Train network data transmission method, system and device based on CANopen protocol

Abstract

The invention discloses a train network data transmission method,system and device based on CANopen protocol.The method applied to a first slave node includes: when a first CAN channel failure of thefirst slave node is detected, a second CAN channel switched to the first slave node receives heartbeat messages and data sent by other related nodes through a standby network; and a second CAN channelswitched to the first slave node receives heartbeat messages and data sent by other related nodes through a standby network. If it is judged that the heartbeat message sent by the related second slave node is not received from the standby network in the preset heartbeat cycle, the active master node monitors the heartbeat message and data sent by the second slave node through the first CAN channel in the master network; and if the heartbeat message sent by the second slave node is not received from the standby network in the preset heartbeat cycle, the active master node monitors the heartbeat message and data sent by the second slave node through the first CAN channel. When the active master node monitors heartbeat packets and data sent by the second slave node through the first CAN channel in the master network, the heartbeat packets and data of the second slave node forwarded by the active master node to the standby network are received through the second CAN channel of the first slave node. Thus, the good operation of the whole train is ensured, and the redundancy effect of the train network is improved.

Description

technical field [0001] The invention relates to the technical field of vehicle communication, in particular to a CANopen protocol-based train network data transmission method, system and device thereof. Background technique [0002] At present, the train communication network (TCN) bus technology is widely used in the train communication network. TCN covers the four buses of MVB (multi-function vehicle bus), WTB (twisted train bus), Ethernet, and CAN (field bus). . Among the design requirements for the four buses of MVB, WTB, Ethernet, and CAN, a common requirement is network redundancy design. The so-called network redundancy means that a backup network should be set up for each communication network, that is, each node on the network will use a two-wire connection mode of A line and B line. The network realizes communication, ensures smooth data interaction of various products on the network, and makes the operating environment of the train communication network highly a...

AI Technical Summary

Problems solved by technology

The current redundant network design based on CANopen requires all network nodes to send data at the same time, but by default, all nodes only obtain data from the main network. When one or some slave nodes are offline in the main network, switch Go to the backup network to receive the data of this part of the nodes, and the data received by the part of the nodes will be switched to the backup network to receive the data. However, if the channels where multiple nodes fail are not in the same network, this strategy will have hidden dangers. For example, if Some of the multiple nodes that have failed are in the active network and the other is in the backup network. If the above method is used, no matter which network is switched to receive data, some nodes will not be able to receive data. Therefore, some slave nodes Unable to communicate normally, affecting the realization of some functions, and then affecting the operation of the whole vehicle

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