CN114167790A - Distance program control vehicle device based on PowerPC framework - Google Patents
Distance program control vehicle device based on PowerPC framework Download PDFInfo
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Abstract
The invention discloses a far and near vehicle control device based on a PowerPC framework, relates to the field of vehicle control, and aims to solve the problems that the conventional vehicle control device is complex in vehicle control mode and poor in control real-time performance. This application can use the 4G module to transmit vehicle state data to the server, and mobile terminal receives this data from the server, carries out long-range accuse car, can also directly send vehicle state data for mobile terminal through bluetooth module or wifi module on the car, realizes short range control. The remote and short-range vehicle control system is used for realizing remote and short-range vehicle control.
Description
Technical Field
The invention relates to a vehicle control device, and relates to the field of vehicle control.
Background
Since the beginning of the new century, with the addition of WTO in China and the high-speed increase of domestic economy, the demands on automobiles are kept quite hot all the time, wherein commercial vehicles steadily increase and market competition structures tend to be reasonable, and passenger vehicles are more vigorous due to comprehensive factors of great price reduction and income improvement of everyone. In order to improve traveling conditions, automobiles are gradually becoming a rigid demand for every family, and with the gradual popularization of automobiles, people demand vehicles not only for simple traveling but also for convenience and comfort in use.
According to a traditional automobile, various operations and function settings can be carried out on the automobile only when a driver is in the automobile, and users often forget to lock the automobile, forget to close windows or lights and the like, so that much trouble is brought to the users.
In addition, some car control devices have the problems of complex car control mode and poor control real-time performance.
Disclosure of Invention
The invention aims to solve the problems of complex vehicle control mode and poor control real-time performance of the conventional vehicle control device, and provides a far and near vehicle control device based on a PowerPC framework.
The far and short range vehicle control device based on the PowerPC framework comprises a PowerPC framework processor, a CAN network, a 4G module, a Bluetooth module, a wifi module, a server and a mobile terminal,
the CAN network includes a plurality of different categories of CAN channels,
the PowerPC framework processor is used for building a CAN network, acquiring vehicle state data of different types through a plurality of CAN channels of different types, acquiring the frame number of a vehicle, using the frame number as a vehicle identification number, and sending the vehicle state data and the vehicle identification number of different types to the server through a 4G module, or directly sending the vehicle state data and the vehicle identification number of different types to the mobile terminal through a wifi module or a Bluetooth module; the vehicle control system is also used for controlling the corresponding vehicle according to the received vehicle identification number after receiving the vehicle control command;
the server is used for sending the received vehicle state data and the received vehicle identification numbers of different categories to the corresponding mobile terminals through the 4G network; the system is also used for receiving a vehicle control command and a corresponding vehicle identification number sent by the mobile terminal and sending the vehicle control command and the corresponding vehicle identification number to the PowerPC framework processor;
each mobile terminal is used for binding a vehicle identification number to receive different types of vehicle state data with the same vehicle identification number for display; and the system is also used for sending a vehicle control command for controlling the vehicle and a corresponding vehicle identification number to the server, or directly sending the vehicle control command and the corresponding vehicle identification number to the PowerPC framework processor through a wifi module or a Bluetooth module.
Preferably, the plurality of CAN channels of different categories comprise a power CAN channel, a comfortable CAN channel, a new energy CAN channel, a 2-way expansion CAN channel and a standby CAN channel;
the power CAN channel is used for transmitting data of an engine, a gearbox and a chassis of the vehicle;
the comfortable CAN channel is used for transmitting data of an air conditioner, independent warm air and a vehicle door controller;
the new energy CAN channel is used for transmitting data of electric vehicle types and hybrid vehicle types;
the 2-path extended CAN channel is used for transmitting data except data transmitted by the power CAN channel, the comfortable CAN channel and the new energy CAN channel;
and the standby CAN channel is used for transmitting data by using the standby CAN channel when the power CAN channel, the comfortable CAN channel, the new energy CAN channel or the 2-path extended CAN channel is not smooth.
Preferably, the PowerPC framework processor sends the vehicle state data and the vehicle identification number of different categories to the server through the 4G module or directly to the mobile terminal through the wifi module or the Bluetooth module at set time intervals; and when the control command is received, the vehicle control message is sent to the corresponding vehicle through the CAN network according to the received vehicle identification number to control the state of the corresponding vehicle.
The invention has the beneficial effects that:
according to the CAN vehicle monitoring system, the PowerPC framework processor is used for building the CAN network to transmit and receive vehicle data in real time, the latest state and various parameters of the vehicle CAN be acquired in real time, vehicle control data are issued in real time according to user requirements, and when the CAN network is abnormal in communication, the processor CAN judge network abnormality in real time and report the network abnormality. The PowerPC framework processor CAN build 6 paths of CAN channels, compared with the existing processor which CAN only build 1 path or 3 paths of CAN channels, the PowerPC framework processor has more network channels, and the PowerPC framework processor CAN collect different types of data on a vehicle in parallel by using the 6 paths of CAN channels, so that the collection speed is high;
in addition, this application still sets up networking function, sets up 4G module, bluetooth module and wiFi module on the vehicle, can use the 4G module with vehicle state data transmission to server, and mobile terminal receives this data from the server, carries out long-range accuse car, can also directly send vehicle state data for mobile terminal through bluetooth module or the WiFi module on the car, realizes short-range control. The control of the vehicle comprises starting/closing an engine, opening/closing a vehicle window (including a skylight), opening/closing/setting a vehicle air conditioner, locking the vehicle in a financial mode, checking the fuel oil allowance, the tire pressure, the kilometer number and whether fault codes exist or not of the vehicle, and checking the current geographic position coordinate information of the vehicle and the configured functions of various vehicles. The functions greatly improve the user experience of the vehicle, and simultaneously reduce the trouble of using the vehicle (for example, forgetting to lock the vehicle, forgetting to close the vehicle window, forgetting to close the vehicle lamp and the like) for the user, so that the vehicle becomes more intelligent and safer.
Therefore, this application builds the CAN network through the treater based on the powerPC framework and gathers vehicle data, and cooperation 4G module is with car access network, establishes communication "bridge" between user's cell-phone end APP and vehicle, realizes the remote control vehicle, when the user near the vehicle, also CAN connect through Wifi or bluetooth and realize the short range control vehicle, realizes intelligent car networking.
The distance and distance control vehicle device can access the vehicle to the network, so that a user can use the mobile terminal to check the vehicle state in a long distance or a short distance, and the vehicle control function enables the vehicle to become more intelligent. Meanwhile, the data size is smaller through algorithm optimization, the purpose of saving flow is achieved, and users can experience better vehicle use feeling and service with less money; the use of the PowerPC framework processor enables the whole system to run more smoothly, the real-time performance is higher, and the communication is more free.
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FIG. 1 is a schematic diagram of a distance and near programmable car control device based on a PowerPC framework;
FIG. 2 is a flow chart of a far and near vehicle control device based on a PowerPC architecture;
fig. 3 is a flowchart of a far and near vehicle control device based on a PowerPC architecture according to a third embodiment;
fig. 4 is a diagram of the relationship between the PowerPC architecture processor server and the mobile terminal.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1, the distance program control car device based on the PowerPC framework in the embodiment comprises a PowerPC framework processor 1, a CAN network, a 4G module, a bluetooth module, a wifi module, a server 2 and a mobile terminal 3,
the CAN network includes a plurality of different categories of CAN channels,
the PowerPC framework processor 1 is used for building a CAN network, acquiring vehicle state data of different types through a plurality of CAN channels of different types, acquiring a frame number of a vehicle, using the frame number as a vehicle identification number, and sending the vehicle state data of different types and the vehicle identification number to a server through a 4G module, or directly sending the vehicle state data of different types and the vehicle identification number to the mobile terminal 3 through a wifi module or a Bluetooth module; the vehicle control system is also used for controlling the corresponding vehicle according to the received vehicle identification number after receiving the vehicle control command;
the server 2 is used for sending the received vehicle state data and the received vehicle identification numbers of different categories to the corresponding mobile terminals through the 4G network; the system is also used for receiving a vehicle control command and a corresponding vehicle identification number sent by the mobile terminal 3 and sending the vehicle control command and the corresponding vehicle identification number to the PowerPC framework processor 1;
each mobile terminal 3 is used for binding a vehicle identification number to receive different types of vehicle state data with the same vehicle identification number for display; and the system is also used for sending a vehicle control command for controlling the vehicle and a corresponding vehicle identification number to the server, or directly sending the vehicle control command and the corresponding vehicle identification number to the PowerPC framework processor through a wifi module or a Bluetooth module.
In the present embodiment, the present application can realize three functions: the CAN communication data acquisition of the whole vehicle, the vehicle networking and the distance program control vehicle.
Collecting CAN communication data of the whole vehicle:
as shown in figure 1, a communication network comprising 6 paths of CAN channels is built by using a processor based on a PowerPC framework, wherein parameters such as a power CAN, a comfort CAN, a new energy CAN and a standby extended CAN are included, baud rate and the like CAN be configured to meet the requirements of different vehicle types, the PowerPC framework is a Reduced Instruction Set (RISC), has the characteristics of good scalability, zero use activity, strong processing performance and the like, and provides a powerful guarantee for the efficiency and the stability of the whole CAN network communication.
The PowerPC framework processor is used for receiving and transmitting the whole vehicle data in real time, acquiring the latest state and various parameters of the vehicle in real time, issuing vehicle control data in real time according to user requirements, and when the CAN network is abnormal in communication, the processor CAN judge and report the network abnormality in real time.
The vehicle data acquisition relates to most of ECUs of a vehicle body, and can acquire most data of the vehicle in real time, such as vehicle fuel oil allowance, anti-freezing solution allowance, engine oil allowance, tire pressure, kilometers, vehicle speed, engine rotating speed, engine torque, gearbox gear information, chassis data information, brake system information, whether fault codes exist or not, current geographic position coordinate information of the vehicle is checked, and the like.
Vehicle networking:
the processor collects the whole vehicle data, but the collected data still stays in the vehicle, a communication bridge needs to be established between the device and the user for analyzing the data or issuing the control data, the device can be connected with the server through the processor control 4G module after being powered on and started, the data are uploaded to the server (each device can take the frame number of the corresponding vehicle as the identification code of the device), the user is also connected to the server through the mobile terminal APP, the frame number and the device connected to the server are paired through binding, and therefore network connection from the mobile terminal to the vehicle is formed, data can be freely interacted between the vehicle and the mobile terminal, the structure of the transmitted data is optimized, and the best remote vehicle control user experience is achieved through the minimum flow. When the user is around the vehicle, the car control device can be connected with the mobile terminal through the heat release point of the Wifi module of the car control device, short-range car control is achieved, flow is saved, and efficiency is improved.
After the vehicle is connected to the network, the vehicle data CAN be automatically sent to the server at a set time interval, when no data is sent or no control command request exists, the vehicle control device CAN enter a sleep (low power consumption) mode and be wakened through an external RTC chip, and meanwhile, various data interaction types such as CAN data receiving wakening, network data receiving wakening and the like are supported to wake up, so that the ultralow power consumption of the device is ensured.
The 4G module in the vehicle control device can automatically dial to connect with the server after working, and when the network fails, the 4G module can automatically try to connect with the network continuously until the network is successful.
The networking working state of the vehicle control device is shown in fig. 2, the device is automatically finished after being started, the vehicle data is uploaded from a connecting network, the vehicle control message is sent by receiving a command, manual operation intervention is not needed in the process, and the use convenience of equipment is greatly improved.
Remote and short-range vehicle control:
in the whole vehicle CAN communication data acquisition and vehicle networking process, a communication link is built between a user and a vehicle, so that bidirectional data transmission becomes practical, and a precondition is provided for a vehicle control function.
The vehicle control process is as shown in fig. 3, when the vehicle control command is not executed, the vehicle control device needs to continuously send a vehicle control default message to the vehicle according to the CAN communication matrix of the vehicle to maintain the communication condition, and after the vehicle control message is sent, the vehicle control device needs to wait for a certain time (which CAN be set) to judge whether the vehicle state changes according to the vehicle control expectation, and feed the result back to the server, and finally present the result to the terminal user.
The relation among the long-distance and short-range vehicle control device, the server and the terminal user CAN be obtained by integrating three processes of vehicle CAN communication data acquisition, vehicle networking and long-distance and short-range vehicle control, as shown in fig. 4.
The second embodiment is as follows: in the embodiment, the multiple different types of CAN channels include a power CAN channel, a comfortable CAN channel, a new energy CAN channel, a 2-way extended CAN channel and a standby CAN channel;
the power CAN channel is used for transmitting data of an engine, a gearbox and a chassis of the vehicle;
the comfortable CAN channel is used for transmitting data of an air conditioner, independent warm air and a vehicle door controller;
the new energy CAN channel is used for transmitting data of electric vehicle types and hybrid vehicle types;
the 2-path extended CAN channel is used for transmitting data except data transmitted by the power CAN channel, the comfortable CAN channel and the new energy CAN channel;
and the standby CAN channel is used for transmitting data by using the standby CAN channel when the power CAN channel, the comfortable CAN channel, the new energy CAN channel or the 2-path extended CAN channel is not smooth.
The third concrete implementation mode: in the embodiment, the PowerPC architecture processor 1 sends different types of vehicle state data and vehicle identification numbers to the server through the 4G module at set time intervals, or directly sends the vehicle state data and the vehicle identification numbers to the mobile terminal through the wifi module or the bluetooth module; and when the control command is received, the vehicle control message is sent to the corresponding vehicle through the CAN network according to the received vehicle identification number to control the state of the corresponding vehicle.
In this embodiment, use the treater based on the powerPC framework to build the communication network who contains 6 ways CAN passageway, wherein contain power CAN, comfortable CAN, new forms of energy CAN and reserve CAN and extension CAN, the baud rate isoparametric of every way CAN passageway CAN be configured in order to satisfy different motorcycle type needs, and 6 ways CAN passageway has done the function differentiation, and the advantage is as follows:
(1) the division of CAN channel function makes the device possess the condition of installing earlier, needn't occupy the only OBD interface of vehicle when the loading, and the physical connection is also more lock, and the pencil is hidden in the wire casing also more regular pleasing to the eye and reliable.
(2) Each kind of functions related to the vehicle has a special CAN channel to connect communication, so that the communication speed and the communication stability CAN be greatly improved.
(3) Each path of CAN channel has fixed transmission frequency adaptive to the corresponding vehicle type, dynamic adaptation is not needed, and communication efficiency is improved.
(4) Each CAN channel simultaneously supports the sending and receiving of standard frames and extended frames, and the IDs of the standard frames and the extended frames have no range limitation.
(5) Each path of CAN channel simultaneously supports the sending and receiving of CAN single-packet data and multi-packet data, and the ID has no range limitation.
(6) Direct network management functions are supported.
(7) UDS functionality is supported.
(8) Supporting the J1939 standard.
(9) The expansion CAN channel is provided, so that more convenient conditions CAN be provided for subsequent function expansion development, and seamless butt joint CAN be realized.
(10) The standby CAN channel is equipped, when other CAN channels have communication faults, the standby CAN channel CAN be used,
avoiding affecting the function of the device.
The fourth concrete implementation mode: in the present embodiment, the distance and near program controlled vehicle apparatus based on the PowerPC framework described in the third embodiment is further limited, and the set time interval in the present embodiment is 1ms to 5000 ms.
In the embodiment, the 4G module can perform data transmission through a mobile, internet or telecommunication network, and the 4G module is usually used as a transparent transmission module, but the device is developed secondarily on the 4G module, and a Linux system is loaded on the 4G module, so that the overall safety performance and reliability of the system can be improved.
The fifth concrete implementation mode: the present embodiment is further limited to the PowerPC architecture-based distance control car device according to the first embodiment, wherein the control content for controlling the corresponding car in the present embodiment includes starting the car engine, stopping the car engine, opening the car cabin side door lock, closing the car cabin side door lock, opening the car 4 door window, closing the car 4 door window, opening the sunroof, closing the sunroof, opening the car original air conditioner and setting the air-conditioning outlet mode, the temperature value, the air output, the Auto mode, the AC mode, the push-to-talk air, forced defrosting, closing the car original air conditioner, opening the car independent warm air and setting the warm air outlet mode, the temperature value, the air output, the Auto mode, the AC mode, the push-to-talk air, forced defrosting, the temperature value, the air output, the Auto mode, the AC mode, the push-to-talk air, the forced defrosting, Turning off a vehicle parking air conditioner, turning on a vehicle double-flash vehicle searching, turning off the vehicle double-flash vehicle searching, turning on a vehicle fuel tank alarm, turning off the vehicle fuel tank alarm, turning on a vehicle rearview mirror heater, turning off the vehicle rearview mirror heater, turning on the vehicle front and rear windshield heater, turning off the vehicle front and rear windshield heater, turning on a vehicle financial lock, turning off the vehicle financial lock, turning on a vehicle short message loan removal, turning off the vehicle short message loan removal, turning on a vehicle engine rotating speed limit, turning off a vehicle engine rotating speed limit, turning on a vehicle engine torque value limit, turning off a vehicle engine torque value limit, turning on a vehicle speed limit or turning off a vehicle speed limit.
The sixth specific implementation mode: the present embodiment is further limited to the distance control car device based on the PowerPC framework described in the first embodiment,
and the PowerPC framework processor is also used for judging CAN network abnormity and reporting the CAN network abnormity to the mobile terminal 3 through the server 2.
In the embodiment, the short-range vehicle control is the short-range vehicle control (effective distance within 15 meters), the vehicle control device is connected with the user through an open Wifi hotspot, the Wifi network is utilized to transmit data, the related functions are consistent with those of the long-range vehicle control, and in addition, the Wifi hotspot provided by the vehicle control device can be used for the user to surf the internet.
In this embodiment, the PowerPC architecture is a Reduced Instruction Set (RISC), and has the characteristics of good scalability, zero-activity use, and strong processing performance, and the advantages embodied in the apparatus are as follows:
(1) the CAN communication network established by the PowerPC framework processor CAN achieve the effect that 6 paths of CAN channels CAN simultaneously receive the expansion frame data sent at 1ms intervals, and no error frame or packet loss occurs.
(2) When the processor uses a serial port (UART) to send data, the baud rate of the serial port can be as high as 3M bps, and the data throughput is ensured to the greatest extent.
(3) When the processor receives data by using the SPI communication interface, the communication frequency can be up to 8M (32bit/word), and necessary conditions are provided for large data transmission (such as firmware upgrading, file transmission and the like).
(4) The processor is provided with an IIC communication interface, the maximum frequency is supported to 400K, and the use of the peripheral IC is guaranteed.
(5) The processor is provided with a plurality of paths of 12-bit high-precision ADCs, and guarantees are provided for voltage signal acquisition.
(6) The PowerPC framework processor used by the device is a dual-core framework, so that the system can process more tasks in a shorter time, and the real-time performance of the system is improved.
(7) The Flash capacity of the processor 2M +64K provides a large margin for program and data storage.
(8) The RAM capacity of processor 192K provides sufficient space for program execution.
(9) The processor has the main frequency of 100MHz, and the processing capacity and speed are guaranteed.
(10) And the standby mode with ultra-low power consumption is supported, so that more electric quantity can be saved when the system is idle.
(11) The system supports various standby awakening modes such as serial port interruption, SPI interruption, CAN interruption and the like, and CAN respond to the request of the system in time even in a sleep mode.
(12) The high-precision watchdog is supported, and the system can be automatically restarted when an exception occurs.
(13) And remote firmware upgrading is supported, and bugs existing in functions are repaired in time.
Claims (6)
1. The far and short range vehicle control device based on the PowerPC framework is characterized by comprising a PowerPC framework processor (1), a CAN network, a 4G module, a Bluetooth module, a wifi module, a server (2) and a mobile terminal (3),
the CAN network includes a plurality of different categories of CAN channels,
the PowerPC framework processor (1) is used for building a CAN network, acquiring vehicle state data of different types through a plurality of CAN channels of different types, acquiring the frame number of a vehicle, taking the frame number as a vehicle identification number, and sending the vehicle state data and the vehicle identification number of different types to the server through a 4G module, or directly sending the vehicle state data and the vehicle identification number of different types to the mobile terminal (3) through a wifi module or a Bluetooth module; the vehicle control system is also used for controlling the corresponding vehicle according to the received vehicle identification number after receiving the vehicle control command;
the server (2) is used for sending the received vehicle state data and the received vehicle identification numbers of different categories to the corresponding mobile terminals through the 4G network; the system is also used for receiving a vehicle control command and a corresponding vehicle identification number sent by the mobile terminal (3) and sending the vehicle control command and the corresponding vehicle identification number to the PowerPC framework processor (1);
each mobile terminal (3) is used for binding a vehicle identification number to receive different types of vehicle state data with the same vehicle identification number for display; and the system is also used for sending a vehicle control command for controlling the vehicle and a corresponding vehicle identification number to the server, or directly sending the vehicle control command and the corresponding vehicle identification number to the PowerPC framework processor through a wifi module or a Bluetooth module.
2. The PowerPC architecture-based remote-proximity control vehicle device of claim 1, wherein the plurality of different categories of CAN channels include a power CAN channel, a comfort CAN channel, a new-energy CAN channel, a 2-way extended CAN channel, and a backup CAN channel;
the power CAN channel is used for transmitting data of an engine, a gearbox and a chassis of the vehicle;
the comfortable CAN channel is used for transmitting data of an air conditioner, independent warm air and a vehicle door controller;
the new energy CAN channel is used for transmitting data of electric vehicle types and hybrid vehicle types;
the 2-path extended CAN channel is used for transmitting data except data transmitted by the power CAN channel, the comfortable CAN channel and the new energy CAN channel;
and the standby CAN channel is used for transmitting data by using the standby CAN channel when the power CAN channel, the comfortable CAN channel, the new energy CAN channel or the 2-path extended CAN channel is not smooth.
3. The PowerPC architecture-based remote and close range control car device of claim 1,
the PowerPC framework processor (1) is used for sending the vehicle state data and the vehicle identification numbers of different categories to the server through the 4G module at set time intervals, or directly sending the data and the vehicle identification numbers to the mobile terminal through the wifi module or the Bluetooth module; and when the control command is received, the vehicle control message is sent to the corresponding vehicle through the CAN network according to the received vehicle identification number to control the state of the corresponding vehicle.
4. The far and near distance vehicle control device based on PowerPC architecture as claimed in claim 3, wherein the set time interval is 1 ms-5000 ms.
5. The PowerPC architecture-based remote/near field control device of claim 1, wherein the controls for controlling the corresponding vehicle include starting a vehicle engine, stopping the vehicle engine, opening a vehicle cab side door lock, closing the vehicle cab side door lock, opening a vehicle 4 door window, closing the vehicle 4 door window, opening a sunroof, closing a sunroof, opening a vehicle original air conditioner and setting an air conditioner outlet mode, a temperature value, an air outlet amount, an Auto mode, an AC mode, a push-to-air mode, forced defrosting, closing the vehicle original air conditioner, opening a vehicle independent warm air and setting a warm air outlet mode, a temperature value, an air outlet amount, closing the vehicle independent warm air, opening the vehicle parking air conditioner and setting an air conditioner outlet mode, a temperature value, an air outlet amount, an Auto mode, an AC mode, a push-to-air mode, forced defrosting, closing the vehicle parking air conditioner, Turning on vehicle double-flash vehicle seeking, turning off vehicle double-flash vehicle seeking, turning on vehicle fuel tank warning, turning off vehicle fuel tank warning, turning on vehicle rearview mirror heating, turning off vehicle rearview mirror heating, turning on vehicle front and rear windshield heating, turning off vehicle front and rear windshield heating, turning on vehicle financial locking, turning off vehicle financial locking, turning on vehicle short message elimination loan, turning on vehicle engine rotation speed limit, turning off vehicle engine rotation speed limit, turning on vehicle engine torque value limit, turning off vehicle engine torque value limit, turning on vehicle speed limit or turning off vehicle speed limit.
6. The PowerPC architecture-based remote and close range control car device of claim 1,
and the PowerPC framework processor (1) is also used for judging CAN network abnormity and reporting the CAN network abnormity to the mobile terminal (3) through the server (2).
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| CN116155645A (en) * | 2023-02-27 | 2023-05-23 | 上海中韩杜科泵业制造有限公司 | CAN bus-based equipment network access method, device, equipment and medium |
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| CN105717814A (en) * | 2016-03-18 | 2016-06-29 | 浙江吉利控股集团有限公司 | Vehicle remote control system and control method thereof |
| CN106850799A (en) * | 2017-01-24 | 2017-06-13 | 华南理工大学 | A kind of Intellectualized electric vehicle platform architectures of Internet |
| CN207711984U (en) * | 2018-01-16 | 2018-08-10 | 山东省科学院自动化研究所 | A kind of synthesis body control system of integrated OBD gateways |
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| CN116155645A (en) * | 2023-02-27 | 2023-05-23 | 上海中韩杜科泵业制造有限公司 | CAN bus-based equipment network access method, device, equipment and medium |
| CN116155645B (en) * | 2023-02-27 | 2023-09-22 | 上海中韩杜科泵业制造有限公司 | CAN bus-based equipment network access method, device, equipment and medium |
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