Construction machinery domain controller and construction machinery

Abstract

This invention relates to the field of domain controller technology, specifically to a domain controller for construction machinery and construction machinery. It includes: a heterogeneous controller comprising a first control domain and a second control domain, connected via a target bus; the first control domain generates decision-planning control information and transmits it to the second control domain via the target bus; the second control domain further processes the decision-planning control information to generate control commands and sends the control commands to the corresponding control actuators; a data receiving and processing module for receiving raw external input data, processing it to generate business data, and transmitting the business data to the first control domain; and a data storage module connected to the first control domain for storing the business data and the decision-planning control information. This construction machinery domain controller improves data transmission capabilities and solves the data packet loss problem.

Description

Technical Field

[0001] This invention relates to the field of domain controller technology, specifically to a domain controller for engineering machinery and engineering machinery. Background Technology

[0002] With the continued advancement of industrial transformation and upgrading, the penetration rate of construction machinery will continue to increase in the future. The "new four modernizations" (electrification, connectivity, intelligence, and sharing) will be the focus of the construction machinery industry's future development. From the perspectives of technology and the industrial chain, electrification is the foundation, connectivity is the condition, intelligence is the key, and sharing is the trend.

[0003] As construction machinery continues its electrification transformation, electric motors will completely replace diesel engines to provide power for construction machinery, and the number of ECUs (Electronic Control Units) on construction machinery will continue to increase. At the same time, construction machinery also needs to communicate with various external devices or terminals. Therefore, it is necessary to integrate communication functions on the domain controller of construction machinery to communicate with the required internal ECUs and external devices.

[0004] like Figure 1 As shown, in existing technology, the external communication function of engineering machinery is handled by the T-BOX, while the internal communication and computational processing control functions are handled by the domain controller. Physically, the T-BOX and the domain controller are two independent devices. The T-BOX communicates with the domain controller via an Ethernet switch. The domain controller includes an MCU, a CAN transceiver, a CAN receiver, and an Ethernet switch. It uses the MCU for low-speed bus routing, including CAN, CAN-FD, LIN, FlexRay, and CAN-HS. However, when routing large amounts of data across multiple channels, the MCU, acting as a communication gateway, may experience data frame loss. For example, when simultaneously collecting data from six CAN-HS networks, the packet loss rate using the MCU is approximately 10% to 30%. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a domain controller for engineering machinery and engineering machinery, in order to solve the problems caused by the current decentralized design of communication and computing processing control functions in engineering machinery.

[0006] According to a first aspect, embodiments of the present invention provide an engineering machinery domain controller, comprising:

[0007] The heterogeneous controller includes a first control domain and a second control domain, which are connected via a target bus. The first control domain is used to acquire business data, analyze the business data to generate decision planning and control information, and transmit the decision planning and control information to the second control domain via the target bus. The second control domain is used to further process the decision planning and control information to generate control commands and send the control commands to the corresponding control actuators.

[0008] The data receiving and processing module is connected to the first control domain and is used to receive raw external input data, process the raw external input data, generate business data, and transmit the business data to the first control domain.

[0009] The data storage module, connected to the first control domain, is used to store business data and decision-making, planning, and control information.

[0010] The engineering machinery domain controller provided in this embodiment of the invention includes a heterogeneous controller, which comprises a first control domain and a second control domain, connected via a target bus. Because the first and second control domains are connected via the target bus, physical isolation between modules in the first and second control domains can be achieved, preventing data leakage and ensuring data security. Furthermore, the first control domain acquires business data, analyzes the business data to generate decision-making and planning control information, and transmits this information to the second control domain via the target bus. The first control domain's analysis of the business data to generate the decision-making and planning control information ensures the accuracy of the generated information. The transmission of this information from the first control domain to the second control domain via the target bus improves data transmission capability, ensuring that all decision-making and planning control information is transmitted to the second control domain, thus solving the data packet loss problem. Additionally, the second control domain further processes the decision-making and planning control information to generate control commands and sends these commands to the corresponding control actuators, ensuring the accuracy of the generated control commands and thereby achieving control of the engineering machinery.

[0011] The aforementioned construction machinery domain controller further includes a data receiving and processing module connected to the first control domain. This module receives raw external input data, which refers to data transmitted from devices connected to the construction machinery domain controller. Examples of raw external input data include data transmitted from other construction machinery, data transmitted from a cloud server, and data transmitted from acquisition devices connected to the current construction machinery domain controller. Exemplary acquisition devices include LiDAR, cameras, etc. The module then processes the raw external input data to generate business data, which is then transmitted to the first control domain. This ensures the accuracy of the generated business data and reduces the processing time of the raw external input data in the first control domain, thus improving the efficiency of the first control domain.

[0012] Furthermore, a data storage module, connected to the first control domain, is used to store business data and decision-making / planning control information. The data storage module stores business data and decision-making / planning control information, thus ensuring data security and preventing the loss of these data. In summary, the aforementioned engineering machinery domain controller not only achieves physical isolation between modules in the first and second control domains, preventing data leakage and ensuring data security, but also improves data transmission capabilities, ensuring that all decision-making / planning control information can be transmitted to the second control domain, solving the data packet loss problem. In addition, it improves the working efficiency of the first control domain and achieves the preservation of business data and decision-making / planning control information, ensuring data security and preventing the loss of these data. The aforementioned engineering machinery domain controller solves the problems caused by the current decentralized design of communication and computing processing control functions in engineering machinery.

[0013] In conjunction with the first aspect, in the first embodiment of the first aspect, the first control domain includes:

[0014] At least one decision planning and control unit is connected to the data receiving and processing module to receive business data, process the business data, generate backup data, analyze the backup data, and generate decision planning and control information.

[0015] The engineering machinery domain controller provided in this embodiment of the invention includes a first control domain comprising: at least one decision-making and planning control unit connected to a data receiving and processing module, used to receive business data, process the business data, generate backup data, and analyze the backup data to generate decision-making and planning control information. This ensures the accuracy of the generated backup data, thereby ensuring the accuracy of the generated decision-making and planning control information.

[0016] In conjunction with the first embodiment of the first aspect, in the second embodiment of the first aspect, the first control domain further includes:

[0017] The first protocol conversion module is connected to at least the multimedia central control unit and the lidar in the engineering machinery. It is used to receive multimedia service data transmitted by the multimedia central control unit and the lidar, and convert the multimedia service data into first protocol data.

[0018] The media access control module is connected to the first protocol conversion module at one end and to the decision planning control unit at the other end. Under the control of the decision planning control unit, it receives the first protocol data based on the target channel and transmits the first protocol data to the decision planning control unit.

[0019] The decision planning and control unit is used to analyze backup data and primary protocol data to generate decision planning and control information.

[0020] The engineering machinery domain controller provided in this embodiment of the invention includes a first control domain, which further comprises: a first protocol conversion module, connected at least to the multimedia central control unit and the lidar in the engineering machinery, for receiving multimedia service data transmitted by the multimedia central control unit and the lidar, and converting the multimedia service data into first protocol data, thereby ensuring the accuracy of the generated first protocol data; a media access control module, connected at one end to the first protocol conversion module and at the other end to the decision planning control unit, receiving the first protocol data based on the target channel under the control of the decision planning control unit, and transmitting the first protocol data to the decision planning control unit, thereby ensuring that the decision planning control unit can obtain the first protocol data when needed; and a decision planning control unit, used to analyze the backup data and the first protocol data to generate decision planning control information, ensuring the accuracy of the generated decision planning control information.

[0021] In conjunction with the first aspect, in the third embodiment of the first aspect, the first control domain further includes:

[0022] Accelerators are connected to each decision planning and control unit and are used to accelerate the calculation process of the decision planning and control units.

[0023] The engineering machinery domain controller provided in this embodiment of the invention, in the first control domain, further includes an accelerator. The accelerator is connected to each decision planning and control unit and is used to accelerate the calculation process of the decision planning and control units, thereby improving the calculation efficiency of the decision planning and control units, and consequently improving the calculation efficiency of the first controller and shortening the calculation time of the first controller. This ensures the timeliness of the generated decision planning and control information.

[0024] In conjunction with the third embodiment of the first aspect, in the fourth embodiment of the first aspect, the heterogeneous controller further includes a first storage interface and a second storage interface, and a data storage module, including:

[0025] The first storage module is connected to each decision planning control unit and accelerator in the first control domain via a first storage interface, and is used to store data in each decision planning control unit and accelerator.

[0026] The second storage module is connected to the first control domain via a second storage interface and is used to store the business data obtained by the first control domain.

[0027] The engineering machinery domain controller provided in this embodiment of the invention includes a first storage interface and a second storage interface, and a data storage module. The first storage module is connected to each decision-planning control unit and accelerator in the first control domain via the first storage interface, and is used to store data in each decision-planning control unit and accelerator, ensuring the security of the data in the decision-planning control units and accelerators and preventing data loss. The second storage module is connected to the first control domain via the second storage interface, and is used to store business data acquired by the first control domain, ensuring the security of the business data acquired by the first control domain and preventing business data loss.

[0028] In conjunction with the first aspect, in the fifth embodiment of the first aspect, both the first control domain and the second control domain include at least one second protocol controller, and the second protocol controller in the first control domain and the second protocol controller in the second control domain are connected based on a target bus.

[0029] The engineering machinery domain controller provided in this embodiment of the invention includes at least one second protocol controller in both the first and second control domains, enabling both the first and second control domains to receive second protocol data. The second protocol controllers in the first and second control domains are connected via a target bus, allowing data transmission between them while ensuring fast and secure data transmission.

[0030] In conjunction with the fifth embodiment of the first aspect, in the sixth embodiment of the first aspect, the data receiving and processing module further includes:

[0031] The second protocol data transceiver is connected to each second protocol controller and is used to receive second protocol data.

[0032] The engineering machinery domain controller and heterogeneous controller provided in this embodiment of the invention further include: a second protocol data transceiver, connected to each second protocol controller, for receiving second protocol data, so that the data receiving and processing module can receive the second protocol data.

[0033] In conjunction with the first aspect, in the seventh embodiment of the first aspect, the heterogeneous controller further includes a communication interface, a data receiving and processing module, and also includes:

[0034] The communication module connects to the heterogeneous controller via a communication interface.

[0035] The engineering machinery domain controller provided in this embodiment of the invention includes a communication interface, a data receiving and processing module, and a communication module. The communication module is connected to the heterogeneous controller based on the communication interface, so that the heterogeneous controller can receive communication data from the communication module.

[0036] In conjunction with the seventh embodiment of the first aspect, in the eighth embodiment of the first aspect, the data receiving and processing module further includes:

[0037] The positioning module connects to the heterogeneous controller via a communication interface to receive location information and locate the construction machinery based on that information.

[0038] The engineering machinery domain controller and data receiving and processing module provided in this embodiment of the invention further includes a positioning module. The positioning module is connected to the heterogeneous controller through a communication interface and is used to receive location information and locate the engineering machinery based on the location information, thereby ensuring the accuracy of the positioning of the engineering machinery.

[0039] According to a second aspect, embodiments of the present invention provide construction machinery, which includes: a construction machinery body; a construction machinery domain controller according to the first aspect or any embodiment of the first aspect; and at least one control actuator; the construction machinery domain controller is connected to the construction machinery body and the at least one control actuator respectively. Attached Figure Description

[0040] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the engineering machinery gateway structure in the prior art provided by the embodiments of the present invention;

[0042] Figure 2 This is a structural diagram of an engineering machinery domain controller provided by another embodiment of the present invention;

[0043] Figure 3 This is a structural diagram of an engineering machinery domain controller provided by another embodiment of the present invention;

[0044] Figure 4 This is an internal architecture diagram of the DRA821x chip provided by another embodiment of the present invention;

[0045] Figure 5 This is a structural diagram of an engineering machinery domain controller provided by another embodiment of the present invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] The serial numbers assigned to components in this document, such as "first" and "second," are used solely to distinguish the described objects and have no sequential or technical meaning. The terms "connection" and "linkage" used in this application, unless otherwise specified, include both direct and indirect connections (linkages). It should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used solely for the convenience of describing this application and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0048] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0049] This application provides an engineering machinery domain controller, such as... Figure 2 As shown, the engineering machinery domain controller includes:

[0050] The heterogeneous controller includes a first control domain and a second control domain, which are connected via a target bus. The first control domain is used to acquire business data, analyze the business data to generate decision planning and control information, and transmit the decision planning and control information to the second control domain via the target bus. The second control domain is used to further process the decision planning and control information to generate control commands, and send the control commands to the corresponding control actuators.

[0051] The data receiving and processing module is connected to the first control domain and is used to receive raw external input data, process the raw external input data, generate business data, and transmit the business data to the first control domain.

[0052] The data storage module, connected to the first control domain, is used to store business data and decision-making, planning, and control information.

[0053] Specifically, the heterogeneous controller includes a first control domain and a second control domain. The first control domain can be a master domain, and the second control domain can be an MCU domain. In one optional embodiment of this application, the first control domain can be composed of an ARM-Cortex-A processor and other components, and the second control domain can be composed of an ARM-Cortex-R processor and other components. This application does not specifically limit the specific composition of the first and second control domains.

[0054] In this embodiment, the first control domain and the second control domain are connected based on a target bus, which can be a high-speed data bus, such as Ethernet. This means that components in the first control domain and components in the second control domain can communicate via the high-speed data bus, thereby improving data transmission capability and efficiency. This solves the problem in the prior art where, limited by the mains frequency, traditional engineering machinery domain controllers, when needing to perform large-volume data conversion between CAN and Ethernet and routing large amounts of data across multiple channels, experience data frame loss as the MCU acting as the engineering machinery gateway. Therefore, this addresses the data packet loss problem.

[0055] Furthermore, the components in the first control domain and the components in the second control domain can communicate via a high-speed data bus, achieving physical isolation between them. Data verification can be performed during data conversion, effectively ensuring that the internal network is not easily affected by external networks and improving information security.

[0056] For example, when component A in the first control domain needs to transmit data to component a in the second control domain, component A in the first control domain can directly transmit the data to component a in the second control domain via a high-speed data bus. This differs from existing technologies where component A in the first control domain needs to transmit data to all components in the second control domain, causing all components in the second control domain to receive the data, potentially leading to data leakage and compromising data security. Therefore, this heterogeneous controller avoids data leakage and ensures data security.

[0057] Furthermore, the first control domain and the second control domain in the heterogeneous controller are connected based on the target bus. Important bus channels in other controllers in the construction machinery can first be connected to the second control domain in the heterogeneous controller, and then interact with the data of the first control domain. This can effectively improve the functional safety level of communication and make the construction machinery safer.

[0058] The first control domain can receive service data transmitted by other components connected to the first control domain, and can also receive raw data transmitted by other components connected to the first control domain. Then, it reads, analyzes and processes the raw data to generate service data. The embodiments of this application do not specifically limit the specific method by which the first control domain obtains service data.

[0059] After receiving the business data, the first control domain can analyze and generate decision-making and planning control information. For example, the decision-making and planning control information may include the path planning results of the construction machinery by the first control domain, as well as the results of planning and controlling the steering wheel angle and engine speed of the construction machinery. The first control domain transmits the decision-making and planning control information to the second control domain via the target bus.

[0060] The second control domain can read and analyze the received decision-making and planning control information, generate control commands based on the decision-making and planning control information, and send the control commands to the corresponding control actuators.

[0061] In one optional embodiment of this application, the second control domain may include at least one control instruction generation unit. This control instruction generation unit may be an ARM-Cortex-R processor or other processors; this embodiment does not specifically limit its use. For example, when the control instruction generation unit is an ARM-Cortex-R processor, it may be a DRA821x R5 core processor. This allows the second control domain to connect to both controllers with and without AutoSar, thereby enabling communication between controllers with two different communication modes.

[0062] The engineering machinery domain controller also includes a data receiving and processing module, which is connected to the first control domain. In one optional embodiment of this application, the data receiving and processing module may include at least one of an LVDS deserializer, a wireless communication module, a Wi-Fi module, and a positioning module. This application does not specifically limit the data receiving and processing module.

[0063] The data receiving and processing module can receive raw external input data transmitted from connected external devices, process the raw external input data, generate business data, and transmit the business data to the first control domain, thereby reducing the processing time of the raw external input data in the first control domain and improving the working efficiency of the first control domain.

[0064] The construction machinery domain controller also includes a data storage module connected to the first control domain. The data storage module can store business data and decision planning and control information, realizing the black box function. This allows the working status of the construction machinery to be analyzed based on the stored business data and decision planning and control information, facilitating the traceability of the working status of the construction machinery.

[0065] The engineering machinery domain controller provided in this embodiment of the invention includes a heterogeneous controller, which comprises a first control domain and a second control domain, connected via a target bus. Because the first and second control domains are connected via the target bus, physical isolation between modules in the first and second control domains can be achieved, preventing data leakage and ensuring data security. Furthermore, the first control domain acquires business data, analyzes the business data to generate decision-making and planning control information, and transmits this information to the second control domain via the target bus. The first control domain's analysis of the business data to generate the decision-making and planning control information ensures the accuracy of the generated information. The transmission of this information from the first control domain to the second control domain via the target bus improves data transmission capability, ensuring that all decision-making and planning control information is transmitted to the second control domain, thus solving the data packet loss problem. Additionally, the second control domain further processes the decision-making and planning control information to generate control commands and sends these commands to the corresponding control actuators, ensuring the accuracy of the generated control commands and thereby achieving control of the engineering machinery.

[0066] The aforementioned engineering machinery domain controller further includes a data receiving and processing module, connected to the first control domain, for receiving and processing raw external input data, generating business data, and transmitting the business data to the first control domain. This ensures the accuracy of the generated business data, and transmitting the business data to the first control domain reduces the processing time of the raw external input data in the first control domain, thus improving the working efficiency of the first control domain.

[0067] In addition, the data storage module, connected to the first control domain, is used to store business data and decision-making and control information. By storing business data and decision-making and control information, the data storage module ensures data security and prevents the loss of these data.

[0068] In summary, the aforementioned engineering machinery domain controller not only achieves physical isolation between modules in the first control domain and modules in the second control domain, preventing data leakage and ensuring data security, but also improves data transmission capabilities, ensuring that all decision-making, planning, and control information can be transmitted to the second control domain, thus resolving the data packet loss problem. Furthermore, it improves the working efficiency of the first control domain and enables the storage of business data and decision-making, planning, and control information, ensuring data security and preventing the loss of these data. The aforementioned engineering machinery domain controller solves the problems caused by the current decentralized design of communication, computing, and control functions in engineering machinery.

[0069] In one optional embodiment of this application, such as Figure 3 As shown, the first control domain includes:

[0070] At least one decision planning and control unit is connected to the data receiving and processing module to receive business data, process the business data, generate backup data, analyze the backup data, and generate decision planning and control information.

[0071] In one optional embodiment of this application, the decision planning control unit can be an ARM-Cortex-A processor or other processors; this application does not specifically limit the decision planning control unit. When the decision planning control unit is an ARM-Cortex-A processor, the DRA821xA72 chip can be used as the core processor.

[0072] Among them, such as Figure 4 As shown, the processor core of the DRA821xA72 chip includes:

[0073] (1) A dual-core 64-bit Arm Cortex-A72 microprocessor subsystem with performance up to 2.0 GHz and 24K DMIPS. Each Cortex-A72 cluster has 1 MB of L2 shared cache; each A72 core has 32 KB of L1 data cache and 48 KB of L1 instruction cache;

[0074] (2) Four Arm Cortex-R5F MCUs with performance up to 1.0GHz, optional lockstep operation, and 8K DMIPS. 32K instruction cache, 32K data cache, and 64K L2 TCM; two Arm Cortex-R5F MCUs in the isolated MCU subsystem; and two Arm Cortex-R5F MCUs in the general-purpose computing partition.

[0075] The DRA821x chip's memory subsystem includes:

[0076] (1) 1MB on-chip L3 RAM (with ECC and coherence), with ECC error protection, shared coherence cache and support for internal DMA engine.

[0077] (2) External Memory Interface (EMIF) module (with ECC), supporting LPDDR4 memory type, supporting speeds up to 3200MT / s, with 32-bit and 16-bit data buses with inline ECC bus, and data rates up to 12.8GB / s.

[0078] (3) General Purpose Memory Heterogeneous Controller (GPMC)

[0079] (4) The 512KB on-chip SRAM in the main domain is protected by ECC.

[0080] The high-speed interfaces of the DRA821x chip include:

[0081] (1) Integrated Ethernet TSN / AVB switch. One port supports 5Gb, 10Gb USXGMII / XFI, all ports support 2.5Gb SGMII, and all ports support 1Gb SGMII / RGMII; non-blocking line-speed storage and forwarding switch, Inter VLAN (Layer 3) routing support, time synchronization support via IEEE 1588 (annexes D, E and F), TSN / AVB support for traffic scheduling and shaping, port monitoring functions for debugging and diagnostics, and control and rate limiting support.

[0082] (2) An RGMII / RMII port in the security MCU island.

[0083] (3) A PCI-Express 3rd generation heterogeneous controller, which can be used with 1st, 2nd and 3rd generation, with auto-negotiation function and 4 channels.

[0084] (4) A USB 3.1 Gen 1 dual-role device subsystem that supports Type-C switch and can be independently configured as a USB host, USB peripheral or USB dual-role device.

[0085] The engineering machinery interface of the DRA821x chip includes:

[0086] (1) 20 CAN-FD ports.

[0087] (2) 12 Universal Asynchronous Receiver / Transmitter (UART), 11 Serial Peripheral Interface (SPI), one 8-channel ADC, 10 Internal Integrated Circuits (I2C), and 2 Improved Internal Integrated Circuits (I3C).

[0088] (3) Three multi-channel audio serial port (McASP) modules.

[0089] The flash memory interface of the DRA821x chip includes:

[0090] (1) Embedded Multimedia Card (eMMC) TM 5.1) Interface, supporting speeds up to HS400.

[0091] Specifically, each decision-making and planning control unit receives business data transmitted from the data receiving and processing module. It then reads and analyzes this data to identify environmental perception data, construction machinery behavior data, and data from other surrounding vehicles. Preprocessing is performed on the business data, including error value removal, null value imputation, and format conversion, to generate backup data. Finally, AI algorithms are used to identify and calculate data from the backup data, generating the corresponding decision-making and planning control information for the construction machinery.

[0092] The engineering machinery domain controller provided in this embodiment of the invention includes a first control domain comprising: at least one decision-making and planning control unit connected to a data receiving and processing module, used to receive business data, process the business data, generate backup data, and analyze the backup data to generate decision-making and planning control information. This ensures the accuracy of the generated backup data, thereby ensuring the accuracy of the generated decision-making and planning control information.

[0093] In one optional embodiment of this application, such as Figure 3 As shown, the first control domain includes:

[0094] The first protocol conversion module is connected to at least the multimedia central control unit and the lidar in the engineering machinery. It is used to receive multimedia service data transmitted by the multimedia central control unit and the lidar, and convert the multimedia service data into first protocol data.

[0095] Optionally, the first protocol conversion module can be an Ethernet switch. The Ethernet switch is connected to at least the multimedia control center and the lidar in the engineering machinery, and receives multimedia service data transmitted by the multimedia control center and the lidar, and converts the multimedia service data into Ethernet data.

[0096] Optionally, the first protocol conversion module can also be a protocol conversion module other than Ethernet, at least connected to the multimedia central control unit and LiDAR in the engineering machinery, receiving multimedia service data transmitted by the multimedia central control unit and LiDAR, and converting the multimedia service data into other protocol data. This application embodiment does not specifically limit the first protocol conversion module.

[0097] For example, when the first protocol conversion module is an Ethernet switch, an Ethernet switch is a network switch that transmits data at Ethernet standard rates. Ethernet is a collection of computer networking tools combined with a specific set of standards. A network switch is another term for a device that connects different parts of a computer network; the application of this controller, the switch, is integrated within the first control domain.

[0098] For example, all external Ethernet interfaces are engineering machinery Ethernet. Engineering machinery Ethernet is a new type of local area network (LAN) technology that uses Ethernet to connect in-vehicle electronic units. Unlike traditional Ethernet, which uses four pairs of unshielded twisted-pair cables, engineering machinery Ethernet can achieve transmission rates of 100 Mbit / s or even 1 Gbit / s on a single pair of unshielded twisted-pair cables. It also meets the automotive industry's requirements for high reliability, low electromagnetic radiation, low power consumption, bandwidth allocation, low latency, and real-time synchronization. The physical layer of engineering machinery Ethernet uses Broadcom's Broad R-Reach technology. Broad R-Reach's physical layer (PHY) technology has been standardized by the One-pair Ethernet Alliance (OPEN), therefore, engineering machinery Ethernet is sometimes also called Broad R-Reach (BRR) or OABR (Open Alliance Broad R-Reach). The MAC layer of engineering machinery Ethernet uses the IEEE 802.3 interface standard, seamlessly supporting widely used high-level network protocols (such as TCP / IP) without any adaptation.

[0099] The media access control module is connected to the first protocol conversion module at one end and to the decision planning control unit at the other end. Under the control of the decision planning control unit, it receives the first protocol data based on the target channel and transmits the first protocol data to the decision planning control unit.

[0100] Specifically, the media access control module can be an Ethernet MAC or other controllers. This application does not specifically limit the media access control module.

[0101] After the first protocol conversion module converts the multimedia service data into first protocol data, the first protocol conversion module can send a first protocol data transmission request to the media access control module, which can then send the first protocol data transmission request to the decision planning and control unit.

[0102] The decision planning and control unit is used to analyze backup data and primary protocol data to generate decision planning and control information.

[0103] Specifically, the decision planning and control unit reads and analyzes the backup data and the first protocol data, and performs data identification and calculation on the backup data and the first protocol data based on AI algorithms to generate decision planning and control information corresponding to the engineering machinery.

[0104] The engineering machinery domain controller provided in this embodiment of the invention includes a first control domain, which further comprises: a first protocol conversion module, connected at least to the multimedia central control unit and the lidar in the engineering machinery, for receiving multimedia service data transmitted by the multimedia central control unit and the lidar, and converting the multimedia service data into first protocol data, thereby ensuring the accuracy of the generated first protocol data; a media access control module, connected at one end to the first protocol conversion module and at the other end to the decision planning control unit, receiving the first protocol data based on the target channel under the control of the decision planning control unit, and transmitting the first protocol data to the decision planning control unit, thereby ensuring that the decision planning control unit can obtain the first protocol data when needed; and a decision planning control unit, used to analyze the backup data and the first protocol data to generate decision planning control information, ensuring the accuracy of the generated decision planning control information.

[0105] In one optional embodiment of this application, such as Figure 3 As shown, the first control domain also includes:

[0106] Accelerators are connected to each decision planning and control unit and are used to accelerate the calculation process of the decision planning and control units.

[0107] Optionally, the accelerator can be an AI accelerator used to accelerate the AI ​​computing process in the decision planning and control unit; the accelerator can also be other computing accelerators, and the embodiments of this application do not specifically limit the accelerator.

[0108] For example, when the accelerator can be an AI accelerator, the AI ​​accelerator can accelerate the process by which the decision planning and control unit performs data identification and calculation on backup data and first protocol data based on AI algorithms to generate decision planning and control information corresponding to the engineering machinery.

[0109] The engineering machinery domain controller provided in this embodiment of the invention, in the first control domain, further includes an accelerator. The accelerator is connected to each decision planning and control unit and is used to accelerate the calculation process of the decision planning and control units, thereby improving the calculation efficiency of the decision planning and control units, and consequently improving the calculation efficiency of the first controller and shortening the calculation time of the first controller. This ensures the timeliness of the generated decision planning and control information.

[0110] In one optional embodiment of this application, such as Figure 3 As shown, the heterogeneous controller also includes a first storage interface and a second storage interface, and a data storage module, including:

[0111] The first storage module is connected to each decision planning control unit and accelerator in the first control domain via a first storage interface, and is used to store data in each decision planning control unit and accelerator.

[0112] Specifically, the first storage module can be an internal storage component, and the first storage interface is an internal storage interface. Optionally, the first storage module can be DDR memory. DDR stands for Double Data Rate Synchronous Dynamic Random Access Memory, a type of memory that is an external cache with large capacity and high transfer rate. Currently, the mainstream DDR4 generation can reach 3200MT / s or even higher.

[0113] Memory is an external cache; it is dynamic and overwriteable. All processors have caches, and data is first retrieved from the cache. Caches are generally built into the chip, but due to manufacturing limitations, their capacity is very small, typically only tens or hundreds of KB, so they cannot store large amounts of data. Memory can compensate for the insufficient capacity of the cache.

[0114] DDR memory, or Double Data Rate Synchronous Dynamic Random Access Memory, acts as a bridge, facilitating data exchange between other components in the first control domain (such as the Media Access Control module) and the decision-making and planning control unit. All data transmission to the decision-making and planning control unit occurs through memory. Memory boasts the fastest read and write speeds and can be considered a data cache, further enhancing the chip's data processing speed.

[0115] The second storage module is connected to the first control domain via a second storage interface and is used to store the business data obtained by the first control domain.

[0116] Specifically, unlike the first storage module, the second storage module can be an external storage component, specifically a Double Data Rate (DMR) synchronous dynamic random access memory (DRAM), used to store business data acquired by the first control domain. All data transmission within the construction machinery is handled through the second storage module, which operates the fastest for both reading and storing data. Direct data exchange between the control actuators or other processors and the heterogeneous controllers within the construction machinery's domain controller would be very slow. Alternatively, the second storage module can be considered a data cache, which, with its high-speed cache, further enhances the data processing speed of the heterogeneous controllers.

[0117] In one optional embodiment of this application, the number of second storage modules can be 1, 2, or 3. This application does not specifically limit the number of second storage modules.

[0118] For example, in one optional embodiment of this application, three second storage modules can be integrated inside the engineering machinery domain controller. Each of these three second storage modules has a different function. Second storage module 1 can be NorFlash, and its main purpose is to store the boot program of the heterogeneous controller. Relatively speaking, Nor Flash has better stability, which can ensure the stability of the boot program. The size of the boot program itself is not particularly large. The maximum size of Nor Flash can be 2Gbit. In terms of read and write speed, QSPI (4-channel data) is commonly used, and even OSPI (8-channel data) is available. Without a significant increase in clock speed (usually a maximum of more than 100MHz), the read and write speed (clock data bits) is improved. Second storage module 2 can be eMMC or UFS, and its main features are large capacity and very fast read and write speed, which can be used to store large amounts of data. Second storage module 3 can also be eMMC or UFS, and its main features are large capacity and very fast read and write speed. It is mainly used to store the update programs corresponding to each ECU during the overall machine upgrade.

[0119] The engineering machinery domain controller provided in this embodiment of the invention includes a first storage interface and a second storage interface, and a data storage module. The first storage module is connected to each decision-planning control unit and accelerator in the first control domain via the first storage interface, and is used to store data in each decision-planning control unit and accelerator, ensuring the security of the data in the decision-planning control units and accelerators and preventing data loss. The second storage module is connected to the first control domain via the second storage interface, and is used to store business data acquired by the first control domain, ensuring the security of the business data acquired by the first control domain and preventing business data loss.

[0120] In one optional embodiment of this application, such as Figure 3 As shown, both the first control domain and the second control domain include at least one second protocol controller, and the second protocol controller in the first control domain and the second protocol controller in the second control domain are connected based on the target bus.

[0121] The heterogeneous controller also includes: a second protocol data transceiver, connected to each second protocol controller, for receiving second protocol data.

[0122] Specifically, the second protocol controller may include a CAN protocol controller, and the second protocol data transceiver may be a CAN protocol transceiver. The CAN protocol transceiver can connect environmental sensors to engineering machinery, and the CAN protocol controller can be a motion controller for the entire machine. The CAN protocol controller converts the messages (messages) to be transmitted and received into CAN frames conforming to the CAN standard; the CAN protocol transceiver is the interface between the CAN protocol controller and the CAN bus, converting the logic levels of the CAN protocol controller to the differential levels of the CAN bus, transmitting data over two bus cables with differential voltages. Figure 3 In this system, the CAN protocol controller is integrated within the first control domain and the second control domain.

[0123] The second protocol controller in the first control domain and the second protocol controller in the second control domain transmit data through the target bus, ensuring the security of data transmission between the second protocol controller in the first control domain and the second protocol controller in the second control domain through the target bus.

[0124] The engineering machinery domain controller provided in this embodiment of the invention includes at least one second protocol controller in both the first and second control domains, enabling both the first and second control domains to receive second protocol data. The heterogeneous controller further includes a second protocol data transceiver connected to each second protocol controller for receiving second protocol data, allowing the data receiving and processing module to receive the second protocol data. The second protocol controllers in the first and second control domains are connected via a target bus, enabling data transmission between them while ensuring fast and secure data transmission.

[0125] In one optional embodiment of this application, such as Figure 1 As shown, in existing technology, the wireless communication and positioning module is connected to another control chip (T-BOX) before being connected to an Ethernet switch or a gateway. This means that communication and positioning require an additional controller. Therefore, as... Figure 3 As shown, in one optional embodiment of this application, the data receiving and processing module further includes:

[0126] The communication module connects to the heterogeneous controller via a communication interface.

[0127] Specifically, the communication module may include at least one of the following: a 4G communication module, a 5G communication module, and a Wi-Fi module. When the communication module includes a 5G communication module, the 5G communication module primarily performs 5G wireless communication, communicating with a cloud server. It can upload relevant status and information of the construction machinery to the cloud service, and can also download data from the cloud server to perform OTA software upgrades on heterogeneous controllers in the construction machinery's domain controller. It can also communicate with nearby vehicles or equipment, receiving status updates from other vehicles or equipment. Communication between the 5G communication module and the heterogeneous controller is mainly accomplished via USB 3.0, enabling communication of large data volumes.

[0128] A Wi-Fi module, also known as a serial Wi-Fi module, is an embedded module that converts serial or TTL level signals to Wi-Fi wireless network communication standards. It includes a built-in IEEE 802.11b.gn wireless network protocol stack and a TCP / IP protocol stack. Traditional hardware devices with embedded Wi-Fi modules can directly connect to the internet using Wi-Fi. Communication between the Wi-Fi module and heterogeneous controllers is primarily achieved through SDIO (8-bit). The Wi-Fi module can communicate with nearby devices, such as mobile phones and other vehicles, to exchange data.

[0129] The positioning module connects to the heterogeneous controller via a communication interface to receive location information and locate the construction machinery based on that information.

[0130] Specifically, the positioning module connects to the heterogeneous controller via a communication interface, primarily used to acquire the position information of the construction machinery and obtain more accurate positioning information through differential positioning. However, when the positioning signal is lost, assisted positioning can also be achieved through the inertial navigation system (IMU) integrated within the module. The IMU can also provide information such as the vehicle's attitude. The positioning module not only provides vehicle positioning information but also provides world time for overall machine time. Communication between the positioning module and the heterogeneous controller is mainly via UART. Therefore, positioning does not require an additional controller, reducing costs.

[0131] The engineering machinery domain controller provided in this embodiment of the invention includes a communication interface and a data receiving and processing module. The communication module is connected to the heterogeneous controller via the communication interface, enabling the heterogeneous controller to receive communication data from the communication module. Furthermore, the data receiving and processing module includes a positioning module, which is connected to the heterogeneous controller via the communication interface to receive location information and locate the engineering machinery based on that information, ensuring the accuracy of the positioning.

[0132] For example, such as Figure 5 As shown, an optional implementation of the engineering machinery domain controller is presented, such as... Figure 5 As shown. In this configuration, the decision-making and planning control unit in the first control domain can be an ARM-Cortex-A processor; the processor in the second control domain can be an ARM-Cortex-R processor; the accelerator can be an AI accelerator; the data receiving and processing module can include an LVDS deserializer, a wireless communication module, a Wi-Fi module, a positioning module, etc.; the first protocol conversion module can be an Ethernet switch; the media access control module can be an Ethernet MAC; the first storage module can be DDR memory; the second storage module can be an external storage component; the second protocol controller can be a CAN protocol controller, for example, a whole-machine motion controller, specifically a drive / brake controller, steering controller, suspension controller, or working device controller; the second protocol transceiver can be a CAN protocol transceiver, wherein the CAN protocol transceiver can connect environmental sensors to the engineering machinery, specifically millimeter-wave radar, ultrasonic radar, etc.; the CAN protocol controller in the second control domain is a whole-machine motion controller, specifically a drive / brake controller, steering controller, suspension controller, or working device controller.

[0133] The above embodiments mainly provide a brief introduction to the structure and components of the engineering machinery domain controller. The functions of the entire engineering machinery domain controller will be described in detail below.

[0134] (1) Engineering machinery bus gateway functions: realize information sharing on each bus and realize network management and fault diagnosis functions within the engineering machinery; message routing: the engineering machinery domain controller has the function of forwarding messages and diagnosing the status of bus messages; signal routing: realize the mapping of signals between different messages; network management: network status monitoring and statistics, error handling, sleep wake-up, etc.; at the same time, when networks using different architectures or protocols communicate with each other, it is used to provide protocol conversion, data exchange, etc.; realize information sharing between low-speed networks (CAN) and high-speed networks; activate and monitor the working status of the local area network; can convert data on the local area network into recognizable OBD II diagnostic data language for easy diagnosis; similar to the role of a gateway in a computer system, it is responsible for receiving and sending information; translate information identifiers; realize the synchronization of data within the engineering machinery network system.

[0135] The engineering machinery domain controller provided in this application embodiment can not only realize the above-mentioned ordinary bus gateway functions, but also realize the conversion between CAN (500Kbps and below) and CAN-FD (2Mbps). Simultaneously, based on data transceiver 07 and network device 05, it can also realize protocol conversion between Ethernet and CAN. Due to frequency limitations, traditional engineering machinery gateways may experience data loss when performing large-volume data conversion between CAN and Ethernet. However, the engineering machinery domain controller provided in this application embodiment, during conversion, firstly, because the heterogeneous controller has a very high frequency, the amount of data processed is much larger; secondly, even without technical processing, the data will be stored in the second storage module of the engineering machinery domain controller, preventing data loss. Furthermore, when the heterogeneous controller of the engineering machinery domain controller is a DRA821x chip, the core processor of the DRA821x chip is divided into A72 and R5, which support different operating systems. The engineering machinery domain controller provided in this application embodiment can connect to both ECUs with and without AutoSar, thereby realizing communication between ECUs with two different communication modes.

[0136] (2) Data monitoring and storage function: The second storage module can monitor and store all network data of the construction machinery in real time (local or cloud server). Traditional gateways use MCUs to implement gateway functions. There are no problems during normal data routing, but data routing does not monitor and read the data content. When traditional heterogeneous controllers are asked to implement this function, severe packet loss will occur due to the limitations of the main frequency and cache space. When the construction machinery domain controller provided in this application embodiment is used to implement this function, there is no need to worry about such problems. Since the heterogeneous controller in the construction machinery domain controller provided in this application embodiment can use the A72 in the DRA821x chip as the core processor, and runs on the Linux file system, the main frequency can reach 2GHz. At this main frequency, there will be no problem with data processing. It is estimated that even gigabit Ethernet is only 1Gbps, while construction machinery data is relatively large and is basically CAN and CAN-FD (2Mbps). Even if some data is not processed in time when the heterogeneous controller is processing data, the Linux system can still handle it. This data will be cached in the second storage module, which has a capacity of over 8GB, so there is no need to worry about data loss. Alternatively, all data can be stored in the second storage module through the file system itself. This storage is located inside the construction machinery domain controller, which is not easily damaged. The construction machinery domain controller provided in this application embodiment can be used as a black box. The space of the second storage module can reach over 32GB, which can store more than a week's worth of real-time data for construction machinery data, allowing customers to monitor the driving status of their vehicles. At the same time, this data can be uploaded to the backend server through the 5G module, which is beneficial for car manufacturers to monitor the status of vehicles.

[0137] (3) Information security guarantee for the entire construction machinery: As mentioned above, unlike traditional gateways, the construction machinery domain controller provided in this application embodiment can realize real-time monitoring of all data of the construction machinery, which can ensure the security of the construction machinery information and prevent illegal heterogeneous controllers from accessing or reading the whole machine information. If an illegal heterogeneous controller or device is accessed, the construction machinery domain controller provided in this application embodiment will detect it and disconnect it immediately.

[0138] When the heterogeneous controller is the DRA821x chip, based on the hardware architecture of the DRA821x chip, the built-in Safety MCU ensures that the chip's functional safety level can reach ASIL-D, which not only ensures that the chip is not prone to failure, but also physically isolates the high-speed bus from the low-speed bus. That is to say, the data from the 5G module enters the chip through USB 3.0, undergoes the first data verification, and then enters the MCU domain through the internal bus for a second verification before being forwarded to the whole machine bus network. Through multiple verifications and internal encryption modules, the information security of the whole machine is effectively guaranteed.

[0139] (4) Over-the-Air (OTA) upgrades for construction machinery: firmware upgrades are called FOTA (Firmware-Over-The-Air), and software upgrades are called SOTA (Software-Over-The-Air). FOTA refers to downloading the complete firmware image (core services) to the construction machinery, which may affect all applications and has a significant impact. SOTA only sends the application software that needs to be changed, affecting only a small range of functions. SOTA has lower requirements for construction machinery, and because the scope of impact is limited and it mostly affects entertainment systems, its impact is not significant on its own. However, the implementation of FOTA (which generally requires firmware updates for high-level and complex domain controllers of construction machinery) often involves important heterogeneous controllers of construction machinery, including the body, power, and autonomous driving systems, and has higher requirements for the whole machine. The construction machinery domain controller provided in this application can perform both SOTA and FOTA upgrades. SOTA is relatively simple. Taking the multimedia control unit as an example, a connection is first established between the heterogeneous controller and the cloud service. After authentication, the data downloaded by the communication module is transmitted to the multimedia control unit through the protocol converter (such as an Ethernet converter) in the heterogeneous controller to complete the APP update. FOTA is relatively more complicated because, under extreme conditions, the construction machinery domain controller needs to upgrade all ECUs of the construction machinery. Therefore, the whole process is relatively complicated for the construction machinery domain controller. When a program needs to be upgraded, the cloud server and the construction machinery domain controller need to perform bidirectional authentication. After successful authentication, the driver is asked whether to download the data package (which will consume data traffic). After approval, the upgrade package is downloaded to the second storage module inside the construction machinery domain controller. Under the condition that the conditions are met (generally, the construction machinery is turned off for a long time and cannot be moved during the upgrade process), the required ECUs in the construction machinery are upgraded. During the upgrade process, the construction machinery domain controller establishes a connection with the ECU to be upgraded through a handshake or other means, identifying whether the ECU to be upgraded is an illegal ECU. Secondly, the ECU verifies the gateway, the data to be upgraded, and the upgrade request to determine if it is an illegal operation or program. Because the A72 and Linux systems process data very quickly, different ECUs on the construction machinery can be upgraded simultaneously to improve the upgrade speed. After the upgrade is complete, the construction machinery is reactivated with the latest version and status of the heterogeneous controller. Of course, the second storage module is partitioned to store the two latest versions of the program, used to restore the ECU in case the new version upgrade fails, ensuring that the construction machinery will not become unusable due to ECU upgrade failure.

[0140] Therefore, the engineering machinery domain controller provided in this embodiment of the invention uses a multi-core heterogeneous chip as the core processor, and is equipped with some peripheral chips that only have data conversion functions to form a basic framework; this controller mainly has the following functions:

[0141] (1) It has a low-speed bus (CAN) gateway routing function, which can realize data routing between different bus channels;

[0142] (2) It has the function of protocol conversion between high-speed bus (ETH) and low-speed bus (CAN) and data interaction between different types of buses;

[0143] (3) It has the ability to exchange data between wireless data channels (5G and Wi-Fi) and wired data channels (ETH and CAN);

[0144] (4) It can be used as a black box to store all vehicle data locally or uploaded to a cloud server for storage.

[0145] The engineering machinery domain controller provided in this embodiment of the invention has the following advantages over the gateway in the prior art:

[0146] (1) Use the high-speed data bus inside the chip to replace communication between different chips (RGMII, 1Gbps) or between different controllers (CAN-FD, 2Mbps), with large bandwidth (e.g., 512KB-L2-SRAM-2GHz) and low latency (ns level); the main frequency of the Cortex-A series (greater than 2GHz) is much higher than that of ordinary MCUs (tens of MHz, and the highest can only reach hundreds of MHz), and the data packet loss of the CAN bus can be reduced to less than 1%;

[0147] (2) When using the cloud gateway function, there is physical isolation between data channels, and data can be verified during the data conversion process, which effectively ensures that the internal network is not easily affected by the external network and improves information security.

[0148] (3) Important bus channels are connected to the MCU domain and then interact with the main SOC domain, which can effectively improve the functional safety level of communication and make the vehicle safer;

[0149] (4) A dedicated chip is used to store data from all bus systems of the vehicle in real time, enabling the black box function to analyze the vehicle's state before and after an accident.

[0150] (5) It integrates 5G, Wi-Fi, GNSS and other functions, and realizes cloud communication gateway on a single controller, eliminating the need for an additional controller and effectively reducing costs.

[0151] Based on the above-mentioned engineering machinery domain controller, this embodiment of the invention also provides an engineering machinery, including the above-mentioned engineering machinery domain controller.

[0152] In one embodiment of this application, construction machinery is also provided, comprising:

[0153] The engineering machinery body; the engineering machinery domain controller of any of the above embodiments; and at least one control actuator, wherein the engineering machinery domain controller is connected to the engineering machinery body and each control actuator.

[0154] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A domain controller for engineering machinery, characterized in that, include: A heterogeneous controller, comprising a first control domain and a second control domain, wherein the first control domain and the second control domain are connected based on a target bus; The first control domain is used to acquire business data, analyze the business data to generate decision planning and control information, and transmit the decision planning and control information to the second control domain based on the target bus; the second control domain is used to further process the decision planning and control information to generate control instructions, and send the control instructions to the control actuator corresponding to the control instructions. A data receiving and processing module, connected to the first control domain, is used to receive raw external input data, process the raw external input data, generate the service data, and transmit the service data to the first control domain. A data storage module, connected to the first control domain, is used to store the business data and the decision planning and control information.

2. The engineering machinery domain controller according to claim 1, characterized in that, The first control domain includes: At least one decision planning and control unit is connected to the data receiving and processing module, for receiving the business data, processing the business data, generating backup data, and analyzing the backup data to generate the decision planning and control information.

3. The engineering machinery domain controller according to claim 2, characterized in that, The first control domain further includes: The first protocol conversion module is connected to at least the multimedia central control unit and the lidar in the engineering machinery, and is used to receive multimedia service data transmitted by the multimedia central control unit and the lidar, and convert the multimedia service data into first protocol data. The media access control module is connected to the first protocol conversion module at one end and to the decision planning control unit at the other end. Under the control of the decision planning control unit, it receives the first protocol data based on the target channel and transmits the first protocol data to the decision planning control unit. The decision planning and control unit is used to analyze the backup data and the first protocol data to generate the decision planning and control information.

4. The engineering machinery domain controller according to claim 1, characterized in that, The first control domain further includes: An accelerator, connected to each of the decision planning and control units, is used to accelerate the calculation process of the decision planning and control units.

5. The engineering machinery domain controller according to claim 4, characterized in that, The heterogeneous controller further includes a first storage interface and a second storage interface, and the data storage module includes: The first storage module is connected to each of the decision planning control units and the accelerator in the first control domain via the first storage interface, and is used to store data in each of the decision planning control units and the accelerator; The second storage module is connected to the first control domain via the second storage interface and is used to store the business data obtained by the first control domain.

6. The engineering machinery domain controller according to claim 1, characterized in that, Both the first control domain and the second control domain include at least one second protocol controller, and the second protocol controller in the first control domain and the second protocol controller in the second control domain are connected based on the target bus.

7. The engineering machinery domain controller according to claim 6, characterized in that, The heterogeneous controller also includes: The second protocol data transceiver is connected to each of the second protocol controllers and is used to receive second protocol data.

8. The engineering machinery domain controller according to claim 1, characterized in that, The heterogeneous controller further includes a communication interface, and the data receiving and processing module further includes: A communication module, which is connected to the heterogeneous controller via the communication interface.

9. The engineering machinery domain controller according to claim 8, characterized in that, The data receiving and processing module further includes: A positioning module, which is connected to the heterogeneous controller via the communication interface, is used to receive location information and locate the construction machinery based on the location information.

10. An engineering machinery, characterized in that, The engineering machinery includes: Construction machinery body; The engineering machinery domain controller according to any one of claims 1-9; as well as, At least one control actuator, wherein the engineering machinery domain controller is connected to the engineering machinery body and each of the control actuators.

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