CN204731585U - A kind of CAN network structure of self-traveling module transportation vehicle - Google Patents
A kind of CAN network structure of self-traveling module transportation vehicle Download PDFInfo
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- CN204731585U CN204731585U CN201520455795.5U CN201520455795U CN204731585U CN 204731585 U CN204731585 U CN 204731585U CN 201520455795 U CN201520455795 U CN 201520455795U CN 204731585 U CN204731585 U CN 204731585U
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Abstract
The utility model provides a kind of CAN network structure of self-traveling module transportation vehicle, comprises power plant module, modular unit car and CAN; This CAN comprises the internal bus used for power plant module and modular unit car internal communication, with splice for power plant module and modular unit car after the vehicle bus that uses of communication, and the also car bus that after merging for multiple stage self-traveling module transportation vehicle, communication uses; Wherein, when power plant module and modular unit car splice, respective internal bus is independent, vehicle bus then sequentially passes through communication cable by power plant module with the splicing of modular unit car and is connected successively, and car bus at many self-traveling module transportation vehicles and car time connected by communication cable.The utility model enables self-traveling module transportation vehicle adopt corresponding communication modes when different operating mode, facilitate the expansion of multiple stage modular unit car, good long distance communication ability both can be provided, also can provide good communication for the control of single self-traveling module transportation vehicle.
Description
Technical field
The utility model relates to electric-controlled vehicle field, particularly relates to the CAN network structure of a kind of applicable long distance, the rear network service of multiple stage self-traveling module transportation vehicle combination.
Background technology
Self-traveling module transportation vehicle is a kind of mechanical-electrical-hydraulic integration surface car of function complexity, is applicable to large cargo long-distance transportation and the transhipment of engineering site equipment.Its vehicle is generally equipped with Digiplex, programmable LCD, controller, the multiple control panel of CAN sensor, can realize the functions such as driving, jacking, multi-mode steering.A general self-traveling module transportation vehicle is made up of 1 power plant module and the individual modular unit car of N (N >=1).Each modular unit car each other can be horizontal and/or longitudinal spliced, and every platform modular unit car can configure different suspension quantity, often arranges suspension and be called an axis.And the combination in power plant module and modular unit workshop is called share-car.Multiple stage self-traveling module transportation vehicle can also run by car, i.e. the collaborative transport of multiple stage vehicle.Self-traveling module transportation vehicle has the share-car of freedom and flexibility and car form, so go for the transport of various operating mode, various form goods.Separate unit modular cart bicycle can transport the goods of tens tons, and the combination after car can transport up to ten thousand tons of goods.
Self-traveling module transportation vehicle adopts CAN to carry out communication, because electric-control system is complicated, and relates to again the splicing construction of different modes, therefore needs for also car provides communication modes flexibly.In addition, and its communication distance can reach hundreds of rice or upper km after car, usually the CAN typical apply distance being applied to vehicle communication is then less than 100m, above-mentioned situation has constrained the development of self-traveling module transportation vehicle, under causing most self-traveling module transportation vehicle can only be applied in the form of bicycle form or a small amount of combination.
Utility model content
The purpose of this utility model is to provide a kind of CAN network structure of self-traveling module car, with meet many cars and car time communication need.
The utility model provides a kind of CAN network structure of self-traveling module transportation vehicle, comprising:
Power plant module, for self-traveling module transportation vehicle provides power;
Modular unit car, for self-traveling module transportation vehicle provides transfer of support, can splice, each other and with described power plant module to form shipping platform;
CAN, comprise the internal bus used for described power plant module and described modular unit car internal communication, with splice for described power plant module and described modular unit car after the vehicle bus that uses of communication, and the also car bus that after merging for self-traveling module transportation vehicle described in multiple stage, communication uses;
Wherein, when described power plant module and described modular unit car splice, respective described internal bus is independent, described vehicle bus then sequentially passes through communication cable by power plant module with the splicing of modular unit car and is connected successively, and car bus at many described self-traveling module transportation vehicles and car time connected by communication cable.
Further, the internal bus on described power plant module comprises the engine bus for engine communication, and the device bus for using between support equipment.
Further, described internal bus two ends and connect after described vehicle bus and two ends that are described and car bus be respectively arranged with pull-up resistor.
Further, described vehicle bus and/or the described and described pull-up resistor at one end of car bus and/or two ends is positioned at for can plug pull-up resistor.
Further, the described vehicle bus on described power plant module and described modular unit car and described and the termination of car bus is can plug communication cable interface.
Further, connect described and the communication cable of car bus is provided with according to communication distance can plug repeater.
Compared with prior art, the utility model is provided with different bus structure for different connecting methods, self-traveling module transportation vehicle is enable to adopt corresponding communication modes when different operating mode, avoiding interactional while, also facilitate the expansion of multiple stage modular unit car, both when large-tonnage transports, good long distance communication ability can be provided, and also can provide good internal communication for the control of single self-traveling module transportation vehicle.The utility model enables self-traveling module transportation vehicle independent assortment use, and breaches the limitation that original heavy engineering transport vehicle transports tonnage, form are fixing.
Also by reference to the accompanying drawings the utility model is described in further detail below by specific embodiment.
Accompanying drawing explanation
Fig. 1 is the CAN schematic network structure according to the utility model embodiment;
Attached number in the figure illustrates: 10-power plant module, 20-modular unit car, 30-internal bus, 31-engine bus, 32-device bus, 40-vehicle bus, 50-car bus, 60-pull-up resistor, can plug pull-up resistor, 70-repeater, 80-telecommunication cable, 100-self-traveling module transportation vehicle.
Embodiment
As shown in Figure 1, CAN network structure of the present utility model is applied on self-traveling module transportation vehicle 100, this self-traveling module transportation vehicle 100 generally comprises as self-traveling module transportation vehicle 100 provides the power plant module 10 of power, and provides the modular unit car 20 of transfer of support for self-traveling module transportation vehicle 100; This power plant module 10 generally carries the power system such as engine, hydraulic pump; This modular unit car 20 integrated hydraulic suspension, fluid-link steering, oil motor, can realize the splicing of different modes between multiple modular unit car 20.In the inside of a self-traveling module transportation vehicle 100, can be spliced into the shipping platform formed by a power plant module 10 driving plurality modular unit car 20, the size of shipping platform can need according to different loads to determine.When needed, can also to carry out and car, to tackle the larger shipping platform of load for unit by self-traveling module transportation vehicle 100.
The present embodiment is the CAN applied under the above constitution, comprise the internal bus 30 used for power plant module 10 and modular unit car 20 internal communication, with the vehicle bus 40 splicing rear communication for power plant module 10 and modular unit car 20 and uses, and for also car bus 50 that communication after multiple stage self-traveling module transportation vehicle 100 car uses.Wherein, when power plant module 10 and modular unit car 20 splice, respective internal bus 30 is independent, does not interfere with each other mutually; Splicing order when vehicle bus 40 then splices with each modular unit car 20 by power plant module 10 is connected successively; Each self-traveling module transportation vehicle 100 and car bus 50 multiple stage self-traveling module transportation vehicle 100 and car time, adjacent self-traveling module transportation vehicle 100 and car bus 50 be interconnected.Vehicle bus 40 in the present embodiment with and car bus 50 be all be connected by communication cable 80.
In the present embodiment, wherein internal bus 30 is because communication distance is short, and connection device is many, and process data are large, and baud rate can be adopted at the high-speed bus of more than 250Kbps.And vehicle bus 40 is with also car bus 50 communication distance is long, medium-speed bus can be adopted.Power plant module 10 is because be integrated with engine, and generally can design two internal buss 30, is engine bus 31, application extension frame format, another is device bus 32, for connection control device, I/O module, telepilot, display, and application standard frame format.The internal bus 30 of modular unit car 20 is designed to one, for being connected with respective controller, I/O module and bus sensors respectively.The vehicle bus 40 of every platform modular unit car 20 is connected with its module main control respectively.After multiple stage self-traveling module transportation vehicle 100 car, all self-traveling module transportation vehicles 100 share one and car bus 50.Vehicle bus 40 on the present embodiment medium power module 10 and modular unit car 20 and and be physical isolation between car bus 50 and separate.
Further, in an embodiment of the present utility model, for increasing communication distance, can at the two ends of the internal bus 30 of every platform power plant module 10 and modular unit car 20, and power plant module 10 be connected with modular unit car 20 after vehicle bus 40 and and the two ends of car bus 50 arrange pull-up resistor 60 respectively.Be equivalent to parallel connection after terminal resistance 60 connection at two ends, the terminal resistance of this pull-up resistor 60 is mainly used in suppressing feedback, therefore can extend communication distance.In the present embodiment, the pull-up resistor 60 of internal bus 30 fixedly can be integrated in inside modules.In other embodiments, expansion when splicing for convenience of each modular unit car 20, be positioned at vehicle bus 40 and/or and the pull-up resistor 60 of one or both ends of car bus 50 can be can plug pull-up resistor 61, facilitate at any time like this and in the end splice new modular unit car 20 again after a modular unit car 20.Power plant module 10 is the head of vehicle bus 40, can at tip placement terminal resistance 60 of its vehicle bus 40, and be positioned at the tail end of the vehicle bus 40 of the modular unit car 20 of afterbody, a pluggable pull-up resistor 61 can be installed, after having spliced, pluggable pull-up resistor be inserted in the communication interface of the vehicle bus 40 of tail module unit car 20.
In a further embodiment, the vehicle bus 40 on this power plant module 10 and modular unit car 20 and and also can adopt can plug communication cable interface in the termination of car bus 50.Power plant module 10 and the plug of multiple modular unit car 40 when splicing can be facilitated by this structure.
For solving the shorter phenomenon of CAN communication distance, in an embodiment of the present utility model, when the communication distance of CAN exceedes certain distance, can according to specific needs and the communication cable of car bus 50 is installed can plug repeater 70, with expansion bus communication length.
Below provide a power plant module 10 and be connected example with the bus of modular unit car 20 when splicing:
When vertical spelling, modular unit car 20 can splice successively after power plant module 10; When horizontal spelling, modular unit car 20 splices after power plant module 10, then with this modular unit car 20 for tie point, after it and/or the remaining modular unit car 20 of right side splicing.The modular unit car 20 spliced on rear side of power plant module 10 is numbered 1, and then according to from front to back, order from left to right numbers to successively modular unit car 20, and then order connects respective bus successively by number.
Fig. 1 is power plant module 10 and modular unit car 20 share-car composition self-traveling module transportation vehicle 100, and two self-traveling module transportation vehicles 100 schematic diagram of car collaborative work.The internal bus 30 of power plant module 10 and modular unit car 20 is independent, and the pull-up resistor 60 at its internal bus 30 two ends is integrated in inside modules.In a self-traveling module transportation vehicle 100, power plant module 10 and vehicle bus between modular unit car 20 and modular unit car 20 40 are by can the telecommunication cable 80 of plug be connected, at vehicle bus 40 tail end of maximum numbering modular unit car 20, pluggable terminal resistance 61 is installed, all vehicle bus 40 in self-traveling module transportation vehicle 100 are connected.Between two self-traveling module transportation vehicles 100 and car bus 50 by can the telecommunication cable 80 of plug connect, and car bus 50 two ends connect pluggable terminal resistance 61, make and after car on all self-traveling module transportation vehicles 100 and car bus 50 be connected.
These are only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. a CAN network structure for self-traveling module transportation vehicle, is characterized in that, comprising:
Power plant module, for self-traveling module transportation vehicle provides power;
Modular unit car, for self-traveling module transportation vehicle provides transfer of support, can splice, each other and with described power plant module to form shipping platform;
CAN, comprise the internal bus used for described power plant module and described modular unit car internal communication, with splice for described power plant module and described modular unit car after the vehicle bus that uses of communication, and the also car bus that after merging for self-traveling module transportation vehicle described in multiple stage, communication uses;
Wherein, when described power plant module and described modular unit car splice, respective described internal bus is independent, described vehicle bus then sequentially passes through communication cable by power plant module with the splicing of modular unit car and is connected successively, and car bus at many described self-traveling module transportation vehicles and car time connected by communication cable.
2. CAN network structure according to claim 1, is characterized in that,
Internal bus on described power plant module comprises the engine bus for engine communication, and the device bus for using between support equipment.
3. CAN network structure according to claim 1, is characterized in that,
The two ends of described internal bus and the described vehicle bus after connecting and two ends that are described and car bus are respectively arranged with pull-up resistor.
4. CAN network structure according to claim 3, is characterized in that,
Be positioned at described vehicle bus and/or the described and described pull-up resistor at one end of car bus and/or two ends for can plug pull-up resistor.
5. the CAN network structure according to any one of claim 1-4, is characterized in that,
Described vehicle bus on described power plant module and described modular unit car and described and the termination of car bus is can plug communication cable interface.
6. CAN network structure according to claim 5, is characterized in that,
The communication cable of the described also car bus of connection is provided with according to communication distance can plug repeater.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109537914A (en) * | 2018-11-30 | 2019-03-29 | 上海宝冶集团有限公司 | Multiple groups self-traveling module transportation vehicle runs simultaneously control method |
| CN109649248A (en) * | 2018-12-28 | 2019-04-19 | 江苏永捷工程物流有限公司 | The self-propelled hydraulic modular cart of automatic paralleling |
| CN110415453A (en) * | 2018-04-28 | 2019-11-05 | 菜鸟智能物流控股有限公司 | Logistics object management equipment and communication method |
| CN111873792A (en) * | 2020-07-31 | 2020-11-03 | 湖北航天技术研究院特种车辆技术中心 | Synchronous drive control method and device |
-
2015
- 2015-06-29 CN CN201520455795.5U patent/CN204731585U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110415453A (en) * | 2018-04-28 | 2019-11-05 | 菜鸟智能物流控股有限公司 | Logistics object management equipment and communication method |
| CN109537914A (en) * | 2018-11-30 | 2019-03-29 | 上海宝冶集团有限公司 | Multiple groups self-traveling module transportation vehicle runs simultaneously control method |
| CN109649248A (en) * | 2018-12-28 | 2019-04-19 | 江苏永捷工程物流有限公司 | The self-propelled hydraulic modular cart of automatic paralleling |
| CN111873792A (en) * | 2020-07-31 | 2020-11-03 | 湖北航天技术研究院特种车辆技术中心 | Synchronous drive control method and device |
| CN111873792B (en) * | 2020-07-31 | 2022-02-22 | 湖北航天技术研究院特种车辆技术中心 | Synchronous drive control method and device |
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