A marine heterogeneous data acquisition system and method based on a domestic platform

Abstract

The present invention relates to a marine heterogeneous data acquisition system and method based on a domestic platform. The acquisition system is formed by adopting a data acquisition layer, a data transmission layer, a data processing layer and a data storage layer of a domestic chip. The DeltaOS system is used as the software operating system. The software application layer is divided into a host system software, an alarm display software, an internal memory software, an external memory software, an Ethernet acquisition software, a sound acquisition software, an image and video acquisition software, a serial port data acquisition software and a power control software. The software and hardware of the present invention are 100% domestically produced. The host adopts a platform based on a Loongson processor and an embedded system. Through loosely coupled configuration management and a hybrid data acquisition model, hybrid scheduling acquisition and data processing of heterogeneous data are realized, and the processed data are backed up and stored. The system also develops a running display function based on the QT graphics development framework of the Loongson platform, which can monitor the system running status, acquisition status and storage status in real time.

Description

Technical Field

[0001] The present invention belongs to the technical field of computer communication, and in particular to a ship-based heterogeneous data acquisition system and method based on a domestic platform. Background Art

[0002] The amount of data collected by the ship acquisition system is large and the data is of high importance, which is related to the overall network security of the ship. Traditional ship acquisition systems generally use hardware platforms based on Intel or AMD chips and software platforms based on Windows or vxworks, which poses a great challenge to maintaining ship network security. Autonomous control is the premise for ensuring network security and information security. Therefore, it is urgent to develop a ship acquisition system based on domestic software and hardware platforms.

[0003] With the rapid development of electronic technology, the internal system of ships is becoming increasingly complex, and the data generated during navigation is becoming multi-source and heterogeneous. Therefore, an embedded ship-based multi-source heterogeneous acquisition system is designed to collect structured and unstructured data such as industrial control equipment data, network data, serial port data, sound data, image data, and video data generated during navigation, providing a data basis for subsequent data analysis and ship navigation modeling. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and meet the needs of autonomous control in the field of ships. A ship heterogeneous data acquisition system and method based on a domestic platform is proposed, which realizes the collection of multi-source structured and unstructured navigation data generated during the navigation of the ship based on a 100% domestically produced software and hardware platform, and stores the data in a redundant backup manner.

[0005] The present invention solves the technical problem by adopting the following technical solutions:

[0006] A marine heterogeneous data acquisition system based on a domestic platform includes a data acquisition layer, a data transmission layer, a data processing layer and a data storage layer, wherein the data acquisition layer, the data transmission layer, the data processing layer and the data storage layer are serially connected in sequence, the data acquisition layer is used for external Ethernet data, video data, image data, sound data and serial port data, the data transmission layer is used for transmitting data, the data processing layer is used for processing the transmitted data, and the data storage layer is used for backing up and storing the processed data.

[0007] Moreover, the data acquisition layer includes a network acquisition module, a serial / CAN acquisition module, a sound acquisition module, an image acquisition module and a video acquisition module, wherein the network acquisition module adopts FMQL45T900, which is used to complete the conversion of two independent channels of external Ethernet to internal Ethernet;

[0008] The serial / CAN acquisition module uses GD32F450 to complete the acquisition of 4-way external serial port data. After physical isolation, it converts it into corresponding CAN data that meets the internal communication requirements, and sends it to the CAN communication module through the internal data CAN bus. At the same time, the module status information is sent to the CAN communication module through the internal status CAN bus;

[0009] The sound acquisition module adopts JF072SZ, which is used for the acquisition and compression of external microphone audio data and VHF audio data;

[0010] The image acquisition module and video acquisition module use video encoder HI3531AV100 and network controller YT8511H.

[0011] Moreover, the data transmission layer includes a network switching module and a CAN communication module, wherein the network switching module adopts a domestic switching chip to provide a 1000M / S network switching environment for the system, and the CAN communication module adopts a domestic PCI bridge chip to expand the CPCI bus to LocalBus, and then expands the four-way CAN controller through LocalBus to realize a four-way CAN interface.

[0012] Moreover, the data processing layer includes a main control module and an alarm display module, wherein the main control module adopts 3A3000, and the alarm display module is connected to the main control module via VGA to display the system operation status; it communicates with the host unit through the serial port, and cooperates with the customized keyboard to complete the display content switching, brightness adjustment and buzzer alarm functions.

[0013] Furthermore, the data storage layer includes an internal memory and an external memory.

[0014] A collection method for a ship-based heterogeneous data collection system based on a domestic platform comprises the following steps:

[0015] Step 1: Turn on the device;

[0016] Step 2: Initialize system equipment and alarm list;

[0017] Step 3, initializing the external storage object. If the initialization is successful, the state of the external storage is cyclically detected. Otherwise, the alarm unit alarms.

[0018] Step 4, initialize the internal storage object. If the initialization is successful, the state of the internal storage is cyclically detected, otherwise the alarm unit alarms;

[0019] Step 5: Initialize the network service. If the initialization is successful, the request signal is received cyclically and the configuration is changed and then restarted. Otherwise, proceed to step 6.

[0020] Step 6: Collect data and diagnose alarm faults;

[0021] Step 7, analyzing the data and status, determining whether the internal memory and the external memory can be analyzed and written, if the internal memory and the external memory can be analyzed and written, writing is performed on the internal memory and the external memory, otherwise the alarm unit alarms;

[0022] Step 8: Shut down and determine whether the relationship conditions are met. If they are met, the alarm unit will sound an alarm, otherwise return to step 6.

[0023] The advantages and positive effects of the present invention are:

[0024] The present invention forms a collection system by adopting the data collection layer, data transmission layer, data processing layer and data storage layer of domestic chips, adopts the DeltaOS system as the software operating system, and divides the software application layer into host system software, alarm display software, internal memory software, external memory software, Ethernet collection software, sound collection software, image and video collection software, serial port data collection software and power control software. The software and hardware of the present invention are 100% domestically produced. The host adopts a platform based on the Loongson processor and the embedded system. Through loosely coupled configuration management and hybrid data collection models, hybrid scheduling collection and data processing of heterogeneous data are realized, and the processed data is backed up and stored. The system also develops a running display function based on the QT graphics development framework of the Loongson platform, which can monitor the system running status, collection status and storage status in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a system structure diagram of the present invention;

[0026] Figure 2 This is the software structure diagram of the application layer of the present invention;

[0027] Figure 3 It is the workflow diagram of the present invention;

[0028] Figure 4 It is the software structure diagram of the present invention. DETAILED DESCRIPTION

[0029] The present invention is further described in detail below with reference to the accompanying drawings.

[0030] A ship-based heterogeneous data acquisition system based on a domestic platform, such as Figure 1 As shown, it includes a data acquisition layer, a data transmission layer, a data processing layer and a data storage layer, wherein the data acquisition layer, the data transmission layer, the data processing layer and the data storage layer are connected in series in sequence, the data acquisition layer is used for external Ethernet data, video data, image data, sound data and serial port data, the data transmission layer is used for transmitting data, the data processing layer is used for processing the transmitted data, and the data storage layer is used for backing up and storing the processed data.

[0031] The data acquisition layer includes network acquisition module, serial / CAN acquisition module, sound acquisition module, image acquisition module and video acquisition module. Among them, the network acquisition module adopts the microprocessor FMQL45T900 independently developed by Shanghai Fudan Microelectronics Co., Ltd., which mainly completes the conversion of two independent channels of external Ethernet (which can be configured into dual redundant mode through software) to internal Ethernet.

[0032] The serial / CAN acquisition module uses the microprocessor GD32F450 independently developed by Beijing GigaDevice Technology Co., Ltd., which mainly completes the acquisition of 4 external serial port data. After each channel receives the external serial port data, it is physically isolated and converted into corresponding CAN data that meets the internal communication requirements. It is sent to the CAN communication module through the internal data CAN bus, and the module status information is sent to the CAN communication module through the internal status CAN bus.

[0033] The sound collection module uses the domestic processor A40i independently developed by Zhuhai Allwinner Technology Co., Ltd. and the domestic operational amplifier chip JF072SZ independently developed by Tianshui 749 Electronics Co., Ltd. to complete the collection and compression of external microphone audio data and VHF audio data, and convert them into channel data that meets the internal communication requirements and send them to the main control module.

[0034] The image acquisition module and video acquisition module use the video encoder HI3531AV100 independently developed by Shenzhen HiSilicon Semiconductor Co., Ltd. and the network controller YT8511H independently developed by Suzhou Yutai Chetong Electronic Technology Co., Ltd., integrating a high-performance video / image processing engine containing multiple complex image processing algorithms, providing HDMI / VGA high-definition display output capabilities, integrated high-speed Ethernet interface, providing high-performance, excellent image and video encoding and decoding solutions, realizing an integrated software and hardware platform, and supporting bare-metal program and operating system development. .

[0035] The data transmission layer provides a unified network and CAN bus environment for data exchange within the system, including a network exchange module and a CAN communication module. The network exchange module adopts the domestically produced exchange chip independently developed by Suzhou Shengke Technology Co., Ltd., and has an internally integrated embedded CPU to provide the system with a 1000M / S network exchange environment; the CAN communication module uses the domestically produced PCI bridge chip to expand the CPCI bus to LocalBus, and then expands the four-way CAN controller through LocalBus to realize a four-way CAN interface.

[0036] The data processing layer includes a main control module and an alarm display module, which are used to process the collected data, forward data, and display the system operation status. The main control module uses the domestic MIPS architecture microprocessor 3A3000 independently developed by Loongson Technology Co., Ltd., replacing Intel's Core Duo U2500 1.2GHz. Loongson 3A3000 is a single-node 4-core processor, manufactured using a 28nm process, with a working frequency of 1.2GHz to 1.5GHz. It uses the domestic bridge chip 7A1000 independently developed by Loongson. The Loongson 7A1000 bridge chip is the first chipset product of the Loongson 3 processor, providing the north and south bridge functions for the Loongson processor. The memory uses the storage chip independently developed by Xi'an Ziguang Guoxin Semiconductor Co., Ltd. [3]. It is expanded through a dual-channel memory controller, using a total of 8 256M*16-bit DDR3 memories, with a total capacity of 4GB. The main control module can provide external interfaces such as 1 VGA, 1 DVI, 2 PS2, 2 USB2.0, 1 SATA, 2 10M / 100M / 1000Mbps network, etc. The alarm display module is connected to the main control via VGA to display the system operation status; it communicates with the host unit via the serial port and cooperates with the customized keyboard to complete functions such as display content switching, brightness adjustment, and buzzer alarm.

[0037] The data storage layer includes internal memory and external memory, which are used for data backup storage. Each memory is equipped with a 1TB electronic disk to meet the storage of large amounts of data. The microprocessor independently developed by Shanghai Fudan Microelectronics Co., Ltd. is used as the core to realize an integrated software and hardware platform.

[0038] The system software platform consists of an operating system and module drivers. The operating system uses an embedded real-time operating system DeltaOS, which is a professional embedded software development platform independently developed by Beijing Keyin Jingcheng Technology Co., Ltd. The module driver is mainly a domestic CAN module driver, which realizes the reading, writing and accessing of the PCI bus to the local bus, initializes the CAN and reads and writes each SJAl000 controller. The driver of the PCIe bridge chip completes the PCI local memory mapping according to the FPGA logic address offset, hangs the interrupt service program and enables the interrupt. The working mode is blocking mode.

[0039] When designing the application layer, the stability and reliability of the equipment are first considered, and then the degree of information integration is further improved. The standardized and modular design concept is introduced to achieve the goal of optional modules and plug-and-play. Therefore, the collection and storage of heterogeneous data use a design pattern that separates collection and processing, and concentrates the data collection tasks on each collection module. The main control module is only responsible for data processing and forwarding, which greatly alleviates the processing pressure of the main control module and ensures the stability of the equipment. A collection engine is deployed on each collection module to collect heterogeneous data. The processing engine is deployed on the main control module, which is responsible for establishing communication connections with each collection engine, monitoring the connectivity of the transmission channel in real time, and receiving and parsing and processing heterogeneous data transmitted by each collection engine. One collection engine can only collect one type of data, while the processing engine can parse and process various heterogeneous data. Such as Figure 2 As shown in the figure, the system mainly includes host system software, alarm display software, internal memory software, external memory software, Ethernet acquisition software, sound acquisition software, image and video acquisition software, serial port data acquisition software, and power control software. The host software transmits data with each acquisition software and storage software through Ethernet and CAN bus.

[0040] A collection method for a ship-based heterogeneous data collection system based on a domestic platform, such as Figure 3 As shown in the figure, the host control software is the core part of the entire software system and the center of heterogeneous data fusion and processing. By calling the relevant task flow of the acquisition module to establish a communication connection with the external device, multi-source heterogeneous data is collected in real time, and the data storage module is scheduled to archive the collected process data objectively and accurately. In addition, it is also responsible for data exchange between different threads in the acquisition process, and is the process control module in the acquisition system, including the following steps:

[0041] Step 1: Turn on the device;

[0042] Step 2: Initialize system equipment and alarm list;

[0043] Step 3, initializing the external storage object. If the initialization is successful, the state of the external storage is cyclically detected. Otherwise, the alarm unit alarms.

[0044] Step 4, initialize the internal storage object. If the initialization is successful, the state of the internal storage is cyclically detected, otherwise the alarm unit alarms;

[0045] Step 5: Initialize the network service. If the initialization is successful, the request signal is received cyclically and the configuration is changed and then restarted. Otherwise, proceed to step 6.

[0046] Step 6: Collect data and diagnose alarm faults;

[0047] Step 7, analyzing the data and status, determining whether the internal memory and the external memory can be analyzed and written, if the internal memory and the external memory can be analyzed and written, writing is performed on the internal memory and the external memory, otherwise the alarm unit alarms;

[0048] Step 8: Shut down and determine whether the relationship conditions are met. If they are met, the alarm unit will sound an alarm, otherwise return to step 6.

[0049] The host control software adopts the multi-threaded mode of the producer-consumer model to handle multi-source acquisition control, status monitoring and data storage. Each thread independently handles a task and balances the processing capabilities between consumer threads, thereby improving the processing speed of each consumer thread. At the same time, a container is used to solve the strong coupling relationship between the producer thread and the consumer thread. The data generated by the producer thread does not need to be thrown directly to the consumer thread, but to the container. When the consumer thread needs data, it goes to the container to get the data.

[0050] According to the host control software functions and software workflow, the host acquisition control software functional module division is designed to implement similar functions in one functional module to facilitate process scheduling machine management. It is divided into 7 functional modules as needed, such as Figure 4 The shown system includes a main process, a collection module, an external storage module, an internal storage module, a network module, a watchdog module, a fault diagnosis and alarm indication module, and a shutdown module.

[0051] Main process. The main process is the entrance to the host control software. It is mainly responsible for allocating necessary resources to each module, calling the initialization interface of each functional module, and ensuring the normal startup of the system. In addition to initializing each functional module, the main program undertakes two tasks. The first is to reduce the coupling of the system and improve the intelligence of data acquisition, so that the process of each underlying acquisition module can be dynamically configured. Loading system configuration to achieve loosely coupled configuration management, parsing the configuration information such as data channel encoding, number of channels, acquisition parameters and status parameters of each functional module in the configuration, improving the portability, reusability and scalability of the host control software; the second is to initialize a ring buffer according to the amount of heterogeneous data, and cache the collected heterogeneous data first, so as to solve the problem of inconsistent data acquisition and data storage rates.

[0052] Network module. The network module mainly undertakes two tasks. The first is to configure the relevant task flow of calling the underlying acquisition module, and issue the IP, port, communication protocol, status reporting time and exception handling parameters of each acquisition module, so that each acquisition module can start the acquisition process. The second is to listen to the status reported by the acquisition module, receive the status reported by each acquisition module through Ethernet and CAN network, and forward it to the alarm display module after processing according to the internal communication protocol.

[0053] Acquisition module. The acquisition module first establishes a heterogeneous data acquisition model. Hybrid data acquisition achieves the unification of the acquisition model through heterogeneous data acquisition model mapping technology, which includes the following: (1) public model information; (2) the mapping relationship between public object information and private object information of each heterogeneous data source. Public model based on abstract container Heterogeneous data source model mapping technology uses abstract containers to understand the "inclusion" relationship in general organizations and things as the subordinate structure of containers at all levels. It can establish models for various applications, thus having flexibility and scalability. In the public model, each container contains its own "object type" and "container description attribute". When the model needs to be expanded, it only needs to add a new "object type" to the "object type definition" and a new "container description attribute" to the "container description definition". The mapping relationship between public object information and private object information of heterogeneous data sources The public object information is the object information part of each heterogeneous data source extracted. The private object information of each system is summarized through a public naming method to extract the public object information, and the public object information, private object information and their mapping relationship are loaded into the established specific container model structure to generate a unified data structure for hybrid data acquisition. The entity collection channel is mapped to the heterogeneous data collection model through data channel encoding. According to the number of paths of each collection module in the configuration file, a heterogeneous data model linked list is generated. The system maintains this model linked list to query the collected data.

[0054] The acquisition module also needs to create a communication connection with the service in the underlying acquisition board, and store the connection handle in the properties and public handle set of the corresponding model. The acquisition module listens to the public handle set to determine whether there is data input. If there is, it loops through the heterogeneous data acquisition model list to determine whether the channel coding in the data matches that in the model, and then performs protocol processing on the collected data.

[0055] Data storage module. The data collected by the system is heterogeneous data, and the traditional relational database storage method cannot be used. Instead, a custom file storage method is used to store the collected data in files in units of minutes in internal and external storage. Since there are many data sources corresponding to the collection module, and the frequency of data generated by each source is inconsistent, the collection module first puts the collected and processed data into the buffer, and then the data storage module sends the data in the buffer to the internal and external storage, solving the problem of data loss caused by the collection data rate being greater than the storage data. This part uses data access middleware, that is, an intermediate layer is established between the underlying data and the upper layer transmission. The operations between the upper layer application and the underlying data must be performed through the intermediate layer. This intermediate layer shields the heterogeneity and distribution of the data source, and provides a unified standard interface for the transmission layer. In this way, the system's operation on each different data source becomes an operation on a single middleware, and then the middleware decomposes the operation and synthesizes the results.

[0056] Fault diagnosis and alarm display module. The alarm display module is used for status indication and operation of some control functions. It consists of a graphic display module and a data analysis module. It receives and analyzes the status messages of each module forwarded by the network module, diagnoses faults and displays them. The embedded QT4.8 graphical interface program framework is used as a development tool, and the signal and slot mechanism is used to flexibly and efficiently realize communication between objects.

[0057] The alarm indication software mainly displays the integrity of CAN signal acquisition, the integrity of serial port data acquisition, the working status of internal memory and external storage, the integrity of sound acquisition, the integrity of VGA image data acquisition, the integrity of video data acquisition and the working status of power supply. The display scheme adopts a flexible switching method based on the configuration, with 1 main screen and 5 sub-screens. The main screen mainly displays the time and total number of faults, and the sub-screens are mainly divided into equipment composition, configuration management, real-time equipment operation status, equipment self-test and equipment fault list page.

[0058] The homepage is the main interface during normal work, which mainly displays the system operation time and the total number of faults. The device composition page displays the device composition diagram and the communication method between the internal modules of the device according to the configuration file; the configuration page mainly displays the number of external data that can be collected in the system, such as CAN bus data, serial port data, sound data, image data, video data, and also includes functions such as sound shielding, brightness adjustment, background switching and automatic screen lock; the operation interface uses graphics and text to display the current direction of information flow and real-time operation status; the self-test page is used to trigger the self-test function of the internal module of the device; the fault interface displays detailed information such as the time, content and data channel of the fault.

[0059] Watchdog module. Feed the watchdog in the main program, enable a separate thread to monitor the watchdog feeding status, so that the system automatically restarts after a failure, thereby improving the stability and recovery ability of the system for long-term operation. In order to reduce the CPU running load, the time interval for feeding the watchdog is set to 5 seconds. If the watchdog is not fed within 5 seconds, the monitoring thread will execute the system restart operation.

[0060] Shutdown module. The heterogeneous data acquisition and storage system is powered by a unified power supply. When there is no external AC power or DC power input, the power supply will automatically switch to battery power supply. Each data source device is basically powered by a battery. To ensure that the system can continue to collect and store multi-source data within 1 hour without external power supply, the shutdown module monitors the working status message reported by the battery in real time. If it is analyzed that the current working status of the power supply is battery power supply, the timing is started. When the timing is full for one hour, a shutdown command is sent to the power supply, and the system automatically shuts down; within one hour, if the external power supply is restored, the timing is canceled and the battery is automatically charged.

[0061] According to the above-mentioned ship heterogeneous data acquisition system based on a domestic platform, the acquisition system is tested. The present invention has completed joint debugging with 19 data source devices, including 6 network data, 3 OPC protocol data, 3 serial port data, 4 sound data, 2 image data and 1 video data. The system has the ability to be used continuously for 7*24 hours. The actual test operation has lasted for more than one month, and there has been no data acquisition interruption caused by system failure. The system can flexibly configure the number of acquisition paths for each type of data, has certain scalability and portability, and fully meets the functional and performance requirements of ship data acquisition and storage.

[0062] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation manner. Any other implementation manners derived by those skilled in the art based on the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. A data acquisition method for a ship-based heterogeneous data acquisition system based on a domestic platform, characterized in that: The system's software and hardware platforms are 100% localized, meeting the independent and controllable requirements of the marine acquisition system. The system includes a data acquisition layer, a data transmission layer, a data processing layer, and a data storage layer, wherein the data acquisition layer, the data transmission layer, the data processing layer, and the data storage layer are serially connected in sequence. The data acquisition layer is used for external Ethernet data, video data, image data, sound data, and serial port data. The data transmission layer is used to transmit data, the data processing layer is used to process the transmitted data, and the data storage layer is used to back up and store the processed data. The data acquisition layer includes a network acquisition module, a CAN acquisition module, a sound acquisition module, an image acquisition module and a video acquisition module, wherein the network acquisition module adopts FMQL45T900, which is used to complete the conversion of two independent channels of external Ethernet to internal Ethernet; The CAN acquisition module uses GD32F450 to complete the acquisition of 4-way external serial port data. After physical isolation, it converts it into corresponding CAN data that meets the internal communication requirements and sends it to the CAN communication module through the internal data CAN bus. At the same time, the module status information is sent to the CAN communication module through the internal status CAN bus. The sound acquisition module adopts JF072SZ, which is used for the acquisition and compression of external microphone audio data and VHF audio data; The image acquisition module and video acquisition module use video encoder HI3531AV100 and network controller YT8511H; The data transmission layer includes a network exchange module and a CAN communication module, wherein the network exchange module adopts a domestic exchange chip to provide a 1000M / S network exchange environment for the system, and the CAN communication module adopts a domestic PCI bridge chip to expand the CPCI bus to LocalBus, and then expands a four-way CAN controller through LocalBus to realize a four-way CAN interface; The data processing layer includes a main control module and an alarm display module, wherein the main control module adopts 3A3000, and the alarm display module is connected to the main control module via VGA to display the system operation status; communicates with the host unit via the serial port, and cooperates with the customized keyboard to complete the display content switching, brightness adjustment and buzzer alarm functions; The system software platform consists of an operating system and module drivers; the operating system is an embedded real-time operating system DeltaOS, and the module driver is a domestic CAN module driver, which implements the reading, writing and accessing of the PCI bus to the local bus, initializes the CAN and reads and writes each SJAl000 controller; the driver of the PCIe bridge chip completes the PCI local memory mapping according to the FPGA logic address offset, hangs the interrupt service program and enables the interrupt; the working mode is blocking mode; The collection and storage of heterogeneous data use a design pattern that separates collection and processing, concentrating data collection tasks on each collection module. The main control module is only responsible for data processing and forwarding, which greatly relieves the processing pressure of the main control module and ensures the stability of the equipment. Collection engines are deployed on each collection module to collect heterogeneous data. Processing engines are deployed on the main control module to establish communication connections with each collection engine, monitor the continuity of the transmission channel in real time, receive and parse and process heterogeneous data transmitted by each collection engine. One collection engine can only collect one type of data, while the processing engine can parse and process various heterogeneous data. The system software transmits data with each collection software and storage software through Ethernet and CAN bus. The data storage layer includes an internal memory and an external memory; The collection method comprises the following steps: Step 1: Turn on the device; Step 2: Initialize system equipment and alarm list; Step 3, initializing the external storage object. If the initialization is successful, the state of the external storage is cyclically detected. Otherwise, the alarm unit alarms. Step 4, initialize the internal storage object. If the initialization is successful, the state of the internal storage is cyclically detected, otherwise the alarm unit alarms; Step 5: Initialize the network service. If the initialization is successful, the request signal is received cyclically and the configuration is changed and then restarted. Otherwise, proceed to step 6. Step 6: Collect data and diagnose alarm faults; Step 7, analyzing the data and status, determining whether the internal memory and the external memory can be analyzed and written, if the internal memory and the external memory can be analyzed and written, writing is performed on the internal memory and the external memory, otherwise the alarm unit alarms; Step 8: Shut down and determine whether the relationship condition is met. If so, the alarm unit will alarm, otherwise return to step 6; The host control software adopts the multi-threaded mode of the producer-consumer model to handle multi-source acquisition control, status monitoring and data storage. Each thread independently handles a task and balances the processing capabilities between consumer threads, thereby improving the processing speed of each consumer thread. At the same time, a container is used to solve the strong coupling relationship between the producer thread and the consumer thread. The data generated by the producer thread does not need to be thrown directly to the consumer thread, but to the container. When the consumer thread needs data, it goes to the container to get the data. According to the host control software functions and software workflow, the host acquisition control software functional module division is designed to implement similar functions in one functional module to facilitate process scheduling machine management. It is divided into 7 functional modules as needed, including main process, acquisition module, external storage module, internal storage module, network module, watchdog module, fault diagnosis and alarm indication module and shutdown module. The main process is the entrance to the host control software. It is responsible for allocating necessary resources to each module, calling the initialization interface of each functional module, and ensuring the normal startup of the system. In addition to initializing each functional module, the main process undertakes two tasks. The first is to reduce the coupling of the system and improve the intelligence of data acquisition. The process of each underlying acquisition module can be dynamically configured, load the system configuration to achieve loosely coupled configuration management, and parse the data channel encoding, number of channels, acquisition parameters and status parameter configuration information of each functional module in the configuration, thereby improving the portability, reusability and scalability of the host control software; the second is to initialize a ring buffer according to the amount of heterogeneous data, and cache the collected heterogeneous data first, thereby solving the problem of inconsistent data acquisition and data storage rates. The network module has two tasks: one is to configure the relevant task flow of calling the underlying acquisition module, send the IP, port, communication protocol, status reporting time and exception handling parameters of each acquisition module, so that each acquisition module can start the acquisition process; the other is to listen to the status reported by the acquisition module, receive the status reported by each acquisition module through Ethernet and CAN network, and forward it to the alarm display module after processing according to the internal communication protocol. The acquisition module first establishes a heterogeneous data acquisition model. Hybrid data acquisition achieves the unification of the acquisition model through heterogeneous data acquisition model mapping technology. It includes the following contents: (1) public model information; (2) the mapping relationship between public object information and private object information of each heterogeneous data source. The public model heterogeneous data source model mapping technology based on abstract containers understands the "inclusion" relationship in organizations and things as the subordinate structure of containers at all levels through abstract containers, and establishes models for various different applications, so as to have flexibility and scalability. In the public model, each container contains its own "object type" and "container description attributes". When the model needs to be expanded, it only needs to add a new "object type" in the "object type definition". , add a new "container description attribute" in the "container description definition", and the mapping relationship between public object information and private object information of heterogeneous data sources. The public object information is the object information part extracted from each heterogeneous data source. The private object information of each system is summarized through a public naming method to extract the public object information, and the public object information, private object information and their mapping relationship are loaded into the established specific container model structure to generate a unified data structure for hybrid data collection. The entity collection channel is mapped with the heterogeneous data collection model through the data channel encoding. According to the number of paths of each collection module in the configuration file, a heterogeneous data model linked list is generated. The system maintains this model linked list to query the collected data. The acquisition module also needs to create a communication connection with the service in the underlying acquisition board, and store the connection handle in the properties and public handle set of the corresponding model. The acquisition module listens to the public handle set to determine whether there is data input. If there is, it loops through the heterogeneous data acquisition model list to determine whether the channel coding in the data matches that in the model, and then performs protocol processing on the collected data. Data storage module: The data collected by the system is heterogeneous data, and the traditional relational database storage method cannot be used. Instead, a custom file storage method is used to store the collected data in files in units of minutes in internal and external storage. Since the collection module corresponds to many data sources and the frequency of data generated by each source is inconsistent, the collection module puts the collected and processed data into the buffer first, and then the data storage module sends the data in the buffer to the internal and external storage, which solves the problem of data loss caused by the collection data rate being greater than the storage data. This part uses data access middleware, that is, an intermediate layer is established between the underlying data and the upper layer transmission. The operations between the upper layer application and the underlying data must be performed through the middle layer. This middle layer shields the heterogeneity and distribution of the data source, and provides a unified standard interface for the transmission layer, so that the system's operations on each different data source become operations on a single middleware, and then the middleware decomposes the operations and synthesizes the results. Fault diagnosis and alarm display module. The alarm display module is used for status indication and operation of some control functions. It is composed of a graphic display module and a data analysis module. It receives and analyzes the status messages of each module forwarded by the network module, diagnoses faults and displays them. It uses the embedded QT4.8 graphical interface program framework as a development tool and uses the signal slot mechanism to realize communication between objects. The alarm indication software displays the integrity of CAN signal acquisition, the integrity of serial port data acquisition, the working status of internal memory and external storage, the integrity of sound acquisition, the integrity of VGA image data acquisition, the integrity of video data acquisition and the working status of the power supply. The display scheme adopts a flexible switching method based on the configuration, with 1 main screen and 5 sub-screens. The main screen displays the time and total fault information, and the sub-screens are divided into equipment composition, configuration management, real-time equipment operation status, equipment self-test and equipment fault list page. The homepage is the main interface during normal work, which displays the system operation time and the total number of faults. The device composition page displays the device composition diagram and the communication method between the internal modules of the device according to the configuration file; the configuration page displays the number of external data that can be collected in the system, CAN bus data, serial port data, sound data, image data, video data, and also includes sound shielding, brightness adjustment, background switching and automatic screen lock functions; the operation interface uses graphics to display the current direction of information flow and real-time operation status; the self-test page is used to trigger the self-test function of the internal module of the device; the fault interface displays the time, content and data channel detailed information of the fault. The watchdog module feeds the watchdog in the main process and enables a separate thread to monitor the watchdog feeding status, so that the system automatically restarts after a failure occurs, thereby improving the stability and recovery ability of the system for long-term operation. In order to reduce the CPU running load, the time interval for feeding the watchdog is set to 5 seconds. If the watchdog is not fed within 5 seconds, the monitoring thread will execute the system restart operation. Shutdown module, heterogeneous data acquisition and storage systems are powered by a unified power supply. When there is no external AC power or DC power input, the power supply will automatically switch to battery power supply. Each data source device is powered by a battery. To ensure that the system can continue to collect and store multi-source data within 1 hour without external power supply, the shutdown module monitors the working status message reported by the battery in real time. If it is analyzed that the current working status of the power supply is battery power supply, the timing is started. When the timing is full for one hour, a shutdown command is sent to the power supply, and the system automatically shuts down; within one hour, if the external power supply is restored, the timing is canceled and the battery is automatically charged.

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