WO2021248286A1

WO2021248286A1 - Multi-level scalable cyber-physical system and sensor convergence access method

Info

Publication number: WO2021248286A1
Application number: PCT/CN2020/094982
Authority: WO
Inventors: 张伟功; 王莹; 周继芹; 王晶; 朱晓燕
Original assignee: 首都师范大学
Priority date: 2020-06-08
Filing date: 2020-06-08
Publication date: 2021-12-16

Abstract

The present disclosure relates to a multi-level scalable cyber-physical system and a sensor convergence access method. The system comprises: a network protocol converter, which is used for connecting to other cyber-physical systems or external devices by means of Ethernet; a communication bus, which is used for connecting to the network protocol converter, at least one master node and at least one slave node; and multiple heterogeneous data perception execution components, which comprise a sensor and/or an actuator, and are used for connecting to corresponding slave nodes according to a function division mode of the master node or the slave node, wherein the master node can initiate access to other master nodes or slave nodes by means of the communication bus, and the slave node is connected to and accesses the corresponding sensor and/or actuator by means of the function division mode. According to the present disclosure, on the basis of the dynamic access capability of a communication bus and by means of the interoperable conversion between Ethernet and the communication bus, scaling can be performed from three different levels, thereby solving the problem of heterogeneous integration and dynamic access of nodes, improving the openness and the scalability of a system, and facilitating the standardized upgrade and maintenance of the system.

Description

Multi-level expandable cyber-physical system and sensor convergence access method

Technical field

The present disclosure relates to the field of computer technology, and in particular to a cyber-physical system that can be expanded at multiple levels and a sensor convergence access method.

Background technique

Cyber-Physical Systems (CPS) is a new generation of intelligent systems that integrates information processing and physical perception through the organic combination of computing, communication and control technologies, and realizes the coordinated work of computing resources and physical resources. CPS improves the system's capabilities in information processing, real-time communication, remote precise control, and automatic component coordination through a series of high integration and interaction of computing units and physical objects in the network environment. It is a hybrid autonomous system with multidimensional heterogeneous time and space. , With real-time, safe, reliable, high-performance and other characteristics. CPS integrates advanced sensing, computing, communication, control and other information technologies and automatic control technologies to build a complex system that maps, interacts in a timely manner, and collaborates with multiple elements in the physical space and the information space to achieve the allocation and operation of resources in the system. On-demand response, rapid iteration, and dynamic optimization.

In order to meet the requirements of ubiquitous sensor access and multi-source perception fusion, CPS should have good adaptability to heterogeneous information, while allowing some components in the system to dynamically exit and access. Compared with ordinary embedded systems, CPS has higher requirements for system scalability and openness. At present, CPS mostly uses industrial field network as the basis to establish the network connection of the system, and wireless sensor network is also a main way for CPS to perceive data. However, in a large number of industrial production sites, embedded control and other fields, due to factors such as noise, signal attenuation, and message conflicts, wireless sensor networks cannot meet application requirements in terms of real-time, accuracy, and reliability. Traditional industrial field buses and networks for remote connection of embedded systems and information systems lack sufficient support in terms of transmission rate, fault tolerance, node synchronization, heterogeneous expansion, etc., and it is difficult to satisfy CPS in heterogeneous access and dynamic connection. , Reliability, real-time, openness, scalability and other aspects of the development of comprehensive needs. At the same time, most of the various wireless networks and high-speed buses lack interruption support between devices, and it is difficult to provide good support for the rapid and real-time response of events between devices in CPS applications.

With the deepening of CPS applications, the number of sensors and actuators connected to cyber-physical systems is also increasing rapidly, and the demand for heterogeneous access of sensors and actuators is also rapidly increasing. On the one hand, the access of a large number of sensors and actuators will bring great operational complexity to the CPS bottom management interface, and affect the efficiency of system data collection and drive. On the other hand, in cyber-physical system expansion and system maintenance and upgrading, there are problems of compatibility and inclusiveness of heterogeneous sensors, which have a non-negligible impact on the compatibility and continuity of system applications.

The above-mentioned shortcomings are expected to be overcome by those skilled in the art.

Summary of the invention

(1) Technical problems to be solved

In order to solve the above-mentioned problems in the prior art, the present disclosure provides a cyber-physical system and a sensor convergence access method that can be expanded at multiple levels to solve the problem of heterogeneous access and integration of cyber-physical systems.

(2) Technical solution

In order to achieve the above objectives, the main technical solutions adopted by the present disclosure include:

An embodiment of the present disclosure provides a cyber-physical system that can be expanded at multiple levels, including:

Network protocol converter, used to connect with other information physical systems or external devices via Ethernet to complete the two-way conversion of Ethernet access and bus access;

The communication bus is used to connect the network protocol converter, at least one master node and at least one slave node;

Multiple heterogeneous data-sensing execution components are used to connect with corresponding slave nodes according to the functional partitioning of the master node or slave node, and the data-aware execution components include sensors and/or actuators;

Among them, the master node can initiate access to other master nodes or slave nodes through the communication bus, and the slave nodes connect and access corresponding sensors and/or actuators through functional partitioning.

In an embodiment of the present disclosure, the communication bus is a UM-BUS bus.

In an embodiment of the present disclosure, the cyber-physical system includes 1-7 master nodes and 1-28 slave nodes, and the total number of master nodes and slave nodes is less than or equal to 29.

In an embodiment of the present disclosure, the function partitioning mode of the slave node includes an attribute storage area and a method storage area. The attribute storage area includes a node description area and a plurality of function attribute definition areas, and the method storage area includes a global method. Area and multiple functional method areas.

In an embodiment of the present disclosure, the network protocol converter includes:

The bus controller is used to control the communication and access between the master node and other master nodes and the master node and slave nodes in the cyber-physical system using the communication bus;

The Ethernet controller is used to control the two-way communication and access between the master node in the cyber-physical system and other cyber-physical systems or external devices.

Another embodiment of the present disclosure also provides a sensor convergence access method of a cyber-physical system, including:

S1. The slave node receives the bus access request of the master node, and sets the function partition mode according to the bus access request. The function partition mode of the slave node includes an attribute storage area and a method storage area. The attribute storage area includes a node description area and multiple functions An attribute definition area, the method storage area includes a global method area and a plurality of functional method areas, wherein the functional method area is used to store the code of the function processing method;

S2. The multiple heterogeneous data perception execution components are classified and grouped according to application requirements and encapsulated to obtain encapsulated data, where the data perception execution components include sensors and/or actuators;

S3. Corresponding data-aware execution components to the corresponding functional method area of the slave node based on the encapsulated data combined with the function partition method;

S4. Perform initialization operations on multiple heterogeneous data sensing execution components through the global method area, and perform state tracking and fault monitoring on the data sensing execution components in the system operating device to obtain state parameters and fault state parameters.

In an embodiment of the present disclosure, the method further includes:

When there is a newly added data-aware execution component, the data-aware execution component is classified and grouped according to the code of the functional processing method in the functional method area combined with application requirements, and the data-aware execution component is corresponding to the corresponding slave node according to the classification grouping result Function method area.

In an embodiment of the present disclosure, the method further includes:

The communication bus stores the data attributes and processing methods of multiple heterogeneous data-aware execution components connected to slave nodes in the attribute storage area and the method storage area, respectively.

In an embodiment of the present disclosure, after one of the master nodes is reset, the method further includes:

Obtain the information of the attribute storage area of the corresponding slave node by reading the attribute storage area of other master nodes and all the slave nodes on the communication bus;

The information in the global method area, function method area and attribute storage area of all slave nodes on the communication bus is processed and stored in a unified and standardized manner;

By responding to the read request, the data attributes and processing methods stored in the attribute storage area and the method storage area are loaded into each master node of the communication bus.

In an embodiment of the present disclosure, when the slave node is replaced as the master node, S1 in the method includes:

Directly set the function partition mode of the master node;

S3 includes:

Based on the encapsulated data combined with the function partition method, the data-aware execution component is mapped to the corresponding function method area of the main node.

(3) Beneficial effects

The beneficial effect of the present disclosure is that based on the dynamic access capability of the communication bus, it can be expanded from three different levels by means of the interoperability conversion between the Ethernet and the communication bus. Cyber-physical systems can support the dynamic organization and integration of different types of CPS nodes, solve the problems of heterogeneous integration and dynamic access of CPS nodes, improve the openness of CPS and system expansion capabilities, and facilitate the standardized upgrade and maintenance of CPS systems.

Description of the drawings

FIG. 1 is a structural diagram of a cyber-physical system that can be expanded at multiple levels according to an embodiment of the present disclosure;

Fig. 2 is a flowchart of a method for converging and accessing sensors of a cyber-physical system according to an embodiment of the present disclosure;

Fig. 3 is a schematic diagram of sensor aggregation and access of CPS nodes in another embodiment of the present disclosure.

detailed description

In order to better explain the present disclosure and facilitate understanding, the present disclosure will be described in detail below through specific embodiments in conjunction with the accompanying drawings.

All technical and scientific terms used herein have the same meanings as commonly understood by those skilled in the technical field of the present disclosure. The terminology used in the specification of the present disclosure herein is only for the purpose of describing specific embodiments, and is not intended to limit the present disclosure. The term "and/or" as used herein includes any and all combinations of one or more related listed items.

Based on the above, the present disclosure provides a cyber-physical system that can be expanded from multiple levels and an expansion method thereof, which can provide applications such as multi-source data expansion of cyber-physical systems, dynamic access of a large number of sensors, and information fusion of heterogeneous systems. support.

FIG. 1 is a structural diagram of a cyber-physical system that can be expanded at multiple levels according to an embodiment of the present disclosure. As shown in FIG. 1, the cyber-physical system 100 includes: a network protocol converter 110, a communication bus 120, and a master node 130 , Slave node 140 and multiple heterogeneous data-aware execution components 150.

The network protocol converter 110 is used to connect with other information physical systems or external devices via Ethernet to complete the two-way conversion of Ethernet access and bus access; the communication bus 120 is used to connect the network protocol converter 110, at least one CPS master node 130 and At least one CPS slave node 140; multiple heterogeneous data sensing execution components 150 are used to connect to corresponding slave nodes according to the functional partitioning of the master node or slave node, and the data sensing execution component 150 includes sensors and/or actuators, namely Sensor/actuator. The CPS master node 130 can initiate access to other master nodes or slave nodes through the communication bus, and the CPS slave node 140 connects and accesses corresponding sensors and/or actuators in a function partition manner.

This cyber-physical system uses two-way conversion between Ethernet and UM-BUS bus, and expands the system level through Ethernet, forms a larger system with other cyber-physical systems, and can access internal resources with each other; add new ones through UM-BUS bus The nodes in the system expand the internal functions of the system; through the function partition of the CPS node, the convergence access expansion of a variety of heterogeneous sensors/actuators is realized. The multi-level expandable cyber-physical system of the present disclosure can realize flexible extension and standardized access of system functions and interfaces from multiple levels, increase the openness of the system, and improve the cohesive coupling capability of heterogeneous sensors/actuators.

In an embodiment of the present disclosure, the network protocol converter 110 includes a bus controller and an Ethernet controller. The bus controller is used to communicate between the master node and other master nodes and the master node and slave nodes in the cyber-physical system using a communication bus. And access control; Ethernet controller is used to control the two-way communication and access between the master node in the cyber-physical system and other cyber-physical systems or external devices.

As shown in Figure 1, it includes CPS system 1 and CPS system n. Since the cyber-physical system is connected to the external Ethernet through the network protocol converter 100 therein, system-level expansion is realized; the cyber-physical system can be connected to the external Ethernet through the Ethernet Other cyber-physical systems perform information exchange; other cyber-physical systems can also access the CPS master node and CPS slave node connected on the internal communication bus of the cyber-physical system after protocol conversion via a network protocol converter via Ethernet.

In an embodiment of the present disclosure, the communication bus 120 is used to connect the CPS master node, the CPS slave node and the network protocol converter to provide a data access channel. The communication bus may be a UM-BUS bus. In other embodiments of the present disclosure, other types of communication buses may also be used according to the needs of the application. As shown in Fig. 1, in this embodiment, the UM-BUS bus is used as the internal communication bus of the CPS. Dynamically reconfigurable high-speed serial bus (UM-BUS) is a high-speed serial bus that can organically unify redundant fault tolerance and high-speed communication, and has remote expansion capability, which is proposed for system miniaturization and embedded integrated design. Each CPS master node in the CPS system 1 can access the Ethernet controller in the network protocol converter through the UM-BUS bus, and perform Ethernet communication with other devices. At the same time, other devices outside the CPS system 1 can also use specific Ethernet messages to access the CPS master node and CPS slave node connected on the UM-BUS bus in the CPS system 1 through the network protocol converter, and to the CPS master node Or CPS reads and writes from the memory, sensors, etc. in the node. The network protocol converter can convert the received specific Ethernet message into an access request to the UM-BUS bus; then according to the access request, it generates an access request to the UM-BUS bus; and then receives the UM-BUS bus node’s access request. Response information: According to the response information of the UM-BUS bus node, the response Ethernet message is constructed and sent to the access requester on the Ethernet.

In an embodiment of the present disclosure, the cyber-physical system may include 1-7 master nodes and 1-28 slave nodes, and the total number of master nodes and slave nodes is less than or equal to 29. The UM-BUS bus supports direct interconnection of multiple nodes, up to 32 channels (lane1～lane32) can be used for concurrent transmission, and the communication rate can reach 6.4Gbps. In the communication process, if some channels fail, the bus controller can monitor it in real time, dynamically allocate the data to the remaining valid channels for transmission, realize dynamic reconstruction, and dynamically fault-tolerate communication failures. The CPS master node is a node with computing capabilities in the cyber-physical system. It is the master control device on the UM-BUS bus. It can actively initiate access to other node devices on the UM-BUS bus; the CPS slave node can be used as the UM-BUS bus The slave device has 0-4 functional partitions, and each functional partition can store the function method and attribute information related to the sensor/actuator, and realize the connection and access to the sensor/actuator.

In an embodiment of the present disclosure, each CPS slave node is connected to a data perception execution component 150. The data perception execution component generally refers to the data perception component and drive execution component of the cyber-physical system, which is the basis for data perception and function execution in the CPS system. Components, including sensors and/or actuators, are connected to the cyber-physical system from nodes through CPS. These sensors/actuators are classified according to functions and data types, and their function methods and data attributes are encapsulated in different functional partitions of the CPS slave node according to the functional needs of the system.

The UM-BUS bus adopts a master-slave command response communication mode, and the nodes exchange information in the form of data packets. The nodes connected to the bus can be divided into master nodes, slave nodes and monitoring nodes according to their functions. The bus communication process is always initiated by the master node and completed by the response of the slave nodes. The monitoring node is used to monitor the communication process on the bus. The UM-BUS bus has a time synchronization function, which can ensure the precise synchronization of the time system between each node of the bus. The UM-BUS bus supports two communication modes: single-master communication and multi-master communication. In the multi-master mode, there can be multiple master nodes on the bus, and multiple master nodes need to compete for the right to use the bus through the arbitration method of variable time slot rotation. The UM-BUS bus communication process can only be initiated by the master node. The master node can read and write access to the internal functional units of other nodes according to the address. It can support three address spaces: IO space, storage space and attribute space. The attribute space is 1KB, IO The space size is 64KB, and the storage space is 256TB. The IO space and the attribute space can only be read and written by word and cannot be buffered. The storage space can only be read and written by page and needs to be buffered locally. It can provide technical support for plug-and-play of sensors and actuators in CPS, data method attribute encapsulation, high-speed and reliable connection, and heterogeneous real-time access. The UM-BUS bus also supports interrupt processing. Any node on the bus can make an interrupt request to any one or more bus nodes through a common interrupt signal line, where the bus nodes are the master and slave nodes connected to the communication bus.

During data communication between bus nodes, the processing layer at the sending end obtains data from the upper interface and stores it in the data buffer. At the transmission sublayer, the data packets are dynamically and evenly distributed to the effective channel according to the effective line information provided by the MAC sublayer. , After packaging the packet data at the physical layer, it is encoded into a bit stream by 8b/10b and sent to the link. After clock synchronization, 8b/10b decoding, serial-to-parallel conversion of the received data at the physical layer of the receiving end, the channel data is unpacked, and then the data is dynamically organized and combined in the transmission sublayer according to the effective line information provided by the MAC sublayer. Stored in the data buffer, and finally handed over to the application layer by the processing layer for processing.

In the multi-master communication mode, the master node can only send data from the physical layer to the bus after obtaining the right to use the bus, and start a bus communication process. The UM-BUS bus has a time synchronization function. When working, all nodes on the bus are in a time synchronization state. In addition, the UM-BUS bus sets up a dedicated shared interrupt signal line between all nodes. All nodes on the bus can adopt a serial encoding method to send an interrupt request signal to the shared interrupt signal line and raise an interrupt request to the bus master node. All nodes can also receive signals from the shared interrupt line to obtain the information transmitted on the interrupt line.

The UM-BUS bus node can store the data attributes and processing method codes of the sensors and actuators connected to the node in the attribute space and storage space of the bus node. When the bus node enters the system or the system is reset, the attributes stored on the node The method and method will be dynamically loaded into each master node on the bus as needed for application tasks on the master node. In order to realize the standardized operation of the UM-BUS bus node equipment in the CPS system and meet the needs of heterogeneous integration and dynamic access, the attribute space of the UM-BUS bus can be used to realize a software-defined virtual device. Through the attribute space The defined standardized interfaces and methods realize the consistent operation of heterogeneous equipment. UM-BUS bus nodes can use the attribute space to define the device type, function classification, function organization, function loading requirements, sensor/actuator connection and other conditions of the node.

In an embodiment of the present disclosure, the functional partitioning method of the bus node includes an attribute storage area and a method storage area. The attribute storage area includes a node description area and multiple function attribute definition areas, and the method storage area includes a global method. Areas and multiple functional method areas are used to store global processing method codes and functional processing method codes. The number of functional attribute definition areas and functional method areas is up to four.

The node description area includes three parts: node identification, global method information, and functional attribute definition description information. The node identification is used to describe and define the node number, node type, node name, production information, etc. of the node device. The global method information is the node global The storage location information of the function method code in the storage space, and the function attribute definition description information describes and defines the interrupt control of the node device, the function type, the number of function method areas, and the storage space mapping requirements.

The function attribute definition area includes three parts: function identifier, function processing method information and function data information. The function identifier is used to store the function code, function name, basic attribute of function operation and other information. The function processing method information is the processing method code included in the function. The storage location information of the space, and the functional data information are the address information of the attribute space and the IO space in the functional module that can be directly or indirectly accessed by the application task.

The storage areas of the global method area and the 4 functional method areas are independent of each other. Whether it is the global method area or the functional method area, each method area includes a method description area, a method mapping area, and a method entity area. The method description area stores basic information such as method area name, version, method quantity, etc.; method mapping area creates an index item for each method including method name, parameter, code storage location, etc.; method entity area is all functional methods of the method area The actual storage area of the processing code and data.

For the above cyber-physical system, when a UM-BUS bus master node is reset, the master node reads the attribute space of all other nodes on the bus, and according to the information in the node description area and function attribute definition area of each node’s attribute space, The global method code and function method code and data information of each node are loaded into the memory of the main node, and through a unified specification, for application tasks in the system to access and call. When a UM-BUS bus node is connected to the bus system (or after reset), it will actively request all the master nodes on the bus to read the attribute space of the new access node, and change the node's global method and function method code And data information is loaded into the memory of all master nodes for system use.

Based on the above-mentioned UM-BUS bus and the working principle of the system, a specific implementation of the cyber-physical system that can be expanded at multiple levels in the present disclosure is as follows:

For the CPS system 1 shown in Figure 1, it can be extended from three different levels:

(1) CPS system-level expansion

As shown in Figure 1, the CPS system 1 is connected to an external Ethernet through the network protocol converter therein, and connected with other CPS systems through the Ethernet to achieve system-level expansion. The CPS system 1 can exchange information with other cyber-physical systems via Ethernet, send the information to the CPS system n in an Ethernet message, and can also receive the Ethernet message information sent by the CPS system n. When each CPS master node in CPS system 1 needs to send out Ethernet messages, or need to receive Ethernet messages from the The Ethernet controller performs access, and the Ethernet message is sent and received through the Ethernet controller.

Other CPS systems on the Ethernet, such as CPS system n, can send specific Ethernet messages to the network protocol converter in CPS system 1 via Ethernet. The CPS master node and CPS slave node perform read and write access to memory, sensors/actuators, etc.

(2) CPS system function module expansion

The CPS system 1 shown in Fig. 1 can realize dynamic expansion of the internal functions of the system by connecting more CPS master nodes or CPS slave nodes on the UM-BUS bus. When the CPS master node n needs to be expanded, connect it to the UM-BUS bus. After the CPS master node completes the reset initialization, it dynamically loads the function methods and attributes of all the nodes in the CPS system 1 through the UM-BUS bus, and then uses the load function method to manage those existing nodes, and can Read and write access to the data of existing nodes and connected sensors/actuators. At the same time, other existing CPS master nodes in the CPS system 1 will also dynamically load the function methods and attributes of the newly added CPS master node n according to the UM-BUS bus node dynamic loading protocol, and then use the loaded function method It manages the CPS master node n and its connected sensors/actuators, and can read and write access to the data of the CPS master node n and its connected sensors/actuators.

When the CPS slave node n needs to be expanded, connect it to the UM-BUS bus. After the slave node n completes the reset initialization, the existing CPS master nodes in the CPS system 1 will dynamically load the function methods and attributes of the newly added CPS slave node n according to the UM-BUS bus node dynamic loading protocol. Then use the loading function method to manage the CPS slave node n and its connected sensors/actuators, and can read and write access to the data of the CPS slave node n and its connected sensors/actuators.

(3) Sensor/actuator extension

The CPS system 1 shown in Fig. 1 can expand data collection and control functions by connecting more sensors/actuators to each CPS slave node. A CPS slave node can have 0-4 functional partitions. Each functional zone can be connected to a variety of different sensors/actuators, and corresponding functions and data processing methods are set for these sensors/actuators. The sensors/actuators to be connected can be classified and grouped. Access to different functional partitions of the CPS slave node, and use the functional partition and dynamic loading characteristics of the CPS slave node to support the convergent access to a large number of heterogeneous sensors/actuators.

Based on the multi-level expandable cyber-physical system provided by the first embodiment, based on the dynamic access capability of communication buses such as UM-BUS, and with the help of the interoperability conversion between Ethernet and communication buses, it can be expanded from three different levels: 1 ) High-level expansion between multiple cyber-physical systems can be realized through Ethernet; 2) Functional expansion can be carried out within cyber-physical systems through the communication bus; 3) Various heterogeneous sensing/executions can be performed through CPS node functional partitioning Convergence access extension of the device. This enables the cyber-physical system based on the present disclosure to support the dynamic organization and integration of different types of CPS nodes, solve the problems of heterogeneous integration and dynamic access of CPS nodes, improve the openness and system expansion capabilities of CPS, and facilitate the standardization and upgrade of CPS systems maintain.

Fig. 2 is a flow chart of a method for sensor aggregation and access of a cyber-physical system provided by an embodiment of the present disclosure. As shown in Fig. 2, the method includes the following steps:

As shown in Figure 2, in step S1, the slave node receives the bus access request of the master node, and sets the function partition mode according to the bus access request. The function partition mode of the slave node includes an attribute storage area and a method storage area. The attribute storage area Including a node description area and multiple functional attribute definition areas, the method storage area includes a global method area and multiple functional method areas, wherein the functional method area is used to store the code of the functional processing method;

As shown in Figure 2, in step S2, multiple heterogeneous data perception execution components are classified and grouped according to application requirements and encapsulated to obtain encapsulated data, where the data perception execution components include sensors and/or actuators;

As shown in Figure 2, in step S3, the data-aware execution component is mapped to the corresponding functional method area of the slave node based on the encapsulated data combined with the function partition mode;

As shown in Figure 2, in step S4, the multiple heterogeneous data sensing execution components are initialized through the global method area, and the data sensing execution components are tracked and fault monitored in the system operation device to obtain the status parameters and fault status. parameter.

Based on the above-mentioned access method, for the CPS slave node of the cyber-physical system, the functional agent in the functional method area realizes the encapsulation and shielding of the heterogeneous characteristics of the sensor, and provides a unified access agent to the system for sensors with the same function or the same data; The system management agent in the global method area, combined with functional agents, realizes sensor status tracking and fault monitoring, and realizes the convergence and access expansion of multiple heterogeneous sensors. The sensor convergence access method of the cyber-physical system of the present disclosure can shield structural differences, can converge access and manage a large number of sensors, and expand the multi-source data of the cyber-physical system, the dynamic access of a large number of sensors, and the information fusion of heterogeneous systems. And other applications to provide support.

The specific implementation of each step of the embodiment shown in FIG. 2 is described in detail below:

In step S1, since the slave node is the controlled party, it needs to perform corresponding processing according to the received bus access request. When the slave node in step S1 is replaced as the master node, the function partition mode of the master node is directly set . Correspondingly, in step S3, the data sensing execution component is mapped to the corresponding functional method area of the master node based on the encapsulated data combined with the function partition method.

In an embodiment of the present disclosure, the method further includes:

For a CPS slave node, if the sensor/actuator is to be converged and accessed, the number of functional partitions should be 1-4. At this time, the CPS slave node can use its global method area and functional method area. Taking the sensor as an example, the sensor can be aggregated and connected according to the following method:

(1) All the sensors connected to the CPS slave node are grouped according to application requirements, and each group of sensors corresponds to a functional method area;

(2) In the functional method area of the CPS slave node, set the required functional processing methods and data access methods for data collection, processing, and transmission for each sensor; these functional processing methods and data access methods will be reset after the system is reset , Will be dynamically loaded into the memory of the node by all CPS master nodes in the cyber-physical system, and called by application tasks as needed;

(3) A group of methods in the functional method area of the CPS slave node can form a functional agent to perform unified abstract management of sensors from different manufacturers and different structures according to functional types or data types. FIG. 3 is a schematic diagram of the convergent access of CPS node sensors in another embodiment of the present disclosure. As shown in FIG. 3, the heterogeneous attributes of the sensors are shielded through method encapsulation. When the application tasks use the data collection, processing, and transmission functions related to the physical characteristics of the sensor, they are all performed by calling these standard interfaces in the functional agents loaded into the memory of the CPS master node;

(4) The functional agent in Figure 3 is not only responsible for processing the function and data of the sensor, but also for the initialization, status tracking and fault monitoring of the sensor. After the function method area is dynamically loaded, the management of the global method backplane Next, initialize the sensor, and then continuously monitor the working status of the sensor and its method during the operation of the system, and record the key parameters and fault status of the sensor by the backplane agent in the global method;

(5) In the CPS slave node, the global method area serves as the unified backplane of each functional method area, providing an interface between the system and each functional method area; at the same time, the global method area also implements a system management agent to complete the control of each functional method area. Agent tracking status and fault report collection and summary, and report upward; at the same time, the system management agent will also locally record the key working status parameters and fault status of the sensor as required.

Based on the above access method, since the CPS master node in the cyber-physical system can have all the functions of the CPS slave node, all CPS master nodes can use the same method as the CPS slave node to perform convergent access to sensors. For the actuator used in CPS, like the sensor, the above method can also be used to converge access from the node through the CPS, and the actuator and the sensor can use the same functional method area.

In specific applications, the CPS master node can also be used to implement the convergent access of the aforementioned sensors/actuators. In this case, the CPS master node will not only set the corresponding function attribute area and function method area through the attribute space and memory, but also provide the function method and attribute encapsulation of the sensor/actuator, and realize the connection of the connected sensor and actuator. Management and monitoring. At the same time, the CPS master node will also serve as a CPS master node to dynamically load the function methods on this node and other nodes, run the corresponding system applications, and access the sensors and actuators on this node and other nodes.

The multi-level expandable cyber-physical system realized by the present disclosure is based on the UM-BUS bus and Ethernet, and establishes a hierarchical connection structure and functional device connection method for the cyber-physical system, so that the cyber-physical system can follow a unified specification , Flexible and convenient expansion from the three levels of the system layer, the function module layer and the perception execution interface layer can greatly improve the openness and scalability of the system, and can improve the dynamic compatibility of heterogeneous CPS nodes, which is beneficial to CPS Standardized upgrade and maintenance of the system.

It should be noted that, without departing from the spirit of the present disclosure, the present disclosure can have many variations, such as: replacing the UM-BUS bus with other networks or buses, replacing the Ethernet with other networks or buses, and changing the information physics Changing the system to another system, changing the number of functional partitions in the CPS node, etc., can all be changed in different implementations. These modifications are also included in the scope of protection claimed by the present disclosure.

In summary, adopting the sensor convergence access method of a cyber-physical system that can be expanded at multiple levels provided by the embodiments of the present disclosure has the following technical effects:

Based on the dynamic access capability of the UM-BUS bus, in the cyber-physical system, the convergence access of multiple heterogeneous sensors/actuators through the functional partition of CPS nodes can shield the differences of heterogeneous sensors/actuators. Unified and standardized management, and can continuously track and monitor the status and faults of sensors/actuators. The cyber-physical system based on the present disclosure can support the dynamic organization and integration of a large number of heterogeneous sensors/actuators, improve the openness and system expansion capability of the CPS, and facilitate the standardized upgrade and maintenance of the CPS system.

It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above may be embodied in one module or unit. Conversely, the features and functions of a module or unit described above can be further divided into multiple modules or units to be embodied.

Those skilled in the art will easily think of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptive changes of the present disclosure. These variations, uses, or adaptive changes follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field that are not disclosed in the present disclosure. . The description and the embodiments are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are pointed out by the following claims.

It should be understood that the present disclosure is not limited to the precise structure that has been described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

A cyber-physical system that can be expanded at multiple levels is characterized in that it includes:

Network protocol converter, used to connect with other information physical systems or external devices via Ethernet to complete the two-way conversion of Ethernet access and bus access;

The communication bus is used to connect the network protocol converter, at least one master node and at least one slave node;

Multiple heterogeneous data-sensing execution components are used to connect with corresponding slave nodes according to the functional partitioning of the master node or slave node, and the data-aware execution components include sensors and/or actuators;

Among them, the master node can initiate access to other master nodes or slave nodes through the communication bus, and the slave nodes connect and access corresponding sensors and/or actuators through functional partitioning.
The cyber-physical system with multi-level scalability according to claim 1, wherein the communication bus is a UM-BUS bus.
The cyber-physical system with multi-level scalability according to claim 1, wherein the cyber-physical system includes 1-7 master nodes and 1-28 slave nodes, and the total number of master nodes and slave nodes is less than Or equal to 29.
The cyber-physical system with multi-level scalability according to claim 1, wherein the functional partitioning mode includes an attribute storage area and a method storage area, and the attribute storage area includes a node description area and multiple functional attribute definition areas, The method storage area includes a global method area and multiple functional method areas.
The cyber-physical system capable of multi-level expansion according to claim 1, wherein the network protocol converter comprises:

The bus controller is used to control the communication and access between the master node and other master nodes and the master node and slave nodes in the cyber-physical system using the communication bus;

The Ethernet controller is used to control the two-way communication and access between the master node in the cyber-physical system and other cyber-physical systems or external devices.
A sensor convergence access method for a cyber-physical system according to any one of claims 1 to 5, characterized in that it comprises:

S1. The slave node receives the bus access request of the master node, and sets the function partition mode according to the bus access request. The function partition mode of the slave node includes an attribute storage area and a method storage area. The attribute storage area includes a node description area and multiple functions An attribute definition area, the method storage area includes a global method area and a plurality of functional method areas, wherein the functional method area is used to store the code of the function processing method;

S2. The multiple heterogeneous data perception execution components are classified and grouped according to application requirements and packaged to obtain encapsulated data, where the data perception execution components include sensors and/or actuators;

S3. Corresponding data-aware execution components to the corresponding functional method area of the slave node based on the encapsulated data combined with the function partition method;

S4. Perform initialization operations on multiple heterogeneous data sensing execution components through the global method area, and perform state tracking and fault monitoring on the data sensing execution components in the system operating device to obtain state parameters and fault state parameters.
The sensor convergence access method of the cyber-physical system according to claim 6, wherein the method further comprises:

When there is a newly added data-aware execution component, the data-aware execution component is classified and grouped according to the code of the functional processing method in the functional method area combined with application requirements, and the data-aware execution component is corresponding to the corresponding slave node according to the classification grouping result Function method area.
The sensor convergence access method of the cyber-physical system according to claim 6, wherein the method further comprises:

The communication bus stores the data attributes and processing methods of multiple heterogeneous data-aware execution components connected to slave nodes in the attribute storage area and the method storage area, respectively.
The sensor convergence access method of the cyber-physical system according to claim 8, wherein when one of the master nodes is reset, the method further comprises:

Obtain the information of the attribute storage area of the corresponding slave node by reading the attribute storage areas of other master nodes and all slave nodes on the communication bus;

The information in the global method area, function method area and attribute storage area of all slave nodes on the communication bus is processed and stored in a unified and standardized manner;

By responding to the read request, the data attributes and processing methods stored in the attribute storage area and method storage area are loaded into each master node of the communication bus.
8. The sensor convergence access method of the cyber-physical system according to claim 7, wherein when the slave node is replaced as the master node, S1 in the method includes:

Directly set the function partition mode of the master node;

S3 includes:

Based on the encapsulated data combined with the function partition method, the data-aware execution component is mapped to the corresponding function method area of the main node.