourth ports 132 to 134 are connected to the second CAN bus 122, or none of the CAN buses are connected, wherein the connection of the first port 131 is set to be different from the other ports, mainly for the purpose of identifying whether the first port 131 is connected, and whether the first port 131 functions as an inlet or an outlet; during the second scan period, the first port 131, the third port 133, and the fourth port 134 are connected to the first CAN bus 121 or not connected to the CAN bus, and the second port 132 is connected to the second CAN bus 122, wherein the connection of the second port 132 is set to be different from the other ports, mainly for identifying whether the second port 132 is connected or not, and whether the second port 132 functions as an inlet or an outlet; in the third scanning period, the first port 131, the second port 132 and the fourth port 134 are connected to the first CAN bus 121 or not connected to the CAN bus, and the third port 133 is connected to the second CAN bus 122, mainly for identifying whether the third port 133 is connected or not and whether the third port 133 functions as an inlet or an outlet; in the fourth scan period, the first, second, and third ports 131-133 are connected to the first CAN bus 121 or not connected to the CAN bus, and the fourth port 134 is connected to the second CAN bus 122, wherein the connection of the fourth port 134 is set to be different from the other ports mainly for identifying whether the fourth port 134 is connected or not, and whether the fourth port 134 functions as an inlet or an outlet. Thus, during the first, second, third, and fourth scan periods, it is determined whether to connect the first port 131, the second port 132, the third port 133, the fourth port 134, and the properties of these ports, respectively.

If the first port 131 or the third port 133 of the linear CAN bus network access unit receives the identifier of the notification CAN bus network access unit, the bus number 1, and the notification message of a specific flag bit in the first scanning period, the specific flag bit indicates that the CAN bus network access unit sending the notification message is the transfer machine CAN bus network access unit. Therefore, the identity of the CAN bus network access unit CAN be recorded. The first CAN bus 121 is fixedly connected to the first port 131, so that the first port 131 of the transfer machine CAN bus access unit CAN be directly and surely connected without sending an inquiry request. Further, since the first port 131 is connected to the first CAN bus 121, it functions as an entry.

If the first port 131 or the third port 133 of the linear CAN bus network access unit receives the identifier of the notification CAN bus network access unit, the bus number 1 or 2, and the notification message of the specific flag bit in the second scanning period, the specific flag bit indicates that the CAN bus network access unit sending the notification message is the transfer machine CAN bus network access unit. Therefore, the identity of the CAN bus network access unit CAN be recorded. After sending a port query request to the CAN bus network access unit that sends the notification message, the received port number is 2, and at this time, it CAN be determined that the port is connected to the second port 132 of the CAN bus network access unit of the transfer machine. In the case of bus number 1, the second port 132 is connected to the first CAN bus 121, which illustrates that the second port 132 is an outlet. In the case of bus number 2, the second port 132 is an entry.

If the first port 131 or the third port 133 of the linear CAN bus network access unit receives the identifier of the notification CAN bus network access unit, the bus number 1 or 2, and the notification message of the specific flag bit in the third scanning period, the specific flag bit indicates that the CAN bus network access unit sending the notification message is the transfer machine CAN bus network access unit. Therefore, the identity of the CAN bus network access unit CAN be recorded. After sending a port query request to the CAN bus network access unit that sends the notification message, the received port number is 3, and at this time, it CAN be determined that the port is connected to the third port 133 of the CAN bus network access unit of the transfer machine. In the case of bus number 1, connected to the third port 133 is a first CAN bus 121, which illustrates that the third port is an outlet. In the case of bus number 2, this third port is the entry.

If the first port 131 or the third port 133 of the linear CAN bus network access unit receives the identifier of the notification CAN bus network access unit, the bus number 1 or 2, and the notification message of the specific flag bit in the fourth scanning period, the specific flag bit indicates that the CAN bus network access unit sending the notification message is the transfer machine CAN bus network access unit. Therefore, the identity of the CAN bus network access unit CAN be recorded. After sending a port query request to the CAN bus network access unit that sends the notification message, the received port number is 4, and at this time, it CAN be determined that the port is connected to the fourth port 134 of the CAN bus network access unit of the transfer machine. In the case of bus number 1, connected to the fourth port 134 is the first CAN bus 121, which is illustrated as the outlet. In the case of bus number 2, this fourth port is the entry.

For the CAN bus network access unit of the transfer machine, only a linear CAN bus network access unit is connected with the CAN bus network access unit, so that the MCU of the transfer machine determines the connection state of the adjacent CAN bus network access unit according to the following process.

If the port of the CAN bus network access unit of the transfer machine receives the notification message containing the identifier of the CAN bus network access unit, the bus number 1 and the port number 1 in the periods of the continuous first scanning period, the second scanning period, the third scanning period and the fourth scanning period, the MCU determines that the port is connected to a linear CAN bus network access unit and records the identifier of the connected CAN bus network access unit. From port number 1 it CAN be determined that the first port 131 of the in-line CAN-bus access unit is connected. Since the first port 131 is connected to the first CAN bus 121, it functions as an inlet, and thus is an inlet.

If the port of the CAN bus network access unit of the transfer machine receives the notification message containing the identifier of the CAN bus network access unit, the bus number 2 and the port number 3 in the periods of the continuous first scanning period, the second scanning period, the third scanning period and the fourth scanning period, the MCU determines that the port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, and determines that the port number 3 is connected to the third port 133 of the linear CAN bus network access unit. Since the third port 133 is connected to the second CAN bus 122, it functions as an outlet, and thus as an outlet.

The use stage of the CAN bus network access unit refers to a stage in which the CAN bus network access unit is actually put into use after networking, and at this time, the internal switch state of the CAN bus network access unit does not need to be set as shown in fig. 5A (linear CAN bus network access unit) or fig. 7A-D (transfer machine CAN bus network access unit), but CAN be set according to field requirements.

In the in-line CAN bus networking unit, the third port 133 is connected to the first CAN bus 121 or the second CAN bus 122 by a switch according to the field requirements at the use stage. As shown in fig. 5B, for the two CAN bus access units on the left, the third port 133 is connected to the first CAN bus 121 according to the field requirements, so that the two CAN bus access units on the left are connected to the same CAN, as shown by the dashed box on the left in fig. 5B. The third port 133 of the third CAN-bus networking unit is connected to the second CAN-bus 122 according to the field requirements, so that the third CAN-bus networking unit is connected to the fourth CAN-bus networking unit into the same CAN, as shown by the dashed box on the right side of fig. 5B.

In the transfer machine CAN bus network access unit, in the use stage, the on or off of the switch connected to at least one of the second port 132, the third port 133 and the fourth port 134 is controlled according to the field requirements. As shown in fig. 7E, the second port 132, the third port 133, and the fourth port 134 of the intermediate transfer machine CAN bus access unit are all connected to the first CAN bus 121 via the switches D2 to D4. Thus, the CAN bus network access unit of the transfer machine in the middle and the upper, lower, left and right 4 linear CAN bus network access units are all positioned in the same CAN.

In addition, according to an embodiment of the present disclosure, as shown in fig. 8, there is provided a switching control method of a linear controller area network CAN bus access unit 110, wherein the linear controller area network CAN bus access unit 110 includes a first CAN bus 121, a second CAN bus 122, a first port 131, a second port 132, a third port 133, and a fourth port 134, wherein the first port 131 is connected to the first CAN bus 121, and the third port 133 is connected to the first CAN bus 121, or to the second CAN bus 122 through a switch, the method comprising:

Step 810, in the networking phase, connecting the third port 133 to the second CAN bus 122 through the switch;

step 820, during the use phase, connecting the third port 133 to the first CAN bus 121 or the second CAN bus 122 by the switch according to the field requirements.

The details of the above steps have been described in detail above in connection with the embodiment of the linear CAN bus network access unit 110, and therefore, for the sake of economy, the details are not repeated.

Further, according to an embodiment of the present disclosure, as shown in fig. 9, there is provided a switch control method of a transfer Controller Area Network (CAN) bus access unit including a first CAN bus 121, a second CAN bus 122, a first port 131, a second port 132, a third port 133, and a fourth port 134, wherein the first port 131 is connected to the first CAN bus 121, and at least one of the second port 132, the third port 133, and the fourth port 134 is connected to the first CAN bus 121, or to the second CAN bus 122 through respective switches, the method comprising:

Step 910, during a first scan period of the networking phase, connecting the first port 131 to the first CAN bus 121 and the second, third, and fourth ports 132-134 to the second CAN bus 122 via the switch; in a second scan period, the first, third, and fourth ports 131, 133, 134 are connected to the first CAN bus 121 and the second port 132 is connected to the second CAN bus 122 through the switch; in a third scan period, the first, second, and fourth ports 131, 132, 134 are connected to the first CAN bus 121 and the third port 133 is connected to the second CAN bus 122 through the switch; in a fourth scan period, the first, second, and third ports 131-133 are connected to the first CAN bus 121 and the fourth port 134 is connected to the second CAN bus 122 through the switch;

step 920, during the use phase, controlling the on or off of the switch connected to at least one of the second port 132, the third port 133 and the fourth port 134 according to the field requirement.

The details of the above steps have been described in detail above in connection with the embodiments of the CAN bus network access unit 110 of the transplanting machine, and therefore, for the sake of economy, they will not be repeated.

Fig. 11 shows an architecture diagram of an environment in which CAN bus access unit 110 is applied according to one embodiment of the present disclosure. The architecture includes a remote visual control 199 at the remote control and a plurality of CAN bus networking units 110 at the field. The administrator at the remote end remotely controls the CAN bus network access unit 110 to carry out port connection with the adjacent CAN bus network access unit 110 through the remote visual control device 199, thereby being connected into the electrical control system of the whole conveyor line. The remote visual control device 199 may be embodied as a remote server, a part of a remote server (for example, a virtual machine), or a cloud server or a server cluster composed of a plurality of remote servers. The remote visual control 199 communicates with the CAN bus access unit 110 via wireless communication.

On the display screen of the remote visual control 199, a prompt may be displayed to guide the administrator user to complete the port connection of the CAN bus access unit 110 step by step.

According to one embodiment of the present disclosure, a remote visual CAN bus access unit assembly method is provided, which is performed by a remote visual control 199. As shown in fig. 10, the method includes:

step 410, receiving a networking request of a user at a remote visual interface;

Step 420, identifying a CAN bus network access unit in an electrical control system of a transmission line, wherein the CAN bus network access unit comprises a first CAN bus, a second CAN bus, a first port, a second port, a third port, a fourth port and a switch;

Step 430, remotely controlling the switch to connect at least one of the first port, the second port, the third port, and the fourth port to at least one of the first CAN bus and the second CAN bus.

The above steps are described in detail below.

In step 410, a remote visualization interface is displayed on a display screen of the remote visualization control 199. The user may initiate a networking request on the interface. As shown in fig. 12A, a "start networking" option is displayed on the display screen. The user selects the option on the display screen and initiates a networking request. Networking refers to the beginning of detecting which other CAN-bus networking units are connected around each CAN-bus networking unit, what the connection ports are, etc., thus forming a connection layout of the overall electrical control system.

In step 420, a CAN bus access unit in the electrical control system of the transmission line is identified. Specifically, which CAN bus network access units exist in the electrical control system, and whether the CAN bus network access units are linear CAN bus network access units or transfer machine CAN bus network access units is identified. This CAN be achieved by the remote visual control 199 broadcasting a query signal to the CAN-bus networking units within a certain range, and by the CAN-bus networking units within that range sending out a response after receiving the query signal. The response may carry an indication of whether the CAN bus network access unit that sent the response is a line type CAN bus network access unit or a transfer machine CAN bus network access unit.

Fig. 12B shows an interface for displaying that CAN bus access units are being identified after the user selects "start networking".

In step 430, the remote visual control 199 remotely controls the switch to connect at least one of the first port, the second port, the third port, the fourth port to at least one of the first CAN bus, the second CAN bus.

Specifically, for the identified linear CAN bus networking unit, the remote visualization control device 199 remotely controls the switch of the linear CAN bus networking unit to connect the third port to the second CAN bus. For the identified CAN bus network access unit of the transfer machine, in a first scanning period, the remote visual control device 199 remotely controls the switch of the CAN bus network access unit of the transfer machine, and the first port is connected to a first CAN bus; in a second scanning period, remotely controlling the switch of the CAN bus network access unit of the transfer machine to connect the second port to a second CAN bus; in a third scanning period, remotely controlling the switch of the CAN bus network access unit of the transfer machine to connect the third port to a second CAN bus; and in a fourth scanning period, the fourth port is connected to a second CAN bus by remotely controlling the switch of the CAN bus network access unit of the transfer machine. The rule of the connection is identical to the foregoing steps 210 and 310 of fig. 8 and 9, except that the connection is remotely controlled by the remote visual control device 199 in this embodiment, so that the description is omitted.

In addition, after step 430, the method may further include: and controlling the CAN bus network access unit to send a notification message in the continuous first scanning period, second scanning period, third scanning period and fourth scanning period. Specifically, for the identified linear type CAN bus network access unit, in the continuous first scanning period, second scanning period, third scanning period and fourth scanning period, the first port and the third port of the linear type CAN bus network access unit are controlled to send notification messages, wherein the notification messages contain identifiers of the CAN bus network access unit, port numbers for sending the notification messages and bus numbers for connecting ports for sending the notification messages. And controlling each port of the CAN bus network access unit of the transfer machine to send a notification message in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, wherein the notification message contains the identification of the CAN bus network access unit, the bus number connected with the port for sending the notification message and a specific flag bit. The rule of sending the notification message in each scanning period is identical to the rule of sending the notification message in the linear CAN bus network access unit and the transfer machine CAN bus network access unit in the networking stage described above, but in this embodiment, the notification message is sent by remote control of the remote visual control device 199, so that details are omitted.

Fig. 12C shows an interface for remotely controlling the identified CAN bus access unit to make port bus connections and send notification messages after identifying the CAN bus access unit.

After the CAN bus network access unit is controlled to send the notification message in the continuous first scanning period, second scanning period, third scanning period and fourth scanning period, the method further comprises the following steps: receiving the identifier, the connection port number and the connection port property of the detected connected CAN bus network access unit sent by the CAN bus network access unit, and generating a CAN bus network access unit connection layout of the electrical control system; and displaying the CAN bus network access unit connection layout of the electrical control system.

The CAN bus network access unit CAN identify the identifier, the connection port number and the connection port property of the connected CAN bus network access unit according to the notification message received from the connected CAN bus network access unit, and the process is discussed in the previous detailed description of the networking stages of the linear CAN bus network access unit and the transfer machine CAN bus network access unit and is not repeated. After the CAN bus network access unit recognizes the identity, the connection port number and the connection port property of the connected CAN bus network access unit, these information CAN be sent to the remote visual control device 199, and the remote visual control device 199 generates and displays the CAN bus network access unit connection layout of the electrical control system according to the collected information. The CAN bus access unit connection layout of the electrical control system refers to a layout showing which CAN bus access units the electrical system includes, and the port connection relationship between them (i.e. which port of one CAN bus access unit is connected to which port of an adjacent CAN bus access unit).

Fig. 12D shows an example of a connection layout generated from parameters detected by the received CAN bus access unit displayed on the display screen of the remote visual control 199.

After the CAN bus network access unit connection layout of the electrical control system is displayed, a remote visual interface on a display screen of the remote visual control device 199 CAN also receive a field connection requirement indication of the CAN bus network access unit input by a user.

As shown in fig. 12E, a prompt box may be displayed on the remote visual interface to prompt the user to enter a field connection request. The networking stage is only used for detecting the connection structure of each CAN bus network access unit in the electrical control system, and when in actual use, how the ports are connected with the buses is determined according to the field connection requirement.

Then, the switch of the CAN bus access unit may be controlled according to the field connection requirement indication to connect at least one of the first port, the second port, the third port, and the fourth port to at least one of the first CAN bus and the second CAN bus. Specifically, for a linear CAN bus access unit, the third port is connected to the first CAN bus or the second CAN bus by the switch according to a field requirement. And respectively controlling the on/off of a switch connected with at least one of the second port, the third port and the fourth port according to the field requirement for the CAN bus network access unit of the transfer machine.

As shown in fig. 12F, a remote visual interface may be provided to indicate that the connection between the port of the CAN bus access unit and the bus is being controlled according to the field connection requirement.

The embodiment provides a remote control mode, and the connection between the port and the bus in the CAN bus network access unit CAN be rapidly controlled by the remote control mode, so that networking and using efficiency is improved.

It should be understood that each embodiment in this specification is described in an incremental manner, and the same or similar parts between each embodiment are all referred to each other, and each embodiment focuses on differences from other embodiments. In particular, for the method embodiments, since they are substantially similar to the implementation described in the apparatus embodiments, the description is relatively simple, and reference is made to the description of the other embodiments for relevant points.

It should be understood that the foregoing describes specific embodiments of this specification. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

It should be understood that elements described herein in the singular or shown in the drawings are not intended to limit the number of elements to one. Furthermore, modules or elements described or illustrated herein as separate may be combined into a single module or element, and modules or elements described or illustrated herein as a single may be split into multiple modules or elements.

It is also to be understood that the phraseology and terminology employed herein are for the purpose of description and should not be regarded as limiting. The use of these terms and expressions is not meant to exclude any equivalents of the features shown and described (or portions thereof), and it is recognized that various modifications are possible and are intended to be included within the scope of the claims. Other modifications, variations, and alternatives are also possible. Accordingly, the claims should be looked to in order to cover all such equivalents.

Claims

1. The network access unit comprises a first CAN bus, a second CAN bus, a first port and a third port, wherein the connection direction of the first port and the third port is consistent with the conveying direction of a conveying section where the network access unit of the linear CAN bus is located, the first port is connected to the first CAN bus, the third port is connected to the first CAN bus or the second CAN bus through a switch, and the third port is connected to the second CAN bus through the switch in a continuous first scanning period, a second scanning period, a third scanning period and a fourth scanning period in a networking stage;

the linear CAN bus network access unit further comprises a second port, a fourth port and a microcontroller;

If the first port or the third port receives a notification message containing an identifier of a CAN bus network access unit, a bus number 1 and a port number 1 in the periods of a continuous first scanning period, a second scanning period, a third scanning period and a fourth scanning period, the microcontroller determines that the first port or the third port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, the connected connection port of the connected linear CAN bus network access unit is the first port, and the connected first port is the inlet, wherein the bus number 1 is used for identifying the first CAN bus, and the port number 1 is used for identifying the first port.

2. The linear CAN bus networking unit of claim 1, wherein the switch is a first single pole double throw switch having one end connected to a third port and the other end switched between connecting the first CAN bus and connecting the second CAN bus.

3. The linear CAN bus networking unit of claim 1, wherein the switch comprises a first switch connected to the first CAN bus and a second switch connected to the second CAN bus.

4. The linear CAN bus network access unit of claim 1, wherein in the consecutive first, second, third, and fourth scan periods, the first and third ports send notification messages containing an identification of the CAN bus network access unit, a port number for sending the notification message, and a bus number for a port connection for sending the notification message.

5. The linear CAN bus networking unit of claim 1, wherein the third port is connected to the second CAN bus through the switch during a first quiet period prior to the first scan period; and a second quiet period subsequent to the fourth scan period, the third port being connected to the second CAN bus through the switch.

6. The linear CAN bus networking unit of claim 1, wherein if the first port or the third port receives a notification message containing an identification of the CAN bus networking unit, a bus number 2, and a port number 3 during consecutive first, second, third, and fourth scan periods, the microcontroller determines that the first port or the third port is connected to one linear CAN bus networking unit, records the identification of the connected CAN bus networking unit, the connection port of the connected linear CAN bus networking unit is the third port, and the connected third port is the outlet, wherein the bus number 2 is used to identify the second CAN bus, and the port number 3 is used to identify the third port.

7. The linear CAN bus networking unit of claim 1, wherein if the first port or the third port receives a notification message containing an identification of the CAN bus networking unit, a bus number of 1, a specific flag bit in a first scan period, the microcontroller determines that the first port or the third port is connected to one of the transfer CAN bus networking units, records the identification of the connected CAN bus networking unit, the connected connection port of the connected transfer CAN bus networking unit is the first port, and the connected first port is the inlet, wherein the transfer CAN bus networking unit comprises a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port, wherein at least one of the first port is connected to the first CAN bus, the second port, the third port, and the fourth port is connected to the first CAN bus, or the second CAN bus through respective switches.

8. The linear CAN bus network access unit of claim 1, wherein if the first port or the third port receives a notification message containing an identifier of the CAN bus network access unit, a bus number 1 or 2, and a specific flag bit in the second scan period, the microcontroller determines that the first port or the third port is connected to a transfer CAN bus network access unit, and after sending a port query request to the CAN bus network access unit that sends the notification message, the received response indicates that the port number is 2, records the identifier of the connected CAN bus network access unit, the connected port of the transfer CAN bus network access unit to which is connected is a second port, and in the case of bus number 1, the connected second port is an outlet; in the case of bus number 2, the second port connected to is an inlet, where bus number 2 is used to identify a second CAN bus, and the transfer machine CAN bus network access unit includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port, where the first port is connected to the first CAN bus, and at least one of the second port, the third port, and the fourth port is connected to the first CAN bus, or connected to the second CAN bus through respective switches.

9. The linear CAN bus network access unit of claim 1, wherein if the first port or the third port receives a notification message containing an identifier of the CAN bus network access unit, a bus number 1 or 2, and a specific flag bit in the third scan period, the microcontroller determines that the first port or the third port is connected to a transfer CAN bus network access unit, and after sending a port query request to the CAN bus network access unit that sends the notification message, the received response indicates that the port number is 3, records the identifier of the connected CAN bus network access unit, the connection port of the transfer CAN bus network access unit to which is connected is the third port, and in the case of bus number 1, the connected third port is the outlet; and in the case of bus number 2, the connected third port is an inlet, wherein the bus number 2 is used for identifying a second CAN bus, and the transfer machine CAN bus network access unit comprises a first CAN bus, a second CAN bus, a first port, a second port, a third port and a fourth port, wherein the first port is connected to the first CAN bus, and at least one of the second port, the third port and the fourth port is connected to the first CAN bus or the second CAN bus through respective switches.

10. The linear CAN bus network access unit of claim 1, wherein if the first port or the third port receives a notification message containing an identifier of the CAN bus network access unit, a bus number 1 or 2, and a specific flag bit in the fourth scan period, the microcontroller determines that the first port or the third port is connected to a transfer CAN bus network access unit, and after sending a port query request to the CAN bus network access unit that sends the notification message, the received response indicates that the port number is 4, records the identifier of the connected CAN bus network access unit, the connection port of the transfer CAN bus network access unit to which the connection port is the fourth port, and in the case of bus number 1, the fourth port is the outlet; in the case of bus number 2, the fourth port is an entry, where bus number 2 is used to identify a second CAN bus, and the transfer machine CAN bus network access unit includes a first CAN bus, a second CAN bus, a first port, a second port, a third port, and a fourth port, where the first port is connected to the first CAN bus, and at least one of the second port, the third port, and the fourth port is connected to the first CAN bus, or connected to the second CAN bus through respective switches.

11. The linear CAN bus networking unit of claim 1, wherein the third port is connected to the first CAN bus or the second CAN bus by the switch according to field requirements during a use phase.

12. The transfer machine Controller Area Network (CAN) bus network access unit comprises a first CAN bus, a second CAN bus, a first port, a second port, a third port and a fourth port, wherein the connection direction of the first port and the third port and the connection direction of the second port and the fourth port are mutually perpendicular, the first port is connected to the first CAN bus, and at least one of the second port, the third port and the fourth port is connected to the first CAN bus or the second CAN bus through respective switches;

wherein, the transfer machine controller local area network CAN bus network access unit also comprises a micro control unit MCU;

If the port of the CAN bus network access unit of the transfer machine receives a notification message containing the identifier of the CAN bus network access unit, a bus number 1 and a port number 1 in the periods of the continuous first scanning period, the second scanning period, the third scanning period and the fourth scanning period, the MCU determines that the port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, the connection port of the connected linear CAN bus network access unit is a first port, and the connected first port is an inlet, wherein the bus number 1 is used for identifying the first CAN bus, and the port number 1 is used for identifying the first port.

13. The transfer machine CAN bus network access unit of claim 12, wherein the switch comprises a second single-pole double-throw switch, a third single-pole double-throw switch, a fourth single-pole double-throw switch, wherein one end of the second single-pole double-throw switch is connected to a second port, and the other end is connected to the first CAN bus or the second CAN bus; one end of the third single-pole double-throw switch is connected with a third port, and the other end of the third single-pole double-throw switch is connected with the first CAN bus or the second CAN bus; and one end of the fourth single-pole double-throw switch is connected with a fourth port, and the other end of the fourth single-pole double-throw switch is connected with the first CAN bus or the second CAN bus.

14. The transfer machine CAN bus network access unit of claim 12, wherein the switch comprises a fifth single pole double throw switch, a third, a fourth, and a fifth switch, wherein one end of the third, fourth, and fifth switches are respectively connected to a second port, a third port, and a fourth port, the other end is commonly connected to one end of the fifth single pole double throw switch, and the other end of the fifth single pole double throw switch is switched between connecting the first CAN bus and connecting the second CAN bus.

15. The transfer CAN bus networking unit of claim 12, wherein the first port is connected to a first CAN bus through the switch during a first scan period of a networking phase; connecting the second port to a second CAN bus through the switch during a second scan period; connecting the third port to a second CAN bus through the switch during a third scan period; in a fourth scan period, the fourth port is connected to a second CAN bus through the switch.

16. The CAN bus network access unit of claim 15, wherein each port of the CAN bus network access unit of the transfer machine transmits a notification message in the first, second, third and fourth scan periods, the notification message including an identification of the CAN bus network access unit, a bus number of a port connection transmitting the notification message, and a specific flag bit.

17. The transfer CAN bus networking unit of claim 16, wherein a first port is connected to a first CAN bus through the switch during a first quiet period prior to the first scan period; a second quiet period subsequent to the fourth scan period connects the fourth port to the second CAN bus through the switch.

18. The CAN bus network access unit of claim 12, wherein if the port of the CAN bus network access unit of the transfer machine receives a notification message containing an identifier of the CAN bus network access unit, a bus number 2, and a port number 3 during a continuous first scan period, a second scan period, a third scan period, and a fourth scan period, the MCU determines that the port is connected to a linear CAN bus network access unit, records the identifier of the connected CAN bus network access unit, the connection port of the connected linear CAN bus network access unit is a third port, and the connected third port is an outlet, wherein the bus number 2 is used to identify the second CAN bus, and the port number 3 is used to identify the third port.

19. The CAN bus network access unit of claim 12, wherein the switch connected to at least one of the second, third, and fourth ports is controlled to be turned on or off according to field requirements during a use period.

20. A switch control method of a linear Controller Area Network (CAN) bus network access unit, which is applied to the linear Controller Area Network (CAN) bus network access unit according to any one of claims 1 to 11, and the method comprises the following steps:

21. A switch control method of a transfer machine Controller Area Network (CAN) bus network access unit, which is applied to the transfer machine Controller Area Network (CAN) bus network access unit according to any one of the claims 12-19, and the method comprises the following steps:

in a first scanning period of the networking stage, connecting the first port to a first CAN bus through the switch; connecting the second port to a second CAN bus through the switch during a second scan period; connecting the third port to a second CAN bus through the switch during a third scan period; in a fourth scan period, connecting the fourth port to a second CAN bus through the switch;

22. A remote visual CAN bus network access unit assembly method comprises the following steps:

receiving a networking request of a user at a remote visual interface;

The CAN bus network access unit in the electrical control system of the identification conveying line is a linear CAN bus network access unit or a transfer machine CAN bus network access unit, and the linear CAN bus network access unit or the transfer machine CAN bus network access unit comprises a first CAN bus, a second CAN bus, a first port, a second port, a third port, a fourth port and a switch;

Remotely controlling the switch to connect at least one of the first, second, third, and fourth ports to at least one of the first and second CAN buses;

Wherein the remote control of the switch connects at least one of the first port, the second port, the third port, the fourth port to at least one of the first CAN bus, the second CAN bus, comprising:

For the identified linear CAN bus network access unit, remotely controlling the switch of the linear CAN bus network access unit to connect the third port to the second CAN bus;

For the identified CAN bus network access unit of the transfer machine, remotely controlling the switch of the CAN bus network access unit of the transfer machine in a first scanning period, and connecting the first port to a first CAN bus; in a second scanning period, remotely controlling the switch of the CAN bus network access unit of the transfer machine to connect the second port to a second CAN bus; in a third scanning period, remotely controlling the switch of the CAN bus network access unit of the transfer machine to connect the third port to a second CAN bus; and in a fourth scanning period, the fourth port is connected to a second CAN bus by remotely controlling the switch of the CAN bus network access unit of the transfer machine.

23. The method of claim 22, wherein after remotely controlling the switch to connect at least one of the first port, second port, third port, fourth port to at least one of the first CAN bus, second CAN bus, the method further comprises:

and controlling the CAN bus network access unit to send a notification message in the continuous first scanning period, second scanning period, third scanning period and fourth scanning period.

24. The method of claim 23, wherein the controlling the CAN bus access unit to send a notification message during successive first, second, third, and fourth scan periods comprises:

and for the identified linear CAN bus network access unit, controlling the first port and the third port of the linear CAN bus network access unit to send notification messages in the continuous first scanning period, second scanning period, third scanning period and fourth scanning period, wherein the notification messages comprise the identification of the CAN bus network access unit, the port number for sending the notification messages and the bus number connected with the port for sending the notification messages.

25. The method of claim 23, wherein the controlling the CAN bus access unit to send a notification message during successive first, second, third, and fourth scan periods comprises:

And controlling each port of the CAN bus network access unit of the transfer machine to send a notification message in the first scanning period, the second scanning period, the third scanning period and the fourth scanning period, wherein the notification message contains the identification of the CAN bus network access unit, the bus number connected with the port for sending the notification message and a specific flag bit.

26. The method of claim 23, wherein after controlling the CAN bus access unit to transmit a notification message in consecutive first, second, third, and fourth scan periods, the method further comprises:

receiving the identity, the connection port number and the connection port property of the detected connected CAN bus network access unit sent by the CAN bus network access unit, and generating a CAN bus network access unit connection layout of the electrical control system;

27. The method of claim 26, wherein after displaying the CAN bus access unit connection layout of the electrical control system, the method comprises: