CAN communication system, method and operating machine

Abstract

The application relates to the field of engineering machinery, and provides a CAN communication system, a method and a working machine. The system comprises a plurality of controllers, a first switching device, a second switching device, a first trunk CAN line, a second trunk CAN line and a branch CAN line corresponding to each controller. The plurality of controllers comprise an arbitration controller and a plurality of node controllers. The arbitration controller is used for receiving a breathing signal sent by each node controller at a preset frequency, and sending a switching signal to the first switching device and the second switching device when it is determined that a line switching condition is met based on the breathing signal. The first switching device and the second switching device control the first trunk CAN line or the second trunk CAN line to switch to an access state based on the switching signal. The application can effectively improve the stability and reliability of CAN communication.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a CAN communication system, method and operating machinery. Background Art

[0002] As a method for information transmission and control that reduces the number of hardwires and enhances control precision, the CAN network has seen significant development and widespread application in fields such as construction machinery and automobiles. For example, in construction machinery, the CAN network can connect electrical components such as the vehicle controller, engine controller, display controller, air conditioner, power distribution module, keypad, electric handle, and electric pedal. Consequently, CAN cables are commonly located in areas such as the cab, radiator compartment, main pump compartment, and main valve compartment. To facilitate assembly, CAN cables are often crimped together or even disconnected during routing, impacting CAN cable transmission stability. A CAN network failure during vehicle operation can result in malfunctions at best, or even loss of control, endangering property and personal safety.

[0003] In related technologies, dual CAN lines are typically used to connect controllers for CAN communication, with all controllers supporting dual CAN channels and fault monitoring. During normal communication, each CAN line is responsible for signal transmission from a different controller. When a controller detects a communication failure on its corresponding CAN line, it requests all other controllers to switch to the other CAN line for communication, thereby avoiding communication interruptions caused by CAN network failures. However, this method requires all controllers to support dual CAN channels. For controllers with only a single CAN channel, such as air conditioning controllers and keypad controllers, the stability and reliability of their communication cannot be guaranteed. Summary of the Invention

[0004] In response to the above-mentioned problems existing in the related art, the present invention provides a CAN communication system, method and operating machine.

[0005] The present invention provides a CAN communication system, comprising: a plurality of controllers, a first switching device, a second switching device, a first trunk CAN line, a second trunk CAN line, and branch CAN lines corresponding to each of the controllers; the first trunk CAN line and the second trunk CAN line are connected in parallel between the first switching device and the second switching device; the plurality of controllers are each connected to the first trunk CAN line and the second trunk CAN line via the corresponding branch CAN lines; the plurality of controllers include an arbitration controller and a plurality of node controllers, the arbitration controller being further connected to the first switching device and the second switching device;

[0006] The arbitration controller is configured to receive a breathing signal sent by each node controller at a preset frequency, and when determining based on the breathing signal that a line switching condition is met, send a switching signal to the first switching device and the second switching device;

[0007] The first switching device and the second switching device control the first trunk CAN line or the second trunk CAN line to switch to an access state based on the switching signal.

[0008] According to the CAN communication system provided by the present invention, the arbitration controller is specifically used for:

[0009] If the breathing signal sent by the target controller in each of the node controllers is not received within a preset time period, it is determined that the line switching condition is met; otherwise, it is determined that the line switching condition is not met.

[0010] According to the CAN communication system provided by the present invention, the arbitration controller is further used for:

[0011] When the breathing signal sent by the node controller other than the target controller is not received within a preset time period and the breathing signal sent by the target controller is received, an alarm signal is generated.

[0012] The CAN communication system provided by the present invention further includes a display control device, wherein the display control device is connected to the arbitration controller;

[0013] The arbitration controller is further configured to generate status data of the first trunk CAN line or the second trunk CAN line based on the breathing signal;

[0014] The arbitration controller is further configured to send at least one of the status data, the alarm signal, and the switching signal to the display control device.

[0015] According to the CAN communication system provided by the present invention, the branch CAN lines corresponding to the arbitration controller include a first branch CAN line and a second branch CAN line;

[0016] The arbitration controller is connected to the first main CAN line through the first branch CAN line, and is connected to the second main CAN line through the second branch CAN line.

[0017] According to the CAN communication system provided by the present invention, the node controller includes a first node controller and a second node controller;

[0018] The first node controller is connected to the first trunk CAN line and the second trunk CAN line via the corresponding branch CAN lines and the first switching device;

[0019] The second node controller is connected with the first trunk CAN line and the second trunk CAN line through the corresponding branch CAN line and the second switching device.

[0020] According to the CAN communication system provided by the application, the first switching device comprises a first switch and a second switch arranged in interlock, and a third switch and a fourth switch arranged in interlock; the branch CAN line corresponding to the first node controller comprises a first positive CAN line and a first negative CAN line; the first positive CAN line is connected with the positive CAN line of the first trunk CAN line and the positive CAN line of the second trunk CAN line through the first switch and the second switch respectively; the first negative CAN line is connected with the negative CAN line of the first trunk CAN line and the negative CAN line of the second trunk CAN line through the third switch and the fourth switch respectively.

[0021] And / or, the second switching device comprises a fifth switch and a sixth switch arranged in interlock, and a seventh switch and an eighth switch arranged in interlock; the branch CAN line corresponding to the second node controller comprises a second positive CAN line and a second negative CAN line; the second positive CAN line is connected with the positive CAN line of the first trunk CAN line and the positive CAN line of the second trunk CAN line through the fifth switch and the sixth switch respectively; the second negative CAN line is connected with the negative CAN line of the first trunk CAN line and the negative CAN line of the second trunk CAN line through the seventh switch and the eighth switch respectively.

[0022] According to the CAN communication system provided by the application, the node controller comprises at least one third node controller.

[0023] The branch CAN line corresponding to the third node controller comprises a third positive CAN line and a third negative CAN line.

[0024] One end of the third positive CAN line is connected with the corresponding third node controller, and the other end is connected with a first branch and a second branch arranged in parallel; the other end of the first branch is connected with the positive CAN line of the first trunk CAN line, and the other end of the second branch is connected with the positive CAN line of the second trunk CAN line.

[0025] One end of the third negative CAN line is connected with the corresponding third node controller, and the other end is connected with a third branch and a fourth branch arranged in parallel; the other end of the third branch is connected with the negative CAN line of the first trunk CAN line, and the other end of the fourth branch is connected with the negative CAN line of the second trunk CAN line.

[0026] The present invention also provides a CAN communication method, comprising:

[0027] Receiving, by means of an arbitration controller, breathing signals sent by each node controller at a preset frequency; wherein the arbitration controller and each of the node controllers are connected to the first trunk CAN line and the second trunk CAN line via corresponding branch CAN lines;

[0028] When the arbitration controller determines that the line switching condition is met based on the breathing signal, it sends a switching signal to the first switching device and the second switching device; wherein, the first switching device and the second switching device control the first trunk CAN line or the second trunk CAN line to switch to the access state based on the switching signal, and the first trunk CAN line and the second trunk CAN line are connected in parallel between the first switching device and the second switching device.

[0029] The present invention also provides an operating machine, which includes any one of the CAN communication systems described above, or the operating machine uses the CAN communication method described above.

[0030] The CAN communication system, method and operating machinery provided by the present invention are configured by setting an arbitration controller, multiple node controllers, a first switching device, a second switching device, and a first trunk CAN line and a second trunk CAN line connected in parallel between the first switching device and the second switching device, and receiving the breathing signal sent by each node controller at a preset frequency through the arbitration controller, and sending a switching signal to the first switching device and the second switching device when it is determined based on the breathing signal that the line switching condition is met, so as to control the first trunk CAN line or the second trunk CAN line to switch to the access state through the first switching device and the second switching device, so that communication can be carried out through the trunk CAN line switched to the access state among the first trunk CAN line and the second trunk CAN line. Each node controller does not need to support dual CAN channels, nor does it need to monitor the CAN network for faults, and effectively ensures the stability and reliability of CAN communication, thereby improving the safety of vehicle operation.

[0031] At the same time, when the present invention performs line switching, the structure of the vehicle CAN network does not change, and the requirement of arranging the terminal resistors at the two farthest ends can still be met, further improving the communication stability of the vehicle CAN network.

[0032] In addition, the present invention only requires an arbitration controller to perform fault monitoring, and each node controller only needs to send a breathing signal at a preset frequency, which greatly reduces the logical complexity of each node controller, thereby reducing the risk of node controller operation errors and further improving the safety of vehicle operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 This is one of the structural diagrams of the CAN communication system provided by the present invention;

[0035] Figure 2 This is the second structural diagram of the CAN communication system provided by the present invention;

[0036] Figure 3 This is the third structural diagram of the CAN communication system provided by the present invention;

[0037] Figure 4 This is the fourth structural diagram of the CAN communication system provided by the present invention;

[0038] Figure 5 It is a flow chart of the CAN communication method provided by the present invention;

[0039] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention;

[0040] Reference numerals:

[0041] 101: First switching device; 102: Second switching device; 103: First main CAN line; 104: Second main CAN line; 105: Branch CAN line; 106: Arbitration controller; 107: Node controller; 108: First hard wire; 201: Display control device; 202: Arbitration CAN line; 203: Second hard wire; 301: First node controller; 302: Second node controller; 401: First switch; 402: Second switch; 403: Third switch; 404: Fourth switch; 405: First positive CAN line; 406: First negative CAN line; 407: First coil; 408: Second coil. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0043] The following combination Figures 1 to 4The CAN communication system of the present invention is described. Figure 1 As shown, the CAN communication system of the present invention comprises at least: a plurality of controllers, a first switching device 101, a second switching device 102, a first trunk CAN line 103, a second trunk CAN line 104, and a branch CAN line 105 corresponding to each of the controllers; the first trunk CAN line 103 and the second trunk CAN line 104 are connected in parallel between the first switching device 101 and the second switching device 102; the plurality of controllers are connected to the first trunk CAN line 103 and the second trunk CAN line 104 via the corresponding branch CAN lines 105; the plurality of controllers include an arbitration controller 106 and a plurality of node controllers 107, and the arbitration controller 106 is also connected to the first switching device 101 and the second switching device 102;

[0044] The arbitration controller 106 is configured to receive the breathing signals sent by each of the node controllers 107 at a preset frequency, and send a switching signal to the first switching device 101 and the second switching device 102 when determining based on the breathing signals that a line switching condition is met;

[0045] The first switching device 101 and the second switching device 102 control the first trunk CAN line 103 or the second trunk CAN line 104 to switch to the access state based on the switching signal, and the trunk CAN line switched to the access state among the first trunk CAN line 103 and the second trunk CAN line 104 is used to complete the communication between the multiple controllers.

[0046] In this embodiment, the first trunk CAN line 103 can be the trunk CAN line used during normal vehicle communication, and the second trunk CAN line 104 can be a backup CAN line for the first trunk CAN line 103, which is used for communication when the first trunk CAN line 103 fails, so as to avoid abnormal vehicle operation caused by the failure of the first trunk CAN line 103 during vehicle operation.

[0047] The first trunk CAN line 103 and the second trunk CAN line 104 are connected in parallel between the first switching device 101 and the second switching device 102, that is, the two ends of the first trunk CAN line 103 (the two farthest ends of the first trunk CAN line 103) are respectively connected to the first switching device 101 and the second switching device 102, and the two ends of the second trunk CAN line 104 (the two farthest ends of the second trunk CAN line 104) are also respectively connected to the first switching device 101 and the second switching device 102, so that the switching of the first trunk CAN line 103 and the second trunk CAN line 104 can be controlled by the first switching device 101 and the second switching device 102, and the access state is the state when connected to the vehicle CAN network. For example, when the first trunk CAN line 103 is controlled to switch to the access state, the second trunk CAN line 104 is controlled to be disconnected; when the second trunk CAN line 104 is controlled to switch to the access state, the first trunk CAN line 103 is controlled to be disconnected, thereby ensuring that at any time only one of the first trunk CAN line 103 and the second trunk CAN line 104 is in the access state.

[0048] The first switching device 101 and the second switching device 102 may include multiple switch devices, and the multiple switch devices are controlled by switching signals to switch in conjunction with each other, so as to achieve switching between the first trunk CAN line 103 and the second trunk CAN line 104.

[0049] Multiple controllers can be controllers that need to communicate in the vehicle. For any one of the multiple controllers, they are connected to the first branch CAN line and the second branch CAN line signal through the corresponding branch CAN line 105. Each controller can communicate through the trunk CAN line in the first trunk CAN line 103 and the second trunk CAN line 104 that is in the connected state.

[0050] The multiple controllers include an arbitration controller 106 and multiple node controllers 107. The number of the arbitration controller 106 can be one. The arbitration controller 106 can be electrically connected to the first switching device 101 and the second switching device 102 through a first hard line 108 to send a switching signal to the first switching device 101 and the second switching device 102 when the line switching condition is met. Figure 1 In the example, only one node controller 107 is used. In addition, in this embodiment, the specific manner of signal connection between the arbitration controller 106 and the first trunk CAN line 103 and the second trunk CAN line 104, and the specific manner of signal connection between the node controller 107 and the first trunk CAN line 103 and the second trunk CAN line 104 are not specifically limited. Figure 1 The connection method in the figure is only an optional implementation method.

[0051] The breathing signal is a signal used to indicate that the corresponding node controller 107 is in a powered-on state, and can be a character or string of a preset type. Any controller in the plurality of node controllers 107 sends the breathing signal at a preset frequency. For example, the node controller 107 can send the breathing signal once every 50 milliseconds.

[0052] The arbitration controller 106 obtains the breathing signal sent by each node controller 107 through the trunk CAN line that is currently in the connected state and the corresponding branch CAN line 105, and determines whether the line switching condition is met based on the breathing signal, and sends a switching signal to the first switching device 101 and the second switching device 102 when the line switching condition is met, so as to control the switching of the first trunk CAN line 103 and the second trunk CAN line 104. In this way, the switching of the first trunk CAN line 103 and the second trunk CAN line 104 can be completed through the arbitration controller 106, the first switching device 101 and the second switching device 102. Each node controller 107 does not need to support dual CAN channels, nor does it need to monitor the CAN network for faults, and the stability and reliability of CAN communication are guaranteed.

[0053] Among them, the specific method by which the arbitration controller 106 determines whether the line switching condition is met based on the breathing signal can be determined according to actual needs. For example, when no breathing signal is received within a preset time period, it can indicate that the main CAN line currently in the access state is faulty, and it is determined that the line switching condition is met; it can also be determined that the line switching condition is met when no breathing signal is received from the target controller in each node controller 107 within a preset time period; otherwise, it is determined that the line switching condition is not met. It is understandable that it is also possible to determine that the branch CAN line 105 corresponding to the node controller 107 without a breathing signal is faulty when only breathing signals are received from some of the controllers in each node controller 107, thereby enabling fault detection of the main CAN line and the branch CAN line 105 at the same time, further reducing the risk of vehicle operation abnormality caused by CAN network failure during vehicle operation.

[0054] Thus, it can be seen that this embodiment provides an arbitration controller 106, multiple node controllers 107, a first switching device 101, a second switching device 102, and a first trunk CAN line 103 and a second trunk CAN line 104 connected in parallel between the first switching device 101 and the second switching device 102. The arbitration controller 106 receives breathing signals sent by each node controller 107 at a preset frequency, and sends switching signals to the first switching device 101 and the second switching device 102 when it determines that a line switching condition is met based on the breathing signals. The first switching device 101 and the second switching device 102 control the first trunk CAN line 103 or the second trunk CAN line 104 to switch to the access state, thereby enabling communication through the trunk CAN line 103 or the second trunk CAN line 104 that has switched to the access state. Each node controller 107 does not need to support dual CAN channels, nor does it need to perform fault monitoring on the CAN network. The stability and reliability of CAN communication are effectively guaranteed, thereby improving the safety of vehicle operation.

[0055] At the same time, in the existing technology that uses dual CAN lines to connect various controllers, each CAN line is responsible for signal transmission of different controllers during normal communication. When a controller detects a communication failure in the corresponding CAN line, it requests all other controllers to switch to the other CAN line for communication. As a result, the structure of the entire vehicle CAN network changes when the line is switched, which cannot meet the requirement of arranging the terminal resistors at the two farthest ends of the main CAN line, further increasing the instability of CAN communication.

[0056] In this embodiment, a terminal resistor can be set at the two farthest ends of the first trunk CAN line 103, and a terminal resistor can be set at the two farthest ends of the second trunk CAN line 104. When a fault is detected in the first trunk CAN line 103 or the second trunk CAN line 104 and the line is switched, the structure of the entire vehicle CAN network will not change, and the requirement of arranging the terminal resistors at the two farthest ends of the trunk CAN line can still be met, thereby further improving the communication stability of the entire vehicle CAN network.

[0057] Furthermore, in existing technologies that use dual CAN lines to connect controllers, each controller can function as arbitration controller 106, increasing the logic complexity of the controllers. This increased complexity further increases the risk of controller operational errors. However, in this embodiment, only arbitration controller 106 is required to perform fault monitoring, and each node controller 107 only needs to send a breathing signal at a preset frequency. This significantly reduces the logic complexity of each node controller 107, thereby reducing the risk of node controller 107 operational errors and further improving vehicle operation safety.

[0058] In an exemplary embodiment, the arbitration controller 106 is specifically configured to:

[0059] If the breathing signal sent by the target controller in each of the node controllers 107 is not received within the preset time period, it is determined that the line switching condition is met; otherwise, it is determined that the line switching condition is not met.

[0060] In this embodiment, the target controller in each node controller 107 may be a node controller 107 that plays a key role in the performance of the vehicle during operation, such as a vehicle controller, an engine controller, etc. The preset duration may be set according to actual needs, for example, it may be set to 1 second.

[0061] If the arbitration controller 106 does not receive the breathing signal sent by the target controller within the preset time, it indicates that the line switching condition is met. If not, it indicates that the line switching condition is not met. This can effectively monitor the faults of the main CAN line and switch the line while ensuring the vehicle's operating performance, thereby improving the safety of vehicle operation.

[0062] It is understandable that if the breathing signal sent by the target controller cannot be received within the preset time after switching from the first trunk CAN line 103 to the second trunk CAN line 104, the first trunk CAN line 103 can be switched back to the first trunk CAN line 103. If the line switching conditions are met, it indicates that both the first trunk CAN line 103 and the second trunk CAN line 104 are faulty, or the branch CAN line 105 corresponding to the target controller is faulty, and an alarm signal can be generated to remind relevant personnel to troubleshoot in time; if the line switching conditions are not met after switching back to the first trunk CAN line 103, communication is performed through the first trunk CAN line 103, thereby ensuring the reliability of the fault monitoring results.

[0063] In an exemplary embodiment, the arbitration controller 106 is further configured to:

[0064] When the breathing signal sent by the node controller 107 other than the target controller is not received within a preset time period and the breathing signal sent by the target controller is received, an alarm signal is generated.

[0065] In this embodiment, if the arbitration controller 106 receives the breathing signal sent by the target controller within the preset time period, but does not receive the breathing signal sent by one or more node controllers 107 other than the target controller, it indicates that the branch CAN line 105 corresponding to the node controller 107 has a fault. Line switching is not required, and an alarm signal is generated to remind relevant personnel to troubleshoot in time, thereby achieving comprehensive monitoring of the faults of the branch CAN line 105, the first trunk CAN line 103 and the second trunk CAN line 104, further improving the reliability of CAN communication.

[0066] In an exemplary embodiment, a display control device 201 is further included, and the display control device 201 is connected to the arbitration controller 106;

[0067] The arbitration controller 106 is further configured to generate status data of the first trunk CAN line 103 or the second trunk CAN line 104 based on the breathing signal;

[0068] The arbitration controller 106 is further configured to send at least one of the status data, the alarm signal, and the switching signal to the display control device 201 .

[0069] In this embodiment, the display control device 201 may be a display controller of the vehicle itself. Figure 2 As shown, the arbitration controller 106 can be connected to the display control device 201 via the arbitration CAN line 202 for signal connection. At the same time, the arbitration controller 106 can also be electrically connected to the display control device 201 via the second hard line 203 .

[0070] The arbitration controller 106 can generate status data of the first trunk CAN line 103 or the second trunk CAN line 104 based on the received breathing signal. For example, the arbitration controller 106 can generate status data of the trunk CAN line that is currently in the connected state among the first trunk CAN line 103 and the second trunk CAN line 104 based on the received breathing signal.

[0071] The status data can be a fault state or a normal state. The specific method in which the arbitration controller 106 generates the status data based on the breathing signal can be set according to actual needs. For example, the arbitration controller 106 can determine whether the line switching condition is met based on the breathing signal, and generate the status data based on the determination result of whether the line switching condition is met. When the line switching condition is met, the status data of the main CAN line that is currently in the connected state is a fault state. When the line switching condition is not met, the status data of the main CAN line that is currently in the connected state is a normal state.

[0072] The arbitration controller 106 can also send at least one of status data, alarm signals, and switching signals to the display control device 201, so that relevant personnel can monitor the operating status of the vehicle CAN network in real time and conduct timely troubleshooting. It is understandable that the status data and alarm signals can be transmitted to the display control device 201 via the arbitration CAN line 202, and the switching signal can be transmitted to the display control device 201 via the second hard line 203. For example, when the arbitration controller 106 determines that the line switching conditions are met, it can simultaneously send the switching signal to the first switching device 101, the second switching device 102, and the display control device 201 via the hard line. Therefore, when the arbitration CAN line 202 fails, the switching signal can still be sent to the display control device 201 via the hard line to remind relevant personnel to troubleshoot in a timely manner. The redundant design of the arbitration CAN line 202 and the hard line further reduces the impact of vehicle CAN network failures on the normal operation of the vehicle.

[0073] In an exemplary embodiment, the branch CAN lines 105 corresponding to the arbitration controller 106 include a first branch CAN line and a second branch CAN line;

[0074] The arbitration controller 106 is connected to the first main CAN line 103 through the first branch CAN line, and is connected to the second main CAN line 104 through the second branch CAN line.

[0075] In this embodiment, the arbitration controller 106 supports dual CAN channels, and the branch CAN lines 105 corresponding to the arbitration controller 106 include a first branch CAN line and a second branch CAN line.

[0076] Among them, the arbitration controller 106 is signal-connected to the first main CAN line 103 through the first branch CAN line, that is, the positive CAN line of the first branch CAN line is signal-connected to the positive CAN line of the first main CAN line 103, and the negative CAN line of the first branch CAN line is signal-connected to the negative CAN line of the first main CAN line 103. At the same time, the arbitration controller 106 is also signal-connected to the second trunk CAN line 104 through the second branch CAN line, that is, the positive CAN line of the second branch CAN line is signal-connected to the positive CAN line of the second trunk CAN line 104, and the negative CAN line of the second branch CAN line is signal-connected to the negative CAN line of the second trunk CAN line 104, so that when the first trunk CAN line 103 is in the connected state, the breathing signal sent by each node controller 107 can be obtained through the first branch CAN line, and when the second trunk CAN line 104 is in the connected state, the breathing signal sent by each node controller 107 can be obtained through the second branch CAN line, thereby ensuring the validity of the acquired breathing signal, thereby improving the accuracy of the trunk CAN line fault monitoring results, and further improving the stability and reliability of the vehicle CAN network communication.

[0077] In an exemplary embodiment, as Figure 3 As shown, the node controller 107 includes a first node controller 301 and a second node controller 302;

[0078] The first node controller 301 is connected to the first trunk CAN line 103 and the second trunk CAN line 104 via the corresponding branch CAN lines 105 and the first switching device 101;

[0079] The second node controller 302 is connected to the first trunk CAN line 103 and the second trunk CAN line 104 through the corresponding branch CAN lines 105 and the second switching device 102 .

[0080] In this embodiment, the first node controller 301 and the second node controller 302 can be node controllers 107 respectively set at the two farthest ends of the trunk CAN line. For example, the first node controller 301 can be a vehicle controller, and the second node controller 302 can be an engine controller.

[0081] The first node controller 301 can be connected to the first trunk CAN line 103 and the second trunk CAN line 104 through the corresponding branch CAN line 105 and the first switching device 101. For example, the branch CAN line 105 corresponding to the first node controller 301 can include a first positive CAN line and a first negative CAN line. The first positive CAN line can be respectively connected to the positive CAN line of the first trunk CAN line 103 and the positive CAN line of the second trunk CAN line 104 through the first switching device 101. Control the connection and disconnection of the first positive CAN line with the positive CAN line of the first trunk CAN line 103 and the positive CAN line of the second trunk CAN line 104; the first negative CAN line can be respectively connected to the negative CAN line of the first trunk CAN line 103 and the negative CAN line signal of the second trunk CAN line 104 through the first switching device 101, so as to control the connection and disconnection of the first negative CAN line with the negative CAN line of the first trunk CAN line 103 and the negative CAN line of the second trunk CAN line 104 through the first switching device 101.

[0082] The second node controller 302 can be connected to the first trunk CAN line 103 and the second trunk CAN line 104 through the corresponding branch CAN line 105 and the second switching device 102. For example, the branch CAN line 105 corresponding to the second node controller 302 may include a second positive CAN line and a second negative CAN line. The second positive CAN line can be connected to the positive CAN line of the first trunk CAN line 103 and the positive CAN line of the second trunk CAN line 104 through the second switching device 102. Control the connection and disconnection of the second positive CAN line with the positive CAN line of the first trunk CAN line 103 and the positive CAN line of the second trunk CAN line 104; the second negative CAN line can be respectively connected to the negative CAN line of the first trunk CAN line 103 and the negative CAN line signal of the second trunk CAN line 104 through the second switching device 102, so as to control the connection and disconnection of the second negative CAN line with the negative CAN line of the first trunk CAN line 103 and the negative CAN line of the second trunk CAN line 104 through the second switching device 102.

[0083] When the first positive CAN line and the second positive CAN line are both connected to the positive CAN line of the first trunk CAN line 103, and the first negative CAN line and the second negative CAN line are both connected to the negative CAN line of the first trunk CAN line 103, the first trunk CAN line 103 is in an on state and the second trunk CAN line 104 is in a off state; when the first positive CAN line and the second positive CAN line are both connected to the positive CAN line of the second trunk CAN line 104, and the first negative CAN line and the second negative CAN line are both connected to the negative CAN line of the second trunk CAN line 104, the second trunk CAN line 104 is in an on state and the first trunk CAN line 103 is in a off state, thereby realizing the switching of the first trunk CAN line 103 and the second trunk CAN line 104, with a simple structure and high reliability of line switching.

[0084] In an exemplary embodiment, as Figure 4 As shown, the first switching device 101 includes a first switch 401 and a second switch 402 that are interlocked, as well as a third switch 403 and a fourth switch 404 that are interlocked; the branch CAN line 105 corresponding to the first node controller 301 includes a first positive CAN line 405 and a first negative CAN line 406; the first positive CAN line 405 is connected to the positive CAN line CAN1+ of the first trunk CAN line 103 and the positive CAN line CAN2+ of the second trunk CAN line 104 through the first switch 401 and the second switch 402 respectively; the first negative CAN line 406 is connected to the negative CAN line CAN1- of the first trunk CAN line 103 and the negative CAN line CAN2- of the second trunk CAN line 104 through the third switch 403 and the fourth switch 404 respectively;

[0085] And / or, the second switching device 102 includes an interlocked fifth switch and a sixth switch, and an interlocked seventh switch and an eighth switch; the branch CAN line 105 corresponding to the second node controller 302 includes a second positive CAN line and a second negative CAN line; the second positive CAN line is connected to the positive CAN line CAN1+ of the first trunk CAN line 103 and the positive CAN line CAN2+ of the second trunk CAN line 104 through the fifth switch and the sixth switch respectively; the second negative CAN line is connected to the negative CAN line CAN1- of the first trunk CAN line 103 and the negative CAN line CAN2- of the second trunk CAN line 104 through the seventh switch and the eighth switch respectively.

[0086] In this embodiment, the branch CAN lines 105 corresponding to the first node controller 301 include a first positive CAN line 405 and a first negative CAN line 406 , and the branch CAN lines 105 corresponding to the second node controller 302 include a second positive CAN line and a second negative CAN line.

[0087] The first switch 401 and the second switch 402 are interlocked, that is, when the first switch 401 is closed, the second switch 402 is open, and when the first switch 401 is open, the second switch 402 is closed. For example, the first switch 401 can be a normally closed relay, and the second switch 402 can be a normally open relay. The first and second switches 401 and 402 share a first coil 407. When the first coil 407 is energized, the first switch 401 is open and the second switch 402 is closed. When the first coil 407 is de-energized, the first switch 401 is closed and the second switch 402 is open, thereby achieving an interlocking function.

[0088] The third switch 403 and the fourth switch 404 are interlocked, that is, when the third switch 403 is closed, the fourth switch 404 is open, and when the third switch 403 is open, the fourth switch 404 is closed. For example, the third switch 403 may be a normally closed relay, and the fourth switch 404 may be a normally open relay. The third switch 403 and the fourth switch 404 share a second coil 408. When the second coil 408 is energized, the third switch 403 is open and the fourth switch 404 is closed. When the second coil 408 is de-energized, the third switch 403 is closed and the fourth switch 404 is open, thereby achieving an interlocking function.

[0089] The specific structure of the second switching device 102 is identical to that of the first switching device 101. The fifth and sixth switches are interlocked, meaning that when the fifth switch is closed, the sixth switch is open, and when the fifth switch is open, the sixth switch is closed. For example, the fifth switch can be a normally closed relay, and the sixth switch can be a normally open relay. The fifth and sixth switches share a third coil. When the third coil is energized, the fifth switch is open and the sixth switch is closed. When the third coil is de-energized, the fifth switch is closed and the sixth switch is open, thus achieving an interlocking function.

[0090] The seventh and eighth switches are interlocked, i.e., when the seventh switch is closed, the eighth switch is open, and when the seventh switch is open, the eighth switch is closed. For example, the seventh switch can be a normally closed relay, and the eighth switch can be a normally open relay. The seventh and eighth switches share a fourth coil. When the fourth coil is energized, the seventh switch is open and the eighth switch is closed. When the fourth coil is de-energized, the seventh switch is closed and the eighth switch is open, thereby achieving an interlocking function.

[0091] The first positive CAN line 405 is signal-connected to the positive CAN line CAN1+ of the first trunk CAN line 103 through the first switch 401, and is also signal-connected to the positive CAN line CAN2+ of the second trunk CAN line 104 through the second switch 402; the first negative CAN line 406 is signal-connected to the negative CAN line CAN1- of the first trunk CAN line 103 through the third switch 403, and is also signal-connected to the negative CAN line CAN2- of the second trunk CAN line 104 through the fourth switch 404, thereby controlling the connection and disconnection of the branch CAN line 105 corresponding to the first node controller 301 with the first trunk CAN line 103 through the first switch 401 and the third switch 403, and controlling the connection and disconnection of the branch CAN line 105 corresponding to the first node controller 301 with the second trunk CAN line 104 through the second switch 402 and the fourth switch 404.

[0092] The second positive CAN line is connected to the positive CAN line CAN1+ signal of the first trunk CAN line 103 through the fifth switch, and the second positive CAN line is also connected to the positive CAN line CAN2+ signal of the second trunk CAN line 104 through the sixth switch; the second negative CAN line is connected to the negative CAN line CAN1- signal of the first trunk CAN line 103 through the seventh switch, and the second negative CAN line is also connected to the negative CAN line CAN2- signal of the second trunk CAN line 104 through the eighth switch, thereby controlling the connection and disconnection of the branch CAN line 105 corresponding to the second node controller 302 with the first trunk CAN line 103 through the fifth switch and the seventh switch, and controlling the connection and disconnection of the branch CAN line 105 corresponding to the second node controller 302 with the second trunk CAN line 104 through the sixth switch and the eighth switch.

[0093] The switching signal can be an alternating high-level signal 1 and low-level signal 0, that is, the arbitration controller 106 determines to reverse the high and low levels of the output electrical signal when the line switching condition is met. The first coil 407, the second coil 408, the third coil and the fourth coil can be electrically connected to the arbitration controller 106 through the first hard wire 108, that is, the power-on and power-off of the first coil 407, the second coil 408, the third coil and the fourth coil are synchronously controlled through the switching signal, thereby realizing the linkage control of the first switch 401, the second switch 402, the third switch 403, the fourth switch 404, the fifth switch, the sixth switch, the seventh switch and the eighth switch, realizing the effective switching of the first trunk CAN line 103 and the second trunk CAN line 104, and ensuring that only one trunk CAN line is in the access state at the same time in the first trunk CAN line 103 and the second trunk CAN line 104, the control is flexible and convenient, and the reliability is high, further improving the stability of the CAN communication, and at the same time, the first node controller 301 and the second node controller 302 do not need to support double CAN channels.

[0094] In an exemplary embodiment, the node controller 107 includes at least one third node controller;

[0095] The branch CAN line 105 corresponding to the third node controller includes a third positive CAN line and a third negative CAN line;

[0096] One end of the third positive CAN line is connected to the corresponding third node controller, and the other end is connected to a parallelly arranged first branch and a second branch, the other end of the first branch is connected to the positive CAN line CAN1+ of the first trunk CAN line 103, and the other end of the second branch is connected to the positive CAN line CAN2+ of the second trunk CAN line 104;

[0097] One end of the third negative CAN line is connected to the corresponding third node controller, and the other end is connected to a parallelly arranged third branch and fourth branch, the other end of the third branch is connected to the negative CAN line CAN1- of the first trunk CAN line 103, and the other end of the fourth branch is connected to the negative CAN line CAN2- of the second trunk CAN line 104.

[0098] In this embodiment, the third node controller is the node controller 107 which is not arranged at the two farthest ends of the trunk CAN line among the node controllers 107, that is, the third node controller is arranged between the first switching device 101 and the second switching device 102.

[0099] The branch CAN line 105 corresponding to the third node controller includes a third positive CAN line and a third negative CAN line. One end of the third positive CAN line is signal-connected to the corresponding third node controller, and the other end is connected to a first branch and a second branch arranged in parallel. The end of the first branch, remote from the third positive CAN line, is signal-connected to the positive CAN line CAN1+ of the first trunk CAN line 103, and the end of the second branch, remote from the third positive CAN line, is signal-connected to the positive CAN line CAN2+ of the second trunk CAN line 104. One end of the third negative CAN line is connected to the corresponding third node controller signal, and the other end is connected to the third branch and the fourth branch arranged in parallel. The end of the third branch away from the third negative CAN line is connected to the negative CAN line CAN1-signal of the first trunk CAN line 103, and the end of the fourth branch away from the third negative CAN line is connected to the negative CAN line CAN2-signal of the second trunk CAN line 104. That is, the communication signal output by the third node controller is sent to the first trunk CAN line 103 and the second trunk CAN line 104 at the same time, and the signal transmission is completed through the trunk CAN line in the first trunk CAN line 103 and the second trunk CAN line 104 that is in the connected state. The control is flexible and convenient, and the reliability is high, which further improves the stability of CAN communication. At the same time, the third node controller does not need to support dual-channel CAN channels.

[0100] The CAN communication method provided by the present invention is described below. The CAN communication method described below is based on the CAN communication system described above, and the two can be referenced to each other. Figure 5 As shown, the CAN communication method of the present invention includes at least the following steps:

[0101] S501, receiving, by an arbitration controller, a breathing signal sent by each node controller at a preset frequency; wherein the arbitration controller and each of the node controllers are connected to the first trunk CAN line and the second trunk CAN line via corresponding branch CAN lines;

[0102] S502. When the arbitration controller determines that the line switching condition is met based on the breathing signal, it sends a switching signal to the first switching device and the second switching device; wherein, the first switching device and the second switching device control the first trunk CAN line or the second trunk CAN line to switch to the access state based on the switching signal, and the first trunk CAN line and the second trunk CAN line are connected in parallel between the first switching device and the second switching device.

[0103] The present invention further provides an operating machine, which includes the CAN communication system as described in any of the above embodiments, or the operating machine uses the CAN communication method as described in the above embodiments.

[0104] In this embodiment, the working machine is an engineering machine such as a crane, a shovel, or the like.

[0105] Figure 6 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 6 The electronic device can include a processor 601, a communications interface 602, a memory 603, and a communications bus 604, wherein the processor 601, the communications interface 602, and the memory 603 communicate with each other through the communications bus 604. The processor 601 can invoke a logical instruction in the memory 603 to execute a CAN communication method, which includes receiving a breathing signal sent by each node controller at a predetermined frequency through an arbitration controller; wherein the arbitration controller and each node controller are connected to the first trunk CAN line and the second trunk CAN line through a corresponding branch CAN line;

[0106] When the arbitration controller determines that the line switching condition is met based on the breathing signal, it sends a switching signal to the first switching device and the second switching device; wherein the first switching device and the second switching device control the first trunk CAN line or the second trunk CAN line to switch to an access state based on the switching signal, and the first trunk CAN line and the second trunk CAN line are connected in parallel between the first switching device and the second switching device.

[0107] In addition, the logical instructions in the memory 603 described above can be implemented in the form of a software functional unit and sold or used as an independent product when implemented in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium, including a number of instructions to make a computer device (which can be a personal computer, server, or network device, etc.) execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0108] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the CAN communication method provided by any of the above methods, the method comprising: receiving, by an arbitration controller, a breathing signal transmitted by each node controller at a preset frequency; wherein the arbitration controller and each of the node controllers are connected to the first trunk CAN line and the second trunk CAN line through a corresponding branch CAN line.

[0109] When the arbitration controller determines that the line switching condition is met based on the breathing signal, the arbitration controller sends a switching signal to a first switching device and a second switching device; wherein the first switching device and the second switching device control the first trunk CAN line or the second trunk CAN line to switch to an access state based on the switching signal, and the first trunk CAN line and the second trunk CAN line are connected in parallel between the first switching device and the second switching device.

[0110] In another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a CAN communication method provided by any of the above methods, the method comprising: receiving, by an arbitration controller, a breathing signal transmitted by each node controller at a preset frequency; wherein the arbitration controller and each of the node controllers are connected to the first trunk CAN line and the second trunk CAN line through a corresponding branch CAN line.

[0111] When the arbitration controller determines that the line switching condition is met based on the breathing signal, the arbitration controller sends a switching signal to a first switching device and a second switching device; wherein the first switching device and the second switching device control the first trunk CAN line or the second trunk CAN line to switch to an access state based on the switching signal, and the first trunk CAN line and the second trunk CAN line are connected in parallel between the first switching device and the second switching device.

[0112] The device embodiments described above are only schematic, wherein the units shown as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment scheme. Those skilled in the art can understand and implement without creative labor.

[0113] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A CAN communication system, characterized in that: include: Multiple controllers, a first switching device, a second switching device, a first trunk CAN line, a second trunk CAN line, and branch CAN lines corresponding to the controllers; The first trunk CAN line and the second trunk CAN line are connected in parallel between the first switching device and the second switching device; the multiple controllers are connected to the first trunk CAN line and the second trunk CAN line via the corresponding branch CAN lines; the multiple controllers include an arbitration controller and a plurality of node controllers, and the arbitration controller is also connected to the first switching device and the second switching device; The arbitration controller is configured to receive a breathing signal sent by each of the node controllers at a preset frequency, and when determining based on the breathing signal that a line switching condition is met, send a switching signal to the first switching device and the second switching device; the first switching device and the second switching device control the first trunk CAN line or the second trunk CAN line to switch to an access state based on the switching signal; The arbitration controller is specifically configured to determine that the line switching condition is met if the breathing signal sent by the target controller in each of the node controllers is not received within a preset time period; otherwise, determine that the line switching condition is not met; The arbitration controller is further configured to generate an alarm signal when the arbitration controller fails to receive the breathing signal sent by the node controller other than the target controller within a preset time period and receives the breathing signal sent by the target controller.

2. The CAN communication system according to claim 1, characterized in that: Also included is a display control device, the display control device being connected to the arbitration controller; The arbitration controller is further configured to generate status data of the first trunk CAN line or the second trunk CAN line based on the breathing signal; The arbitration controller is further configured to send at least one of the status data, the alarm signal, and the switching signal to the display control device.

3. The CAN communication system according to any one of claims 1 to 2, characterized in that: The branch CAN lines corresponding to the arbitration controller include a first branch CAN line and a second branch CAN line; The arbitration controller is connected to the first main CAN line through the first branch CAN line, and is connected to the second main CAN line through the second branch CAN line.

4. The CAN communication system according to any one of claims 1 to 2, characterized in that: The node controller includes a first node controller and a second node controller; The first node controller is connected to the first trunk CAN line and the second trunk CAN line via the corresponding branch CAN lines and the first switching device; The second node controller is connected to the first trunk CAN line and the second trunk CAN line through the corresponding branch CAN lines and the second switching device.

5. The CAN communication system according to claim 4, characterized in that: The first switching device includes a first switch and a second switch that are interlocked, and a third switch and a fourth switch that are interlocked; the branch CAN line corresponding to the first node controller includes a first positive CAN line and a first negative CAN line; the first positive CAN line is connected to the positive CAN line of the first trunk CAN line and the positive CAN line of the second trunk CAN line through the first switch and the second switch, respectively; the first negative CAN line is connected to the negative CAN line of the first trunk CAN line and the negative CAN line of the second trunk CAN line through the third switch and the fourth switch, respectively; And / or, the second switching device includes an interlocked fifth switch and a sixth switch, and an interlocked seventh switch and an eighth switch; the branch CAN line corresponding to the second node controller includes a second positive CAN line and a second negative CAN line; the second positive CAN line is connected to the positive CAN line of the first trunk CAN line and the positive CAN line of the second trunk CAN line through the fifth switch and the sixth switch respectively; the second negative CAN line is connected to the negative CAN line of the first trunk CAN line and the negative CAN line of the second trunk CAN line through the seventh switch and the eighth switch respectively.

6. The CAN communication system according to any one of claims 1 to 2, characterized in that: The node controller includes at least one third node controller; The branch CAN line corresponding to the third node controller includes a third positive CAN line and a third negative CAN line; One end of the third positive CAN line is connected to the corresponding third node controller, and the other end is connected to a first branch and a second branch arranged in parallel, the other end of the first branch is connected to the positive CAN line of the first trunk CAN line, and the other end of the second branch is connected to the positive CAN line of the second trunk CAN line; One end of the third negative CAN line is connected to the corresponding third node controller, and the other end is connected to a third branch and a fourth branch arranged in parallel. The other end of the third branch is connected to the negative CAN line of the first main CAN line, and the other end of the fourth branch is connected to the negative CAN line of the second main CAN line.

7. A CAN communication method, characterized in that: include: Receiving, by means of an arbitration controller, breathing signals sent by each node controller at a preset frequency; wherein the arbitration controller and each node controller are connected to the first trunk CAN line and the second trunk CAN line via corresponding branch CAN lines; When the arbitration controller determines that a line switching condition is met based on the breathing signal, the arbitration controller sends a switching signal to the first switching device and the second switching device; wherein the first switching device and the second switching device control the first trunk CAN line or the second trunk CAN line to switch to an access state based on the switching signal, and the first trunk CAN line and the second trunk CAN line are connected in parallel between the first switching device and the second switching device; If the arbitration controller does not receive the breathing signal sent by the target controller in each of the node controllers within a preset time period, it is determined that the line switching condition is met; otherwise, it is determined that the line switching condition is not met; The arbitration controller generates an alarm signal when it fails to receive the breathing signal sent by the node controller other than the target controller within a preset time period and receives the breathing signal sent by the target controller.

8. A working machine, characterized in that: The working machine includes the CAN communication system according to any one of claims 1 to 6, or the working machine uses the CAN communication method according to claim 7.

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