CN215067841U - Underground pipe gallery safety positioning and monitoring system based on CAN bus - Google Patents
Underground pipe gallery safety positioning and monitoring system based on CAN bus Download PDFInfo
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Abstract
The utility model relates to a CAN bus-based underground pipe gallery safety positioning and monitoring system, which comprises an underground pipe gallery industrial internet management and control center, a co-fusion type core controller and a measurement and control node; the reliability of the system is improved by constructing the CAN Internet of things in the underground pipe gallery for wired transmission; by utilizing the CAN Internet of things technology, the positions of the measurement and control nodes CAN be safely positioned, the positioning precision of the underground pipe gallery is improved, the time of the measurement and control nodes CAN be monitored, the contents such as the invasion track and the movement speed of illegal personnel CAN be inquired, and the production safety of the pipe gallery is improved. The CAN bus is used for transmitting information, and each node CAN directly send information to other nodes without forwarding by a co-fusion core controller; even if the formula core control ware that fuses altogether damages, CAN bus part highway section still CAN communicate, promotes underground pipe gallery's economical and practical nature greatly.
Description
Technical Field
The utility model relates to the technical field of underground pipe galleries; concretely, relate to underground pipe gallery safe positioning and monitored control system based on CAN bus.
Background
The underground pipe gallery is an underground passage which integrates various projects such as city water supply, drainage, gas, heat, electric power, communication, broadcast television, industry and the like. At present, although measurement and control internet of things are built in many urban underground pipe galleries at home and abroad, the measurement and control internet of things are generally built in pipe galleries by adopting a ModBus bus protocol of an RS-485 interface, a ZigBee wireless transmission protocol, an annular optical fiber, a 4G technology and the like, and are used for detecting environmental factors such as temperature, humidity, water level, combustible gas and the like in the pipe galleries and uploading the environmental factors to a management platform; remotely controlling a fan, a water pump and the like in the pipe gallery; and carrying out video monitoring on the underground pipe gallery by using the camera. In the prior art, each facility and environment inside a pipe gallery are monitored mostly by adopting control modes such as PLC, RTU and the like.
However, the safety and reliability of the internal network of the existing underground pipe gallery are not high, the cost is high, and the position inside the underground pipe gallery cannot be accurately positioned. In case of problems in the underground passage of dozens of kilometers or hundreds of kilometers, the coordinates of the underground passage cannot be accurately positioned in time, particularly when fire smoke is diffused, the camera fails, the wireless transmission distance is greatly shortened, disaster information cannot be reliably transmitted, and the safety production of the underground pipe gallery is greatly influenced.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a solve prior art's limitation, provide an underground pipe gallery safe positioning and monitored control system based on the CAN bus.
In order to realize the purpose of the utility model, the technical proposal is that:
a CAN bus-based underground pipe gallery safety positioning and monitoring system comprises an underground pipe gallery industrial internet control center, a co-fusion type core controller and a measurement and control node;
the underground pipe gallery industrial internet management and control center is connected with the co-fusion type core controller; the co-fusion type core controller and the measurement and control node are arranged in each working chamber section of the underground pipe gallery; the co-fusion type core controller is respectively used as a measurement and control center of each working cabin section and is connected with measurement and control nodes in the working cabin section where the co-fusion type core controller is located through a CAN bus; the measurement and control node is used for connecting measurement and control equipment in the underground pipe gallery.
Compared with the prior art, the utility model provides a scheme, through constructing the CAN thing networking in the underground pipe gallery and carry out wired transmission, improved the reliability of system; by utilizing the CAN Internet of things technology, the positions of the measurement and control nodes CAN be safely positioned, the positioning precision of the underground pipe gallery is improved, the time of the measurement and control nodes CAN be monitored, the contents such as the invasion track and the movement speed of illegal personnel CAN be inquired, and the production safety of the pipe gallery is improved. The CAN bus is used for transmitting information, and each node CAN directly send information to other nodes without forwarding by a co-fusion core controller; even if the formula core control ware that fuses altogether damages, CAN bus part highway section still CAN communicate, promotes underground pipe gallery's economical and practical nature greatly.
As a preferred scheme, in each working bin segment, the measurement and control node takes the co-fusion type core controller as a center, and a CAN subnet is respectively formed on the left side and the right side of the co-fusion type core controller.
As an optimal scheme, the measurement and control nodes are distributed at equal intervals along the underground pipe gallery according to geographic coordinates.
Furthermore, the layout interval of the measurement and control nodes is set according to the positioning precision requirement.
Furthermore, the measurement and control node comprises a node ID correlation module for reflecting the geographical coordinates of the measurement and control node.
Furthermore, the measurement and control node also comprises a node transmission module, an error detection module and an error processing module; the node transmission module is accessed to a CAN bus and is respectively connected with the node ID correlation module and the error processing module, and the error detection module is connected with the error processing module; wherein:
the error detection module is used for identifying the operation errors of the measurement and control nodes, scoring and weighting the operation errors according to the degree of harm and judging the operation state of the measurement and control nodes;
the error processing module is used for controlling the node transmission module to resend the information after the information sent by the node transmission module is damaged, and controlling the measurement and control node to join or withdraw from the CAN bus according to the judgment result of the error detection module on the operation state of the measurement and control node.
As an optimal scheme, the underground pipe gallery industrial internet management and control center comprises a node communication failure detection module, wherein the node communication failure detection module is used for receiving packets sent by each measurement and control node at regular time and judging whether the measurement and control node fails in communication according to the receiving condition.
As a preferred scheme, the co-fused core controller includes a network transmission module, a CAN communication transmission module, and a timestamp generation module;
the network transmission module is accessed to the connection between the underground pipe gallery industrial internet management and control center and the co-fusion type core controller; the CAN communication transmission module is accessed to a CAN bus; and the timestamp generation module is used for adding a timestamp to the node message received by the CAN communication transmission module.
As a preferred scheme, the underground pipe gallery industry internet management and control center is connected with the co-fused core controller through an ethernet.
Drawings
Fig. 1 is a schematic diagram of a system for safely positioning and monitoring an underground pipe gallery based on a CAN bus according to embodiment 1 of the present invention;
fig. 2 is a network topology diagram of the underground pipe gallery safety positioning and monitoring system based on the CAN bus provided in embodiment 2 of the present invention;
fig. 3 is a schematic diagram of a system for safely positioning and monitoring an underground pipe gallery based on a CAN bus according to embodiment 2 of the present invention;
fig. 4 is a distribution example of the measurement and control nodes of the present invention;
FIG. 5 is a logic diagram of CAN-IOT error handling according to the present invention;
fig. 6 the utility model discloses CAN sends the schematic diagram of postbox data length and timestamp register.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the embodiments described are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the present application. As used in the examples of this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims. In the description of the present application, it is to be understood that the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not necessarily used to describe a particular order or sequence, nor are they to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. The invention is further explained below with reference to the drawings and examples.
The invention is further explained below with reference to the drawings and examples.
The utility model provides a following scheme:
example 1
Referring to fig. 1, a system for safely positioning and monitoring an underground pipe gallery based on a CAN bus comprises an industrial internet management and control center 1 of the underground pipe gallery, a co-fusion type core controller 2 and a measurement and control node 3;
the underground pipe gallery industrial internet management and control center 1 is connected with the co-fusion type core controller 2; the co-fusion type core controller 2 and the measurement and control node 3 are arranged in each working cabin section of the underground pipe gallery; the co-fusion type core controller 2 is respectively used as a measurement and control center of each working cabin section and is connected with a measurement and control node 3 in the working cabin section where the co-fusion type core controller 2 is located through a CAN bus; and the measurement and control node 3 is used for connecting measurement and control equipment in the underground pipe gallery.
Compared with the prior art, the scheme provided by the embodiment has the advantages that the CAN Internet of things is constructed in the underground pipe gallery for wired transmission, so that the reliability of the system is improved; by utilizing the CAN Internet of things technology, the positions of the measurement and control nodes CAN be safely positioned, the positioning precision of the underground pipe gallery is improved, the time of the measurement and control nodes CAN be monitored, the contents such as the invasion track and the movement speed of illegal personnel CAN be inquired, and the production safety of the pipe gallery is improved. The CAN bus is used for transmitting information, and each node CAN directly send information to other nodes without forwarding by a co-fusion core controller; even if the formula core control ware that fuses altogether damages, CAN bus part highway section still CAN communicate, promotes underground pipe gallery's economical and practical nature greatly.
In particular, a large urban underground pipe gallery can be divided into a plurality of working cabin sections which work independently. In this embodiment, the CAN-IOT (CAN thing networking) is established to the CAN technique that has used the security highest to as the bottom measurement and control end LAN of piping lane industry internet management system:
the reliability of wired transmission is far higher than that of wireless transmission, especially when fire smoke is diffused, the camera is invalid, the distance of wireless transmission is greatly shortened, disaster information cannot be reliably transmitted, and the problems CAN be effectively avoided by using the CAN technology. The most reliable and economic transmission mode in the wired transmission of the Internet of things is a CAN bus which is a serial and multi-master bus, and each node CAN directly send information to other nodes without forwarding by a co-fusion type core controller; even if the co-fused core controller is damaged, the CAN bus part section CAN still communicate. The CAN bus is a lossless contention arbitration communication (which is better than the lossy contention of ethernet communication), and when more than two nodes on the bus start sending messages at the same time, bus contention occurs, and the priority is determined according to the identifier ID of the message: the information with high priority is sent without loss continuously; and the information with low priority stops sending and then sends when the bus is idle.
Referring to fig. 2, the measurement and control device includes a temperature and humidity sensor, an infrared sensor, a liquid level sensor, an oxygen sensor, a combustible gas sensor, and the like. The measurement and control nodes can be connected with the measurement and control equipment through the sensing module MCU respectively, so that the equipment such as illumination, a well lid, a pump machine and a fan can be further controlled through the sensing module MCU.
Underground pipe gallery industry internet management and control center 1 passes through ethernet connection the formula core controller 2 that fuses altogether.
Example 2
Referring to fig. 3, a system for safely positioning and monitoring an underground pipe gallery based on a CAN bus includes an industrial internet management and control center 1 of the underground pipe gallery, a co-fusion core controller 2, and a measurement and control node 3;
the underground pipe gallery industrial internet management and control center 1 is connected with the co-fusion type core controller 2; the co-fusion type core controller 2 and the measurement and control node 3 are arranged in each working cabin section of the underground pipe gallery; the co-fusion type core controller 2 is respectively used as a measurement and control center of each working cabin section and is connected with a measurement and control node 3 in the working cabin section where the co-fusion type core controller 2 is located through a CAN bus; the measurement and control node 3 is used for connecting measurement and control equipment in the underground pipe gallery;
in each working cabin segment, the measurement and control node 3 takes the co-fusion type core controller 2 as a center, and a CAN sub-network is respectively formed on the left side and the right side of the co-fusion type core controller 2;
the measurement and control nodes 3 are arranged at equal intervals along the underground pipe gallery according to geographic coordinates;
the layout interval of the measurement and control nodes 3 is set according to the positioning precision requirement.
As a preferred embodiment, the measurement and control node 3 includes a node ID association module 31 for reflecting the geographical coordinates of the measurement and control node 3.
Specifically, the co-fusion core controller of each working bay section has a unique IP address, and identifies the physical address of the working bay section, so that a mapping relationship is established between the IP address and the bay section address, and the area, the sub-control center, the substation, the location and the like of the bay section are described by the bay section address.
Through the arrangement, two CAN sub-network segments are respectively established on the left and the right in each bin segment by taking the co-fusion type core controller as the center, namely two sub-networks of CAN1 and CAN2 are formed. In the process of positioning by using CAN-IOT, as an alternative embodiment, as shown in fig. 4, the measurement and control nodes 3 are arranged one by one along the pipe rack according to geographic coordinates every 10m (which means that the positioning accuracy is 10m), and each measurement and control node 3 is assigned with a node address representing a geographic position. However, in CAN communication, communication is not based on a node address but on an identifier ID. The ID number of each measurement and control node 3 indicates the priority of the measurement and control node 3 in the CAN communication, so that the ID of each measurement and control node 3 clearly identifies the "identity and status" thereof. Each measurement and control node in the working cabin is endowed with a geographic coordinate according to the importance of the measurement and control node, and the association is established on the ID number of the measurement and control node 3, namely, each measurement and control node has a unique geographic coordinate and a unique ID number, the geographic coordinate and the ID number are in one-to-one correspondence, the geographic position of the measurement and control node 3 in the cabin can be rapidly judged according to the ID number, and vice versa.
In each work bin CAN-IOT, an 11-bit basic ID number is used, and each node is attached with a 16-ary 2-byte node address. The node address of the co-fusion core controller is 0000H; the address of the measurement and control node in the CAN1 subnet is 0001 and 002 FH; the addresses of the measurement and control nodes in the CAN2 subnet are 0101-012 FH. Wherein the high byte is the subnet number, and the low byte 01-2FH is the measurement and control node address. The upper 7 bits of the 16-bit node address are all 0, and the remaining 11 bits can be converted into the identifier ID of the node by removing the first 5 bits of 0 from the node address. As shown in table 1.
When the CAN node address of the converged core controller is 0000H, the identifier is 11 bits 0. ID of data frames uploaded by all measurement and control nodes in the CAN-IOT is set to 11 bits 0, and CAN filtering matching of the co-fusion core controller is set to be that all information frames with ID of 11 bits 0 are received. Therefore, measurement and control data of the whole CAN network are received by the co-fusion type controller and are forwarded to the pipe gallery industrial internet management platform.
In addition, the co-fusion type core controller receives a command/query frame of the pipe gallery industrial internet management platform, analyzes a destination node address and sends the destination node address with the ID of the destination address. And each measurement and control node matches the CAN filter received by the measurement and control node to be the ID of the measurement and control node. Thus, the command/query frame forwarded by the converged core controller to the management platform is only received by the CAN node with the specified destination address.
Table 1: geographic positioning table among CAN node, ID and underground pipe gallery
If the number of the measurement and control nodes in the warehouse section is doubled, the geographic coordinate of each node can be positioned at 5m, and the positioning accuracy of the nodes is doubled. Similarly, two co-fusion type core controllers CAN be arranged in each working cabin section to form 4 CAN subnets, each CAN node is laid at every 5m, and the positioning accuracy CAN reach 5 m.
Further, the measurement and control node 3 further includes a node transmission module 32, an error detection module 33, and an error processing module 34; the node transmission module 32 is connected to a CAN bus and is respectively connected to the node ID association module 31 and the error processing module 34, and the error detection module 33 is connected to the error processing module 34; wherein:
the error detection module 33 is configured to identify an operation error of the measurement and control node 3, perform scoring weighting on the operation error according to a degree of harm, and determine an operation state of the measurement and control node 3;
the error processing module 34 is configured to control the node transmission module 32 to resend the information after the information sent by the node transmission module 32 is damaged, and control the measurement and control node 3 to join or leave the CAN bus according to a determination result of the error detection module 33 on the operation state of the measurement and control node 3.
Specifically, referring to fig. 5, with the above arrangement, the measurement and control node 3 has reliable error handling and detection capabilities: after the transmitted information is damaged, the information can be automatically retransmitted; the measurement and control node can automatically exit the bus under the condition of serious errors; the measurement and control node can identify various errors and score and weight the errors according to the hazards, and when the hazards are accumulated to a certain degree, the error node can automatically exit the bus and operate without influencing the bus. When the error hazard is eliminated, the measurement and control node can automatically add the bus for operation.
As a preferred embodiment, the underground pipe gallery industrial internet management and control center 1 includes a node communication failure detection module 11, and the node communication failure detection module 11 is configured to receive packets sent by each measurement and control node 3 at regular time, and determine whether there is a communication failure of the measurement and control node 3 according to a receiving condition.
Specifically, the measurement and control nodes 3 may be set to send a heartbeat safety packet (or a data packet may be used to replace the heartbeat safety packet) to the node communication failure detection module 11 of the underground pipe gallery industrial internet management and control center 1 within a specified beat time (for example, 30 seconds). And the measurement and control nodes 3 corresponding to the sent data packets or the safe heartbeat packets are received, so that the communication is normal. The node communication failure detection module 11 may also send an inquiry packet to the measurement and control node 3 that does not send a data packet or a safe heartbeat packet, and if the data packet or the safe heartbeat packet of the measurement and control node 3 is not received in the second beat, it indicates that the measurement and control node 3 has failed in communication, and may position and indicate its geographical position.
Further, the converged core controller 2 includes a network transmission module 21, a CAN communication transmission module 22, and a timestamp generation module 23;
the network transmission module 21 is connected to the underground pipe gallery industrial internet management and control center 1 and the co-fusion type core controller 2; the CAN communication transmission module 22 is accessed to a CAN bus; the timestamp generating module 23 is configured to add a timestamp to the node packet received by the CAN communication transmission module 22.
Specifically, after the co-fusion core controller receives information of a certain measurement and control node through the CAN bus, the timestamp generation module 23 immediately starts the co-fusion core controller to send a mailbox data length and a timestamp register (CAN _ TDTxR) (x ═ 0..2), and generates a timestamp of the measurement and control node. As shown in FIG. 6, TIME [15:0] is the timestamp of the recorded message. The co-fusion type core controller superposes the timestamp and the content of the warehouse section address, the CAN original node address, the code, the data and the like, and uploads the content to the underground pipe gallery industrial internet control center 1 through a TCP/IP protocol. Therefore, the time of the measurement and control node can be accurately positioned, and the track, the movement speed and the like of illegal personnel intrusion can be inquired.
More specifically, the implementation of the underground pipe gallery in the city of the Haikou city is taken as an example:
in the underground pipe gallery working bin section, the address code of the co-molten core controller 2 is fixed to be 2 bytes in 16 systems, and the distribution is shown in table 2. Such as the starfish north road 301 bay on the west coast of the xiphou city, xienglish. The warehouse section belongs to a west coast branch control center and is supplied with power by an S22 transformer substation.
Table 2: bin address code allocation
| Address code of bin | D15-D8 | D7-D0 | D7-D4 | D3-D0 |
| Practical significance | Different regions | Different sub-control centers | Different substations | 301 cabin under same substation |
According to table 2, the address code of the 301 bin of the starfish north road on the west coast of xiphou city is set to be 2AC1H (2 is xiphou district, a is west coast branch control center, C is S22 substation, and 1 is 301 bin), and the address code of the bin is also the physical address mapped by the IP address of the co-fusion core controller.
For the node ID association module 31 of the measurement and control node 3, in the CAN-IOT of the 301 bin, 11-bit basic ID is adopted, and each measurement and control node 3 is attached with a node address of 2 bytes in 16 systems. The address of the measurement and control node in the CAN1 subnet is 0001 and 002 FH; the addresses of the measurement and control nodes in the CAN2 subnet are 0101-012 FH. Wherein the high byte is the subnet number, and the low byte 00-2FH is the measurement and control node address. The upper 7 bits of the 16-bit node address are all 0, and the remaining 11 bits can be converted into the identifier ID by removing the first 5 bits of 0 from the node address. If the address of the CAN node of the co-fused core controller is 0000H, the identifier is 11 bits 0. The node addresses and ID numbers of temperature, humidity, oxygen content, etc. are shown in Table 3.
Table 3: geographic positioning table for 301 bin segment CAN node, ID and underground pipe gallery
| Node address | 0001H (temperature) | 0002H (humidity) | 0003H (oxygen content) | … | 000nH |
| CAN1 subnet ID | 00000000001 | 00000000010 | 00000000011 | | |
| | |
15m | 25m | ||
| 10*n+5m | |||||
| Node address | 0101H (temperature) | 0102H (humidity) | 0103H (oxygen content) | … | 010nH |
| CAN2 subnet ID | 00100000001 | 00100000010 | 00100000011 | … | 001000000XX |
| Physical location | -5m | -15m | -25m | -10*n-5m |
Similarly, if the number of the measurement and control nodes is doubled in the 301 bin, the geographic coordinate of each node can be positioned at 5m, so that the positioning accuracy of the node is doubled. In addition, two co-fusion type core controllers 2 CAN be arranged in the warehouse section to form 4 CAN subnets, each CAN node is laid at every 5m, and the positioning precision CAN reach 5 m.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not limitations to the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A CAN bus-based underground pipe gallery safety positioning and monitoring system is characterized by comprising an underground pipe gallery industrial internet control center (1), a co-fusion type core controller (2) and a measurement and control node (3);
the underground pipe gallery industrial internet management and control center (1) is connected with the co-fusion type core controller (2); the co-fusion type core controller (2) and the measurement and control node (3) are arranged in each working chamber section of the underground pipe gallery; the co-fusion type core controller (2) is respectively used as a measurement and control center of each working cabin section and is connected with a measurement and control node (3) in the working cabin section where the co-fusion type core controller (2) is located through a CAN bus; and the measurement and control node (3) is used for connecting measurement and control equipment in the underground pipe gallery.
2. The CAN-bus-based underground pipe gallery safety positioning and monitoring system as claimed in claim 1, wherein in each working bin segment, the measurement and control node (3) is centered on the co-fusion type core controller (2), and a CAN sub-network is respectively formed on the left side and the right side of the co-fusion type core controller (2).
3. The CAN-bus-based underground pipe gallery safety positioning and monitoring system as claimed in claim 1, wherein the measurement and control nodes (3) are equidistantly arranged along the underground pipe gallery according to geographical coordinates.
4. The CAN-bus-based underground pipe gallery safety positioning and monitoring system as claimed in claim 3, wherein the layout interval of the measurement and control nodes (3) is set according to the positioning precision requirement.
5. The CAN-bus based underground pipe gallery safety positioning and monitoring system according to claim 3, wherein the measurement and control node (3) comprises a node ID correlation module (31) for reflecting the geographical coordinates of the measurement and control node (3).
6. The CAN-bus based underground pipe gallery safety positioning and monitoring system of claim 5, wherein the measurement and control node (3) further comprises a node transmission module (32), an error detection module (33), an error processing module (34); the node transmission module (32) is accessed to a CAN bus and is respectively connected with the node ID correlation module (31) and the error processing module (34), and the error detection module (33) is connected with the error processing module (34); wherein:
the error detection module (33) is used for identifying the operation errors of the measurement and control node (3), scoring and weighting the operation errors according to the hazard degree, and judging the operation state of the measurement and control node (3);
the error processing module (34) is used for controlling the node transmission module (32) to resend the information after the information sent by the node transmission module (32) is damaged, and controlling the measurement and control node (3) to join or withdraw from the CAN bus according to the judgment result of the error detection module (33) on the running state of the measurement and control node (3).
7. The CAN-bus-based underground pipe gallery safety positioning and monitoring system as claimed in claim 1, wherein the underground pipe gallery industrial Internet control center (1) comprises a node communication failure detection module (11), the node communication failure detection module (11) is used for receiving packets sent by each measurement and control node (3) at regular time, and judging whether the measurement and control node (3) fails in communication according to the receiving condition.
8. The CAN-bus based underground pipe gallery safety positioning and monitoring system of claim 1, wherein the co-fused core controller (2) comprises a network transmission module (21), a CAN communication transmission module (22) and a timestamp generation module (23);
the network transmission module (21) is connected to the underground pipe gallery industrial internet management and control center (1) and the co-fused core controller (2); the CAN communication transmission module (22) is accessed to a CAN bus; the timestamp generation module (23) is configured to add a timestamp to the node packet received by the CAN communication transmission module (22).
9. The CAN-bus based underground pipe gallery safety positioning and monitoring system according to claim 1, wherein the underground pipe gallery industry internet management and control center (1) is connected to the co-fused core controller (2) through Ethernet.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114779673A (en) * | 2021-12-14 | 2022-07-22 | 国网江苏省电力工程咨询有限公司 | Power pipe gallery sensing monitoring method based on screening and control signal optimization |
| CN114783126A (en) * | 2022-04-22 | 2022-07-22 | 中煤科工集团重庆智慧城市科技研究院有限公司 | Illegal intrusion control management system for tunnel pipe gallery |
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- 2021-08-06 CN CN202121826236.2U patent/CN215067841U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114779673A (en) * | 2021-12-14 | 2022-07-22 | 国网江苏省电力工程咨询有限公司 | Power pipe gallery sensing monitoring method based on screening and control signal optimization |
| CN114779673B (en) * | 2021-12-14 | 2023-08-01 | 国网江苏省电力工程咨询有限公司 | Electric power pipe gallery sensing monitoring method based on screening control signal optimization |
| CN114783126A (en) * | 2022-04-22 | 2022-07-22 | 中煤科工集团重庆智慧城市科技研究院有限公司 | Illegal intrusion control management system for tunnel pipe gallery |
| CN114783126B (en) * | 2022-04-22 | 2024-04-12 | 中煤科工集团重庆智慧城市科技研究院有限公司 | Illegal intrusion control management system for tunnel pipe gallery |
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