CAN bus node monitoring protection method, device and system

Abstract

The invention relates to a CAN bus node monitoring protection method, device and system. The method comprises the following steps: acquiring a first current signal and a first voltage signal between a CAN bus and monitored node equipment in a CAN network in real time; when it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state, communication connection between the CAN bus and the monitored node equipment is controlled to be disconnected; when the communication connection between the CAN bus and the monitored node equipment is disconnected, continuously detecting a second voltage signal of the monitored node equipment; and when it is detected that the second voltage signal is in a normal state, controlling communication connection between the CAN bus and the monitored node equipment to be switched on. According to the invention, whether the CAN interface of each node device in the CAN network is damaged or not can be monitored, and the bus network can be protected to work normally.

Description

Technical Field

[0001] The present invention relates to the technical field of data acquisition, and in particular to a CAN bus node monitoring and protection method, device and system. Background Art

[0002] CAN (Controller Area Network) bus is a serial communication protocol bus for real-time applications. It can use twisted pair to transmit signals and is one of the most widely used fieldbuses in the world. CAN bus belongs to the category of fieldbus and is a serial communication network that effectively supports distributed control systems. Due to the high performance, high reliability and unique design of CAN bus, it has attracted more and more attention and is widely used in many fields, and can detect any errors that occur. Because CAN bus has high real-time performance and application range, it can be arbitrarily matched from high-speed networks with a bit rate of up to 1Mbps to low-cost multi-line 50Kbps networks. Therefore, CAN bus has been widely used in the automotive industry, aviation industry, industrial control, security protection and other fields.

[0003] However, when a node device in the CAN network is damaged and causes the bus CANH (high-speed bus) / CANL (low-speed bus) to short-circuit, short-circuit with the power supply or short-circuit with the ground, the CAN bus cannot communicate effectively, and all mechanisms lose their supporting physical basis. In view of this situation, it is necessary to design a technical solution to monitor whether the CAN interface of each node device is damaged and protect the bus network to work normally. Summary of the invention

[0004] The present invention provides a CAN bus node monitoring and protection method, device and system, which can monitor whether the CAN interface of each node device in the CAN network is damaged and protect the bus network to work normally.

[0005] The present invention provides a CAN bus node monitoring and protection method, comprising:

[0006] Acquire in real time a first current signal and a first voltage signal between a CAN bus and a monitored node device in a CAN network;

[0007] When it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state, controlling the communication connection between the CAN bus and the monitored node device to be disconnected;

[0008] When the communication connection between the CAN bus and the monitored node device is disconnected, continuously detecting the second voltage signal of the monitored node device;

[0009] When it is detected that the second voltage signal is in a normal state, the communication connection between the CAN bus and the monitored node device is controlled to be connected.

[0010] Optionally, the real-time acquisition of a first current signal and a first voltage signal between a CAN bus and a monitored node device in a CAN network includes:

[0011] The embedded controller respectively collects in real time a first current signal and a first voltage signal of a high-speed bus and a low-speed bus connecting the CAN network and the monitored node device;

[0012] Detecting, by means of an embedded controller, whether the first current signal matches a normal current signal, and detecting whether the first voltage signal matches a normal voltage signal;

[0013] When it is detected that the first current signal does not match a normal current signal or / and the first voltage signal does not match a normal voltage signal, it is determined that at least one of the first current signal and the first voltage signal is in an abnormal state.

[0014] Optionally, when it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state, controlling the communication connection between the CAN bus and the monitored node device to be disconnected includes:

[0015] A protection switch is pre-set to connect the high-speed bus and the low-speed bus between the CAN bus and the monitored node device, and the protection switch is preset to be in an on state in an initial state;

[0016] When it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state, it is determined that the monitored node device has a fault;

[0017] The protection switch is controlled to be disconnected by the embedded controller, so that the communication connection between the high-speed bus and the low-speed bus of the CAN bus and the monitored node device is disconnected.

[0018] Optionally, the continuously detecting the second voltage signal of the monitored node device includes:

[0019] Continuously collecting, by means of an embedded controller, second voltage signals on the high-speed bus and the low-speed bus of the CAN bus connected to the monitored node device at preset time intervals;

[0020] Detecting, by the embedded controller, whether the second voltage signal matches a normal voltage signal;

[0021] When it is detected that the second voltage signal matches the normal voltage signal, it is determined that the second voltage signal is in a normal state, and it is determined that the monitored node device has returned to normal.

[0022] Optionally, when it is detected that the second voltage signal is in a normal state, controlling the communication connection between the CAN bus and the monitored node device to be connected includes:

[0023] When it is detected that the second voltage signal is in a normal state, determining that the monitored node device has returned to normal;

[0024] The protection switch is controlled by the embedded controller to be turned on, so that the communication connection between the high-speed bus and the low-speed bus of the CAN bus and the monitored node device is connected.

[0025] Optionally, the real-time acquisition of a first current signal and a first voltage signal between a CAN bus and a monitored node device in a CAN network includes:

[0026] When there are multiple monitored node devices in the CAN network, multiple embedded controllers are respectively set in advance, so that each embedded controller is correspondingly connected between one monitored node device and the CAN bus;

[0027] The first current signal and the first voltage signal between each monitored node device and the CAN bus are acquired in real time in a one-to-one correspondence through the multiple embedded controllers.

[0028] Optionally, the acquiring in real time, one-to-one correspondence, the first current signal and the first voltage signal between each monitored node device and the CAN bus through the plurality of embedded controllers comprises:

[0029] A monitoring and protection system controller is pre-set to be connected to the plurality of embedded controllers;

[0030] The monitoring and protection system controller controls the multiple embedded controllers to obtain the first current signal and the first voltage signal between each monitored node device and the CAN bus in real time in a one-to-one correspondence.

[0031] In addition, the present invention also proposes a CAN bus node monitoring and protection device, comprising:

[0032] A first node signal monitoring module, used for acquiring in real time a first current signal and a first voltage signal between a CAN bus and a monitored node device in a CAN network;

[0033] A first node communication state control module, configured to control the communication connection between the CAN bus and the monitored node device to be disconnected when it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state;

[0034] A second node signal monitoring module, used for continuously detecting a second voltage signal of the monitored node device when the communication connection between the CAN bus and the monitored node device is disconnected;

[0035] The second node communication state control module is used to control the communication connection between the CAN bus and the monitored node device to be connected when it is detected that the second voltage signal is in a normal state.

[0036] In addition, the present invention also proposes a CAN bus node monitoring and protection system, comprising:

[0037] CAN network;

[0038] The monitored node device is connected to the CAN network through a CAN bus;

[0039] A protection switch, correspondingly connected to the CAN bus between the monitored node device and the CAN network; and

[0040] An embedded controller, connected to the protection switch correspondingly, and the embedded controller is connected to a CAN bus connecting the monitored node device and the CAN network correspondingly;

[0041] Wherein, the embedded controller is used to implement the CAN bus node monitoring and protection method as described above.

[0042] Optionally, the CAN bus node monitoring and protection system includes:

[0043] A plurality of the monitored node devices, each of the monitored node devices being communicatively connected to the CAN network via a CAN bus;

[0044] A plurality of protection switches are connected one by one to each CAN bus between a plurality of monitored node devices and the CAN network;

[0045] A plurality of the embedded controllers are connected to a plurality of the protection switches in a one-to-one correspondence, and each of the embedded controllers is connected to a CAN bus connecting one of the monitored node devices and the CAN network; and,

[0046] A monitoring and protection system controller is connected to the plurality of embedded controllers; wherein the monitoring and protection system controller is used to implement the CAN bus node monitoring and protection method as described above.

[0047] The beneficial effects brought about by the technical solution provided by the present invention include:

[0048] By real-time monitoring of the current signal and voltage signal between the CAN bus and the monitored node device in the CAN network, the abnormal state of the monitored node device (i.e., the occurrence of a fault) can be detected, and when a fault is detected in the monitored node device, the connection between the faulty monitored node device and the CAN network can be quickly cut off, thereby avoiding the situation where the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus is short-circuited, short-circuited with the power supply, or short-circuited with the ground due to damage to the monitored node device, resulting in the CAN bus being unable to communicate effectively and affecting the communication of the entire CAN network.

[0049] Moreover, after the connection between the monitored node device with a fault and the CAN network is cut off, the voltage signal of the monitored node device can continue to be monitored to detect whether the fault of the monitored node device is resolved and restored to normal. When the monitored node device is detected to be restored to normal, the monitored node device can be reconnected to the CAN network. In this way, the CAN bus node monitoring and protection method provided by the present invention can monitor whether the CAN interface of each node device in the CAN network is damaged and protect the bus network to work normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0051] Figure 1 A schematic diagram showing the steps of the CAN bus node monitoring and protection method according to an embodiment of the present invention;

[0052] Figure 2 A simplified block diagram showing the structure of a CAN bus node monitoring and protection device according to an embodiment of the present invention;

[0053] Figure 3 The CAN bus node monitoring and protection system according to the embodiment of the present invention is schematically shown in FIG. Figure 1 ;

[0054] Figure 4 The schematic diagram of the CAN bus node monitoring and protection system (when the embedded controller is provided with a controller interface) according to the embodiment of the present invention is shown in FIG. Figure 2 ;

[0055] Figure 5The CAN bus node monitoring and protection system according to the embodiment of the present invention is schematically shown in FIG. Figure 3 ;

[0056] Figure 6 The CAN bus node monitoring and protection system according to the embodiment of the present invention is schematically shown in FIG. Figure 4 . DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] In the traditional technology, when a node device in the CAN network is damaged and causes the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus to short-circuit, short-circuit with the power supply or short-circuit with the ground, the CAN bus cannot communicate effectively, and all mechanisms lose the physical basis for support. In order to solve the above technical problems, the present invention proposes a CAN bus node monitoring and protection method, device and system.

[0059] like Figure 1 As shown, the present invention provides a CAN bus node monitoring and protection method, which is applied to a CAN network. In the CAN network, a monitored node device 14 may be included that is connected to the CAN network through CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus. Specifically, the CAN bus node monitoring and protection method may include the following steps:

[0060] S100, acquiring in real time a first current signal and a first voltage signal between a CAN bus and a monitored node device 14 in a CAN network;

[0061] S200, when it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state, controlling the communication connection between the CAN bus and the monitored node device 14 to be disconnected;

[0062] S300, when the communication connection between the CAN bus and the monitored node device 14 is disconnected, continuously detecting the second voltage signal of the monitored node device 14;

[0063] S400 . When it is detected that the second voltage signal is in a normal state, the communication connection between the CAN bus and the monitored node device 14 is controlled to be connected.

[0064] By real-time monitoring of the current signal and voltage signal between the CAN bus and the monitored node device 14 in the CAN network, the abnormal state of the monitored node device 14 (i.e., a fault) can be detected, and when a fault is detected in the monitored node device 14, the connection between the faulty monitored node device 14 and the CAN network can be quickly cut off, thereby avoiding the situation where the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus is short-circuited, short-circuited with the power supply, or short-circuited with the ground due to damage to the monitored node device 14, resulting in the CAN bus being unable to communicate effectively and affecting the communication of the entire CAN network.

[0065] Moreover, after the connection between the faulty monitored node device 14 and the CAN network is cut off, the voltage signal of the monitored node device 14 can continue to be monitored to detect whether the fault of the monitored node device 14 is resolved and restored to normal. When it is detected that the monitored node device 14 is restored to normal, the monitored node device 14 can be reconnected to the CAN network. In this way, the CAN bus node monitoring and protection method provided by the present invention can monitor whether the CAN interface of each node device in the CAN network is damaged and protect the bus network to work normally.

[0066] Furthermore, in the CAN network, the monitored node device 14 can be connected to the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus of the CAN network through the protection switch 16, and the protection switch 16 is also connected to the embedded controller 18, and the embedded controller 18 is also connected to the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus connecting the monitored node device 14 and the CAN network.

[0067] Therefore, in step S100, real-time acquisition of the first current signal and the first voltage signal between the CAN bus and the monitored node device 14 in the CAN network may further include the following steps:

[0068] S110 , collecting in real time, through the embedded controller 18 , a first current signal and a first voltage signal of a high-speed bus and a low-speed bus connecting the CAN network and the monitored node device 14 .

[0069] That is, the first current signal and the first voltage signal between the monitored node device 14 and the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus of the CAN network can be monitored in real time through the embedded controller 18, and whether the monitored node device 14 is abnormal or has a fault can be detected in real time. Moreover, the first current signal collected by the embedded controller 18 includes the current signal on the CANH (high-speed bus) and the current signal on the CANL (low-speed bus); the first voltage signal collected by the embedded controller 18 also includes the voltage signal on the CANH (high-speed bus) and the voltage signal on the CANL (low-speed bus).

[0070] S120 , detecting, by the embedded controller 18 , whether the first current signal matches the normal current signal, and detecting whether the first voltage signal matches the normal voltage signal.

[0071] When the monitored node device 14 is in normal operation, the current signal between it and the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus of the CAN network is a normal current signal (including the normal current signal on the CANH (high-speed bus) and the normal current signal on the CANL (low-speed bus)), and the voltage signal between it and the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus of the CAN network is a normal voltage signal (including the normal voltage signal on the CANH (high-speed bus) and the normal voltage signal on the CANL (low-speed bus)). After the current signal and the voltage signal are collected by the embedded controller 18, they are detected and judged to detect whether the collected current signal (i.e., the first current signal) is a normal current signal and whether the collected voltage signal (i.e., the first voltage signal) is a normal voltage signal.

[0072] S130: When it is detected that the first current signal does not match the normal current signal and / or the first voltage signal does not match the normal voltage signal, determine that at least one of the first current signal and the first voltage signal is in an abnormal state.

[0073] That is, when it is detected that at least one of the current signal (i.e., the first current signal) and the voltage signal (i.e., the first voltage signal) collected by the embedded controller 18 is an abnormal electrical signal, it can be determined that the collected current signal and / or the collected voltage signal is in an abnormal state, and it can be determined that the monitored node device 14 has an abnormality or a fault has occurred; otherwise, it can be determined that the monitored node device 14 is in a normal state.

[0074] Moreover, in step S100, the first current signal and the first voltage signal between the CAN bus and the monitored node device 14 in the CAN network are obtained in real time, and the following steps may also be included:

[0075] S102, when there are multiple monitored node devices 14 in the CAN network, multiple embedded controllers 18 are respectively set in advance, so that each embedded controller 18 is connected between a monitored node device 14 and the CAN bus;

[0076] The first current signal and the first voltage signal between each monitored node device 14 and the CAN bus are acquired in real time in a one-to-one correspondence through multiple embedded controllers 18 .

[0077] That is, not only one monitored node device 14 can be monitored and protected by one embedded controller 18 and one protection switch 16 , but multiple monitored node devices 14 can also be monitored and protected by multiple monitored node devices 14 and multiple protection switches 16 .

[0078] Moreover, when it is necessary to monitor multiple monitored node devices 14, multiple embedded controllers 18 and multiple protection switches 16 can be set up accordingly, so that each embedded controller 18 can monitor the current signal and voltage signal of a monitored node device 14; and each protection switch 16 can, under the control of an embedded controller 18, cut off and connect a monitored node device 14 and the CAN bus of the CAN network.

[0079] Furthermore, obtaining the first current signal and the first voltage signal between each monitored node device 14 and the CAN bus in real time in a one-to-one correspondence through multiple embedded controllers 18 may further include the following steps:

[0080] S104, pre-setting a monitoring and protection system controller 19 connected to a plurality of embedded controllers 18;

[0081] The monitoring and protection system controller 19 controls the multiple embedded controllers 18 to obtain the first current signal and the first voltage signal between each monitored node device 14 and the CAN bus in real time in a one-to-one correspondence.

[0082] That is, a monitoring and protection system controller 19 can be used to control multiple embedded controllers 18, thereby monitoring and controlling multiple monitored node devices 14; in addition, the monitoring and protection system controller 19 may not be set up, and multiple monitored node devices 14 can only be monitored and controlled in a distributed manner through multiple embedded controllers 18.

[0083] In addition, in step S200, when it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state, controlling the communication connection between the CAN bus and the monitored node device 14 to be disconnected may further include the following steps:

[0084] S210, pre-setting the protection switch 16 to connect the high-speed bus and the low-speed bus between the CAN bus and the monitored node device 14, and pre-setting the protection switch 16 to be in the on state in the initial state.

[0085] The monitored node device 14 is connected to the high-speed bus and the low-speed bus of the CAN bus through the protection switch 16, so that the protection switch 16 can cut off or connect the communication connection between the monitored node device 14 and the CAN bus. The embedded controller 18 can be connected to the protection switch 16, and the opening or closing of the protection switch 16 can be controlled by the embedded controller 18, so as to cut off or connect the communication connection between the monitored node device 14 and the CAN bus.

[0086] S220: When it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state, it is determined that a fault occurs in the monitored node device 14.

[0087] The collected electrical signals (including current signals and voltage signals) can be detected and judged through the embedded controller 18. When it is detected that the collected electrical signals are abnormal electrical signals, the collected electrical signals can be judged as abnormal electrical signals, thereby judging that the monitored node device 14 has an abnormality or a fault has occurred.

[0088] S230 , controlling the protection switch 16 to be disconnected through the embedded controller 18 , so that the communication connection between the high-speed bus and the low-speed bus of the CAN bus and the monitored node device 14 is disconnected.

[0089] After detecting that a fault has occurred in the monitored node device 14, the protection switch 16 connecting the monitored node device 14 and the CAN bus can be disconnected by controlling the embedded controller 18, so that the faulty monitored node device 14 is separated from the CAN network. This can prevent the faulty monitored node device 14 from causing a short circuit in the CANH / CANL of the CAN bus, a short circuit with the power supply, or a short circuit with the ground, thereby ensuring normal communication of the entire CAN network.

[0090] In addition, in step S300, continuously detecting the second voltage signal of the monitored node device 14 may further include the following steps:

[0091] S310 , continuously collecting second voltage signals on the high-speed bus and the low-speed bus of the CAN bus connected to the monitored node device 14 at preset time intervals through the embedded controller 18 .

[0092] After the faulty monitored node device 14 is disconnected from the CAN network, the state of the faulty monitored node device 14 can also be detected by the embedded controller 18, specifically, the voltage signal (second voltage signal) of the faulty monitored node device 14 can be monitored to determine whether the monitored node device 14 has returned to normal. Moreover, the second voltage signal collected by the embedded controller 18 also includes the voltage signal on CANH (high-speed bus) and the voltage signal on CANL (low-speed bus).

[0093] S320 , detecting, by the embedded controller 18 , whether the second voltage signal matches the normal voltage signal.

[0094] Similarly, after the voltage signal of the monitored node device 14 is collected by the embedded controller 18, it is detected and judged to detect whether the collected voltage signal (ie, the second voltage signal) is a normal voltage signal.

[0095] S330: When it is detected that the second voltage signal matches the normal voltage signal, determine that the second voltage signal is in a normal state.

[0096] When it is detected that the voltage signal (i.e., the second voltage signal) collected by the embedded controller 18 is an abnormal voltage signal, it can be determined that the collected voltage signal is in an abnormal state; when it is detected that the voltage signal (i.e., the second voltage signal) collected by the embedded controller 18 is a normal voltage signal, it can be determined that the collected voltage signal is in a normal state.

[0097] Moreover, in step S400, when it is detected that the second voltage signal is in a normal state, controlling the communication connection between the CAN bus and the monitored node device 14 is connected, which may further include the following steps:

[0098] S410: When it is detected that the second voltage signal is in a normal state, it is determined that the monitored node device 14 has returned to normal.

[0099] When it is detected that the voltage signal (i.e., the second voltage signal) collected by the embedded controller 18 is in an abnormal state, it can be determined that the monitored node device 14 is still in an abnormal fault state; when it is detected that the voltage signal (i.e., the second voltage signal) collected by the embedded controller 18 is in a normal state, it can be determined that the monitored node device 14 has changed from an abnormal fault state to a normal state, that is, the faulty monitored node device 14 has been repaired.

[0100] S420 , controlling the protection switch 16 to be turned on through the embedded controller 18 , so that the communication connection between the high-speed bus and the low-speed bus of the CAN bus and the monitored node device 14 is connected.

[0101] When it is detected that the faulty monitored node device 14 has been repaired, the protection switch 16 of the high-speed bus / low-speed bus connecting the monitored node device 14 and the CAN bus can be turned on through the embedded controller 18, so that the monitored node device 14 can be reconnected to the CAN network, so that normal communication between the monitored node device 14 and the CAN network can be restored.

[0102] In summary, through the CAN bus node monitoring and protection method proposed by the present invention, a monitored node device 14 connected to the CAN network can be monitored and controlled by an embedded controller 18, and when the monitored node device 14 fails, it can be quickly disconnected from the CAN network, and when the monitored node device 14 returns to normal, it can be quickly connected to the CAN network; in addition, multiple monitored node devices 14 connected to the CAN network can also be monitored and controlled one by one by multiple embedded controllers 18. Moreover, one or more embedded controllers 18 can perform decentralized monitoring and control on one or more monitored node devices 14 one by one; one or more embedded controllers 18 can also be controlled by a monitoring and protection system controller 19, so that one or more embedded controllers 18 can monitor and control one or more monitored node devices 14 one by one. In this way, when any monitored node device 14 in the CAN network fails, the normal communication operation of the CAN network can be guaranteed.

[0103] In addition, if Figure 2 As shown, the present invention also proposes a CAN bus node monitoring and protection device 100, which is applied to a CAN network. In the CAN network, it may include a monitored node device 14 that accesses the CAN network through the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus, a protection switch 16 that connects the monitored node device 14 and the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus, and an embedded controller 18 that connects the protection switch 16, and the embedded controller 18 is connected to the CANH (high-speed bus) / CANL (low-speed bus) of the CAN bus that connects the monitored node device 14 and the protection switch 16. Specifically, as Figure 2 As shown, the CAN bus node monitoring protection device 100 may include the following contents:

[0104] The first node signal monitoring module 102 is used to obtain in real time a first current signal and a first voltage signal between a CAN bus and a monitored node device 14 in a CAN network;

[0105] The first node communication state control module 104 is used to control the communication connection between the CAN bus and the monitored node device 14 to be disconnected when it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state;

[0106] A second node signal monitoring module 106, configured to continuously detect a second voltage signal of the monitored node device 14 when the communication connection between the CAN bus and the monitored node device 14 is disconnected;

[0107] The second node communication state control module 108 is used to control the communication connection between the CAN bus and the monitored node device 14 to be connected when it is detected that the second voltage signal is in a normal state.

[0108] The CAN bus node monitoring and protection device 100 described in this embodiment corresponds to the above-mentioned CAN bus node monitoring and protection method. The functions of each module in the CAN bus node monitoring and protection device 100 in this embodiment are described in detail in the corresponding method embodiment and will not be repeated here.

[0109] In addition, if Figures 3 to 6 As shown, the present invention also proposes a CAN bus node monitoring and protection system 10, including a CAN network 12, a monitored node device 14 connected to the CAN network 12 through the CAN bus, a protection switch 16 correspondingly connected to the CAN bus between the monitored node device 14 and the CAN network 12, and an embedded controller 18 correspondingly connected to the protection switch 16, and the embedded controller 18 is correspondingly connected to the CAN bus connecting the monitored node device 14 and the CAN network 12.

[0110] The embedded controller 18 can collect electrical signals (including current signals and voltage signals) on the CANH (high-speed bus) and CANL (low-speed bus) of the CAN bus between the monitored node device 14 and the CAN network 12, and can control the closing and opening of the protection switch 16 through the embedded controller 18, thereby controlling the connection or disconnection of the monitored node device 14 and the CAN network 12. Moreover, the protection switch 16 and the embedded controller 18 correspondingly connected to the monitored node device 14 and the CAN network 12 can be called a monitoring protection module 11.

[0111] The embedded controller 18 can be used to implement the CAN bus node monitoring and protection method as described above. The CAN bus node monitoring and protection method has been described in detail in the above embodiments and will not be described again here.

[0112] Furthermore, if Figure 6As shown, the CAN bus node monitoring and protection system 10 may include multiple monitored node devices 14, multiple protection switches 16, multiple embedded controllers 18, and a monitoring and protection system controller 19; wherein, each of the multiple monitored node devices 14 can be communicatively connected to the CAN network 12 via the CAN bus, the multiple protection switches 16 are connected one-to-one to each CAN bus between the multiple monitored node devices 14 and the CAN network 12, the multiple embedded controllers 18 are connected one-to-one to the multiple protection switches 16, and each embedded controller 18 is correspondingly connected to the CAN bus connecting a monitored node device 14 and the CAN network 12, and the monitoring and protection system controller 19 can be connected to the multiple embedded controllers 14 via the CAN bus.

[0113] Moreover, when there are multiple monitored node devices 14, multiple protection switches 16, and multiple embedded controllers 18, multiple monitoring and protection modules 11 corresponding to the multiple monitored node devices 14 are formed. Moreover, when the monitoring and protection system controller 19 is set to control the multiple monitoring and protection modules 11, the embedded controller 18 of each monitoring and protection module 11 can be provided with a controller interface (such as Figure 4 As shown in FIG. 1 , the monitoring and protection system controller 19 can be connected to the corresponding embedded controller 18 through the controller interface. In addition, when the monitoring and protection system controller 19 is not provided in the system, the embedded controller 18 of each monitoring and protection module 11 may not be provided with a controller interface (such as Figure 3 shown).

[0114] The monitoring and protection system controller 19 can be used to implement the CAN bus node monitoring and protection method as described above. The CAN bus node monitoring and protection method has been described in detail in the above embodiment and will not be repeated here.

[0115] In addition, the monitoring and protection system controller 19 can be used to perform special control on multiple embedded controllers 18 and corresponding multiple monitored node devices 14 in the CAN network 12, that is, to control one or some embedded controllers 18 as needed, so that the embedded controller 18 controls the corresponding monitored node device 14 (when in a normal state) to disconnect or connect with the CAN network 12, so that the control of multiple monitored node devices 14 in the CAN network 12 is more flexible. For example, the monitoring and protection system controller 19 can be used to inspect multiple embedded controllers 18 and corresponding multiple monitored node devices 14, and the connection between multiple monitored node devices 14 and the CAN network 12 can be disconnected in sequence; after the inspection is completed, the connection between multiple monitored node devices 14 and the CAN network 12 can be connected in sequence. In addition, when it is necessary to maintain one or some monitored node devices 14, the monitoring and protection system controller 19 can also control the corresponding one or some embedded controllers 18, and control the corresponding monitored node device 14 to disconnect from the CAN network 12 through the embedded controller 18; after the maintenance is completed, the corresponding monitored node device 14 can be controlled to reconnect with the CAN network 12.

[0116] In addition, if Figure 5 As shown, the CAN bus node monitoring and protection system 10 may include multiple monitored node devices 14, multiple protection switches 16, and multiple embedded controllers 18; wherein each of the multiple monitored node devices 14 is communicatively connected to the CAN network 12 via the CAN bus, the multiple protection switches 16 are connected one-to-one to each CAN bus between the multiple monitored node devices 14 and the CAN network 12, the multiple embedded controllers 18 are connected one-to-one to the multiple protection switches 16, and each embedded controller 18 is correspondingly connected to the CAN bus connecting a monitored node device 14 and the CAN network 12.

[0117] Each embedded controller 18 can be used to implement the CAN bus node monitoring and protection method as described above. The CAN bus node monitoring and protection method has been described in detail in the above embodiment and will not be repeated here.

[0118] Through the CAN bus node monitoring and protection system 10 proposed by the present invention, a monitored node device connected to the CAN network can be monitored and controlled by an embedded controller 18, and when the monitored node device 14 fails, it can be quickly disconnected from the CAN network 12, and when the monitored node device 14 returns to normal, it can be quickly connected to the CAN network 12; in addition, multiple monitored node devices 14 connected to the CAN network 12 can also be monitored and controlled one by one by multiple embedded controllers 18. Moreover, one or more embedded controllers 18 can perform decentralized monitoring and control on one or more monitored node devices 14 one by one; one or more embedded controllers 18 can also be controlled by a monitoring and protection system controller 19, so that one or more embedded controllers 19 monitor and control one or more monitored node devices 18 one by one. In this way, when any monitored node device 14 in the CAN network 12 fails, the normal communication operation of the CAN network 12 can be guaranteed.

[0119] Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the method steps in the above-mentioned CAN bus node monitoring and protection method are implemented.

[0120] The present invention implements all or part of the process in the above method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of each method embodiment can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0121] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program running on the processor, and when the processor executes the computer program, all or part of the method steps in the above-mentioned CAN bus node monitoring and protection method are implemented.

[0122] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of a computer device, and uses various interfaces and lines to connect various parts of the entire computer device.

[0123] The memory can be used to store computer programs and / or models. The processor realizes various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created according to the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0124] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, servers or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program codes.

[0125] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0126] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0127] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0128] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A CAN bus node monitoring and protection method, characterized in that: include: Acquire in real time a first current signal and a first voltage signal between a CAN bus and a monitored node device in a CAN network; When it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state, controlling the communication connection between the CAN bus and the monitored node device to be disconnected; When the communication connection between the CAN bus and the monitored node device is disconnected, continuously detecting the second voltage signal of the monitored node device; When it is detected that the second voltage signal is in a normal state, the communication connection between the CAN bus and the monitored node device is controlled to be connected.

2. The CAN bus node monitoring and protection method according to claim 1, characterized in that: The real-time acquisition of a first current signal and a first voltage signal between a CAN bus and a monitored node device in a CAN network includes: The embedded controller respectively collects in real time a first current signal and a first voltage signal of a high-speed bus and a low-speed bus connecting the CAN network and the monitored node device; Detecting, by means of an embedded controller, whether the first current signal matches a normal current signal, and detecting whether the first voltage signal matches a normal voltage signal; When it is detected that the first current signal does not match a normal current signal and / or the first voltage signal does not match a normal voltage signal, it is determined that at least one of the first current signal and the first voltage signal is in an abnormal state.

3. The CAN bus node monitoring and protection method according to claim 2 is characterized in that: When it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state, controlling the communication connection between the CAN bus and the monitored node device to be disconnected includes: A protection switch is pre-set to connect the high-speed bus and the low-speed bus between the CAN bus and the monitored node device, and the protection switch is preset to be in an on state in an initial state; When it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state, it is determined that the monitored node device has a fault; The protection switch is controlled to be disconnected by the embedded controller, so that the communication connection between the high-speed bus and the low-speed bus of the CAN bus and the monitored node device is disconnected.

4. The CAN bus node monitoring and protection method according to claim 3 is characterized in that: The continuously detecting the second voltage signal of the monitored node device includes: Continuously collecting, by means of an embedded controller, second voltage signals on the high-speed bus and the low-speed bus of the CAN bus connected to the monitored node device at preset time intervals; Detecting, by the embedded controller, whether the second voltage signal matches a normal voltage signal; When it is detected that the second voltage signal matches the normal voltage signal, it is determined that the second voltage signal is in a normal state, and it is determined that the monitored node device has returned to normal.

5. The CAN bus node monitoring and protection method according to claim 4 is characterized in that: When it is detected that the second voltage signal is in a normal state, controlling the communication connection between the CAN bus and the monitored node device to be connected includes: When it is detected that the second voltage signal is in a normal state, determining that the monitored node device has returned to normal; The protection switch is controlled by the embedded controller to be turned on, so that the communication connection between the high-speed bus and the low-speed bus of the CAN bus and the monitored node device is connected.

6. The CAN bus node monitoring and protection method according to claim 1, characterized in that: The real-time acquisition of a first current signal and a first voltage signal between a CAN bus and a monitored node device in a CAN network includes: When there are multiple monitored node devices in the CAN network, multiple embedded controllers are respectively set in advance, so that each embedded controller is correspondingly connected between one monitored node device and the CAN bus; The first current signal and the first voltage signal between each monitored node device and the CAN bus are acquired in real time in a one-to-one correspondence through the multiple embedded controllers.

7. The CAN bus node monitoring and protection method according to claim 6, characterized in that: The method of acquiring the first current signal and the first voltage signal between each monitored node device and the CAN bus in real time in a one-to-one correspondence through the plurality of embedded controllers includes: A monitoring and protection system controller is pre-set to be connected to the plurality of embedded controllers; The monitoring and protection system controller controls the multiple embedded controllers to obtain the first current signal and the first voltage signal between each monitored node device and the CAN bus in real time in a one-to-one correspondence.

8. A CAN bus node monitoring and protection device, characterized in that: include: A first node signal monitoring module, used for acquiring in real time a first current signal and a first voltage signal between a CAN bus and a monitored node device in a CAN network; A first node communication state control module, configured to control the communication connection between the CAN bus and the monitored node device to be disconnected when it is detected that at least one of the first current signal and the first voltage signal is in an abnormal state; A second node signal monitoring module, used for continuously detecting a second voltage signal of the monitored node device when the communication connection between the CAN bus and the monitored node device is disconnected; The second node communication state control module is used to control the communication connection between the CAN bus and the monitored node device to be connected when it is detected that the second voltage signal is in a normal state.

9. A CAN bus node monitoring and protection system, characterized in that: include: CAN network; The monitored node device is connected to the CAN network through a CAN bus; A protection switch, correspondingly connected to the CAN bus between the monitored node device and the CAN network; as well as, An embedded controller, connected to the protection switch correspondingly, and the embedded controller is connected to a CAN bus connecting the monitored node device and the CAN network correspondingly; Wherein, the embedded controller is used to implement the CAN bus node monitoring and protection method as described in any one of claims 1-5.

10. The CAN bus node monitoring and protection system according to claim 9, characterized in that: The CAN bus node monitoring and protection system comprises: A plurality of the monitored node devices, each of the monitored node devices being communicatively connected to the CAN network via a CAN bus; A plurality of protection switches are connected one by one to each CAN bus between a plurality of monitored node devices and the CAN network; A plurality of the embedded controllers are connected to a plurality of the protection switches in a one-to-one correspondence, and each of the embedded controllers is connected to a CAN bus connecting one of the monitored node devices and the CAN network; as well as, A monitoring and protection system controller is connected to the plurality of embedded controllers; wherein the monitoring and protection system controller is used to implement the CAN bus node monitoring and protection method as described in claim 6 or 7.

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