Industrial control data transmission method and industrial control bus communication architecture

Abstract

The invention relates to the technical field of industrial control, and provides an industrial control data transmission method and an industrial control bus communication architecture. According to the method, high-speed Ethernet communication is adopted between a gateway module and an industrial controller, networking is conducted between the gateway module and a first type of industrial equipment through a user-defined protocol, a communication network achieved through a serial bus is obtained, the gateway module receives industrial control data from the industrial controller through the Ethernet, and the industrial control data are transmitted to the first type of industrial equipment. After the industrial control data is converted into serial data frames, the serial data frames are sequentially transmitted to each first type of industrial equipment by using the serial bus, so that the control data of the industrial controller is issued to the industrial equipment by using a low-cost and quickly-established network; and when the programmable extension industrial equipment is randomly added into the industrial control system, networking can be rapidly carried out on the industrial control system, so that the expansibility is greatly improved on the basis of ensuring the industrial control response performance, and the transmission efficiency of the industrial control data is improved.

Description

Technical Field

[0001] The present application relates to the field of industrial control technology, and in particular to an industrial control data transmission method and an industrial control bus communication architecture. Background Art

[0002] The industrial site environment is all-encompassing. In addition to the core controller, the industrial control system also needs to be composed of multiple functional cards and third-party industrial equipment. There is a lot of business traffic that needs to be transmitted between the controller and functional cards, and between the controller and third-party equipment, and the real-time requirements for data transmission are getting higher and higher.

[0003] In the related art, many PLC (Programmable Logic Controller) products use a "one network to the end" solution. The advantage of this solution is that the functional cards and third-party industrial equipment are all placed in a high-speed Ethernet network, and the data transmission rate is relatively high. At the same time, this solution also has the disadvantage of high cost, and due to the large number of network nodes and long wiring, the bus robustness of this solution is poor. In other implementation schemes, a high-speed internal bus can also be used to connect the controller and its functional cards, and then the standard Ethernet interface expanded through the communication gateway is used to connect third-party industrial equipment. The disadvantage of this solution is that the internal bus rate is required to be much higher than the expanded standard Ethernet network, which is costly and increases the difficulty of designing the internal bus.

[0004] Therefore, how to design a high-speed bus solution that has both good scalability and high cost-effectiveness to achieve rapid response of the control loop is a technical problem that needs to be solved. Summary of the invention

[0005] In view of this, the embodiments of the present application provide an industrial control data transmission method and an industrial control bus communication architecture to solve the problem that the performance and cost of the industrial control data transmission scheme in the prior art are difficult to balance and the scalability is not strong.

[0006] In a first aspect of an embodiment of the present application, there is provided an industrial control data transmission method, which is executed by a gateway module and is used to transmit industrial control data between an industrial controller and an industrial device, wherein the industrial device includes at least one first-category industrial device, and the gateway module communicates with the industrial controller via Ethernet;

[0007] The method includes:

[0008] Networking with the first-class industrial equipment is achieved through a custom protocol, the custom protocol includes a serial bus, and each first-class industrial equipment is looped back to serial connection;

[0009] receiving first industrial control data from an industrial controller;

[0010] Converting the first industrial control data into a serial data frame, wherein the serial data frame includes the first industrial control data;

[0011] Serial data frames are sent in sequence to each first-category industrial device connected in series through a serial bus with a custom protocol, so that the first-target first-category industrial device obtains the industrial control data of the device from the serial data frame. The first-target first-category industrial device is the first-category industrial device corresponding to the destination address of the first industrial control data.

[0012] In some embodiments, networking with the first type of industrial equipment is performed through a custom protocol, including:

[0013] Sending a query packet to each first-category industrial device to determine the number of the first-category industrial devices;

[0014] Sending a synchronization training package to each first-category industrial device, and receiving a synchronization delay of the device determined by each first-category industrial device based on the synchronization training package;

[0015] Obtain configuration information of each first-category industrial device, and complete networking of the gateway module with the first-category industrial device through a custom protocol based at least on the configuration information and synchronization information;

[0016] The synchronization information at least includes the synchronization delay of each first-category industrial device.

[0017] In some embodiments, the method further includes:

[0018] Receiving first response messages sent in sequence by each first-category industrial device, the first response message including response data obtained by at least one first-category industrial device in response to the first industrial control data;

[0019] The first response message is forwarded to the industrial controller.

[0020] In some embodiments, the first type of industrial equipment sends response data in sequence, including:

[0021] The last first-category industrial device in the serially connected first-category industrial devices receives the first industrial control data and generates a response message;

[0022] Each first-category industrial device connected in series receives the response message in turn, and transmits the response message to the next first-category industrial device, until the first first-category industrial device in the first-category industrial devices connected in series transmits the response message to the gateway module;

[0023] Among them, the order in which the first industrial control data is transmitted sequentially through the first type of industrial equipment connected in series is opposite to the order in which the response message is transmitted sequentially through the first type of industrial equipment connected in series, and the first device that executes the first industrial control data adds the response data of the device to the response message when transmitting the response message.

[0024] In some embodiments, after the networking is completed, each first-category industrial device exchanges data with the gateway module in the following manner:

[0025] In response to determining that the second target first-category industrial device completes networking parameter configuration and enters a data exchange state, the second target first-category industrial device receives periodic data, and the second target first-category industrial device is any first-category industrial device;

[0026] In response to receiving the periodic data, the second target first-category industrial device updates the input and output data of the device using the periodic data;

[0027] In response to determining that the second target first category industrial device has completed updating the device input and output data using the periodic data, or the second target first category industrial device has not received the periodic data, the second target first category industrial device receives at least one of the synchronization data and the diagnostic data;

[0028] In response to receiving at least one of the synchronization data and the diagnostic data, the second target first-category industrial device updates the synchronization data or the diagnostic data corresponding to the device;

[0029] In response to determining that the second target first-category industrial device has not received at least one of the synchronization data and the diagnostic data, and a watchdog of the second target first-category industrial device has not timed out, re-receiving the periodic data;

[0030] In response to determining that the second target first category industrial device has not received at least one of the synchronization data and the diagnostic data and the watchdog of the second target first category industrial device has timed out, reconfigure the networking parameters of the second target first category industrial device.

[0031] In some embodiments, the industrial device further includes at least one second-category industrial device, and the gateway module communicates with each second-category industrial device via Ethernet;

[0032] The method further includes:

[0033] receiving second industrial control data from the industrial controller;

[0034] forwarding the second industrial control data to a target second-category industrial device, where the target second-category industrial device is a second-category industrial device corresponding to a destination address of the second industrial control data;

[0035] A second response message sent by the target second-category industrial device is received, and the second response message is forwarded to the industrial controller.

[0036] In some embodiments, the synchronization delay of each first-category industrial device determined based on the synchronization training package includes:

[0037] The third target first-category industrial device determines a first time when the device receives a synchronous training package and a second time when the device receives a response message to the synchronous training package, and the third target first-category industrial device is any first-category industrial device;

[0038] Determine the difference between the time when the last first-category industrial device among the first-category industrial devices connected in series generates a response message of the synchronous training packet and the time when the last first-category industrial device receives the synchronous training packet as the reference delay;

[0039] determining a difference between the second time and the first time as a delay correction value of the third target first category industrial equipment;

[0040] The sum of the reference delay and half of the delay correction value is determined as the synchronization delay of the third target first category industrial equipment.

[0041] A second aspect of the embodiments of the present application provides an industrial control bus communication architecture, an industrial controller, a gateway module and industrial equipment, wherein the industrial equipment includes first-category industrial equipment and second-category industrial equipment;

[0042] The gateway module at least includes a first Ethernet interface, a second Ethernet interface and a serial bus interface. The gateway module communicates with the industrial controller through the first Ethernet interface, communicates with the second type of industrial equipment through the second Ethernet interface, and communicates with each first type of industrial equipment through the serial bus interface using a custom protocol;

[0043] The gateway module also includes a first processing unit and a first programmable logic unit, the first processing unit is connected to the first Ethernet interface and the second Ethernet interface, the first programmable logic unit includes a master station protocol stack of a custom protocol, the first programmable logic unit is connected to the first processing unit through a parallel bus, and the first programmable logic unit is connected to each first-class industrial device through a serial bus interface;

[0044] The first category of industrial equipment includes a second processing unit and a second programmable logic unit. The second processing unit is connected to the industrial field equipment to receive industrial data collected by the industrial field equipment, or to send industrial data issued by the industrial controller to the industrial field equipment. The second programmable logic unit includes a slave station protocol stack of a custom protocol. The second programmable logic unit is connected to the second processing unit through a parallel bus. The second programmable logic unit is connected to other first category industrial equipment or gateway modules through a serial bus interface.

[0045] In some embodiments, the master station protocol stack of the custom protocol includes an interface module, a protocol stack module, a data conversion processing module and a data link layer module;

[0046] The interface module includes a configuration parameter module, a cycle data module, a state diagnosis module and a synchronization signal module. The configuration parameter module is used to store networking parameters, the cycle data module is used to store cycle data, the state diagnosis module is used to store state diagnosis data, and the synchronization signal module is used to store synchronization signals;

[0047] The protocol stack module includes a master station state machine module, a diagnostic module and an auxiliary module. The master station state machine module is used to implement the functions of the master station protocol stack, the diagnostic module is used to implement status diagnosis, and the auxiliary module is used to implement the auxiliary functions necessary to support the operation of the protocol stack;

[0048] The data conversion processing module is used to assist the protocol stack module and the data link layer module in data interaction.

[0049] In some embodiments, the slave station protocol stack of the custom protocol includes an interface module, a protocol stack module, a data conversion processing module and a data link layer module;

[0050] The interface module includes a configuration parameter module, a cycle data module, a state diagnosis module and a synchronization signal module. The configuration parameter module is used to store networking parameters, the cycle data module is used to store cycle data, the state diagnosis module is used to store state diagnosis data, and the synchronization signal module is used to store synchronization signals;

[0051] The protocol stack module includes a master state machine module, a diagnostic module and an auxiliary module. The master state machine module is used to implement the functions of the slave protocol stack, the diagnostic module is used to implement status diagnosis, and the auxiliary module is used to implement the auxiliary functions necessary to support the operation of the protocol stack;

[0052] The data conversion processing module is used to assist the protocol stack module and the data link layer module in data interaction.

[0053] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the embodiments of the present application adopt high-speed Ethernet communication between the gateway module and the industrial controller, and network the gateway module and the first-category industrial equipment through a custom protocol to obtain a communication network implemented by a serial bus. The gateway module uses Ethernet to receive industrial control data from the industrial controller, converts the industrial control data into serial data frames, and then uses the serial bus to transmit the serial data frames to each first-category industrial equipment in sequence, thereby realizing the use of a low-cost and quickly established network to send the control data of the industrial controller to the industrial equipment, and when any programmable expansion industrial equipment is added to the industrial control system, it can be quickly networked, which greatly improves the scalability and the transmission efficiency of industrial control data while ensuring the response performance of industrial control. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0055] Figure 1 It is a flowchart of an industrial control data transmission method provided in an embodiment of the present application.

[0056] Figure 2 It is a flowchart of a method for networking with first-category industrial equipment through a custom protocol provided in an embodiment of the present application.

[0057] Figure 3 It is a flowchart of a method for determining the synchronization delay of each first-category industrial device based on a synchronization training package provided in an embodiment of the present application.

[0058] Figure 4 This is a system block diagram for determining synchronization delay provided in an embodiment of the present application.

[0059] Figure 5 It is a flowchart of another industrial control data transmission method provided in an embodiment of the present application.

[0060] Figure 6 It is a flowchart of another industrial control data transmission method provided in an embodiment of the present application.

[0061] Figure 7 It is a flowchart of another industrial control data transmission method provided in an embodiment of the present application.

[0062] Figure 8 It is a structural block diagram of the industrial control bus communication architecture provided in an embodiment of the present application.

[0063] Fig. 9 It is a structural block diagram of the gateway module provided in an embodiment of the present application.

[0064] Fig.10 It is a structural block diagram of the functional IO module provided in an embodiment of the present application.

[0065] Fig.11 It is a structural block diagram of the lightweight protocol stack provided in an embodiment of the present application.

[0066] Fig.12 It is a structural block diagram of the lightweight protocol stack master station provided in an embodiment of the present application.

[0067] Fig.13 It is a schematic diagram of the interface between the main station and the business application provided in the embodiment of the present application.

[0068] Fig.14 It is a structural block diagram of a lightweight protocol stack slave station provided in an embodiment of the present application.

[0069] Fig.15 This is a working diagram of the slave station state machine provided in an embodiment of the present application.

[0070] Fig.16 It is a schematic diagram of the interface between the slave station and the business application provided in the embodiment of the present application.

[0071] Fig.17 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0073] An industrial control data transmission method and an industrial control bus communication architecture according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0074] As mentioned above, how to design a high-speed bus solution that has both good scalability and high cost-effectiveness to achieve rapid response of the control loop is a technical problem that needs to be solved.

[0075] In view of this, an embodiment of the present application provides an industrial control data transmission method, which uses high-speed Ethernet communication between a gateway module and an industrial controller, and uses a custom protocol to network the gateway module and the first type of industrial equipment to obtain a communication network implemented using a serial bus. The gateway module uses Ethernet to receive industrial control data from the industrial controller, converts the industrial control data into serial data frames, and then uses the serial bus to transmit the serial data frames to each first type of industrial equipment in sequence, thereby realizing the use of a low-cost and quickly established network to send the control data of the industrial controller to the industrial equipment, and when any programmable expansion industrial equipment is added to the industrial control system, it can be quickly networked, which greatly improves the scalability and transmission efficiency of industrial control data while ensuring the response performance of industrial control.

[0076] Figure 1 FIG. 1 is a flow chart of an industrial control data transmission method provided by an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0077] In step S101, a network is established with the first type of industrial equipment through a custom protocol.

[0078] Among them, the custom protocol includes a serial bus, and each first-class industrial device has a loopback serial connection.

[0079] In step S102 , first industrial control data is received from an industrial controller.

[0080] In step S103 , the first industrial control data is converted into a serial data frame.

[0081] The serial data frame includes first industrial control data.

[0082] In step S104, serial data frames are sequentially sent to each first-category industrial device connected in series via a serial bus of a custom protocol, so that the first target first-category industrial device obtains the industrial control data of the device from the serial data frame.

[0083] The first target first-category industrial equipment is the first-category industrial equipment corresponding to the destination address of the first industrial control data.

[0084] In some embodiments of the present application, the method can be executed by a gateway module to transmit industrial control data between an industrial controller and an industrial device. The industrial device may include at least one first-class industrial device, which may be, for example, an extended function card, which may exchange data with the industrial controller through the gateway module, and at least some of the extended function cards are pluggable cards, which may be added or deleted in the industrial control system according to actual needs.

[0085] In some embodiments, the gateway module and the industrial controller can communicate via Ethernet, for example, the two transmit data via standard Ethernet protocols such as ProfiNET or EtherCAT, wherein the gateway module is an Ethernet slave station and the industrial controller is an Ethernet master station.

[0086] In some embodiments of the present application, the gateway module can be networked with the first-class industrial equipment through a custom protocol. Wherein, the custom protocol includes a serial bus, and each first-class industrial device is looped back in serial connection. The loopback serial connection means that multiple first-class industrial devices are serially connected, and the first first-class industrial device and the last first-class industrial device are also connected to the gateway module respectively. The gateway module can be used as a master station in the custom protocol, and each first-class industrial device can be used as a slave station in the custom protocol.

[0087] After the networking is completed, the gateway module can receive the first industrial control data from the industrial controller, wherein the first industrial control data can be data sent by the industrial controller to the first type of industrial equipment.

[0088] The gateway module may receive the first industrial control data from the industrial controller via Ethernet, and the first industrial control data may be parallel data. For example, if the first industrial control data includes data sent to multiple first-category industrial devices, the multiple data may be transmitted to the gateway module via an Ethernet parallel bus.

[0089] After receiving the first industrial control data, the gateway module can convert it into a serial data frame, which includes the first industrial control data. In other words, the gateway module parses the data sent to multiple first-category industrial devices in the first industrial control data and converts it into a serial data frame.

[0090] The gateway module can send the serial data frame to each first-class industrial device connected in series through a serial bus of a custom protocol in sequence, so that the first-class industrial device of the first target obtains the industrial control data of the device from the serial data frame. The first-class industrial device of the first target is the first-class industrial device corresponding to the destination address of the first industrial control data.

[0091] For example, if the industrial control system includes N first-category industrial devices, the target addresses of the first industrial control data correspond to N1, N2, ..., Nn first-category industrial devices in the N first-category industrial devices, respectively, where N is a positive integer greater than or equal to 1, and n is a positive integer less than or equal to N. The N first-category industrial devices sequentially receive the serial data frame including the first industrial control data through the serial bus, and when any device among the first-category industrial devices N1, N2, ..., Nn receives the serial data frame, it can also extract the data of the device from the serial data frame, so that the device can execute and respond to the control data sent by the industrial controller.

[0092] On the other hand, when other devices in the first category of industrial equipment receive the serial data frame, since the serial data frame does not include the control data of the device itself, the serial data frame can be directly forwarded to the next first category of industrial equipment.

[0093] According to the technical solution provided in the embodiment of the present application, by adopting high-speed Ethernet communication between the gateway module and the industrial controller, and networking the gateway module and the first-category industrial equipment through a custom protocol, a communication network implemented by a serial bus is obtained. The gateway module uses Ethernet to receive industrial control data from the industrial controller, converts the industrial control data into serial data frames, and then uses the serial bus to transmit the serial data frames to each first-category industrial equipment in sequence, thereby realizing the use of a low-cost and quickly established network to send the control data of the industrial controller to the industrial equipment, and when any programmable expansion industrial equipment is added to the industrial control system, it can be quickly networked, which greatly improves the scalability and the transmission efficiency of industrial control data while ensuring the response performance of industrial control.

[0094] Figure 2 1 is a flow chart of a method for networking with the first type of industrial equipment through a custom protocol provided in an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0095] In step S201 , a query packet is sent to each first-category industrial device to determine the number of the first-category industrial devices.

[0096] In step S202, a synchronization training packet is sent to each first-category industrial device, and a synchronization delay of each first-category industrial device determined based on the synchronization training packet is received.

[0097] In step S203, the configuration information of each first-category industrial device is obtained, and the gateway module is networked with the first-category industrial device through a custom protocol at least based on the configuration information and the synchronization information.

[0098] The synchronization information at least includes the synchronization delay of each first-category industrial device.

[0099] In some embodiments of the present application, when the gateway module is networked with the first-category industrial devices, it may first send a query packet to each of the first-category industrial devices to determine the number of the first-category industrial devices.

[0100] For example, the gateway module can send query messages to each first-class industrial device in sequence according to the serial connection order, and initialize a specific field to 0. The last first-class industrial device loops back the downstream query message into an upstream response message, and then sends the response message to the gateway module in reverse order of the serial connection. After receiving the upstream response message, each first-class industrial device adds 1 to the value of the specific field and then uploads it to the next first-class industrial device. The gateway module receives the upstream response message, extracts the value of the specific field, and can parse and obtain the number of first-class industrial devices.

[0101] In one example, the gateway module may also send a synchronization training packet to each first-category industrial device, so that each first-category industrial device determines the synchronization delay of the device based on the synchronization training packet. The gateway module receives the synchronization delay sent by each first-category industrial device.

[0102] Among them, the synchronization training package is mainly used to train the parameter of how long it takes to execute the "synchronization command". The synchronization command means that the master station requires all slave stations to output a command to the industrial instrument side at the same time, such as turning on a switch. Because the delay of the synchronization delay communication link between each slave station and the master station is long or short, that is, the time when each slave station receives the master station message is different, so the delay time waiting for execution after receiving the master station message is also different.

[0103] In some embodiments of the present application, the master station may be a gateway module, and the slave stations may be first-category industrial devices.

[0104] Figure 3 1 is a flow chart of a method for determining the synchronization delay of each first-class industrial device based on a synchronization training package provided in an embodiment of the present application. Figure 3 As shown, the method comprises the following steps:

[0105] In step S301, the third target first category industrial device determines a first time for the device to receive a synchronous training packet and a second time for the device to receive a response message to the synchronous training packet.

[0106] Among them, the third target first-category industrial equipment is any first-category industrial equipment.

[0107] In step S302, the difference between the time when the last first-category industrial device among the first-category industrial devices connected in series generates a response message of the synchronous training packet and the time when the last first-category industrial device receives the synchronous training packet is determined as a reference delay.

[0108] In step S303, the difference between the second time and the first time is determined as the delay correction value of the third target first-category industrial equipment.

[0109] In step S304, the sum of the reference delay and half of the delay correction value is determined as the synchronization delay of the third target first-category industrial equipment.

[0110] In some embodiments, the third target first-category industrial device determines a first time when the device receives a synchronous training packet and a second time when the device receives a response message to the synchronous training packet. On the other hand, the difference between the time when the last first-category industrial device in the serially connected first-category industrial devices generates a response message to the synchronous training packet and the time when the synchronous training packet is received is determined as the reference delay, and the difference between the second time and the first time is determined as the delay correction value of the third target first-category industrial device. Finally, the sum of the reference delay and half of the delay correction value is determined as the synchronization delay of the third target first-category industrial device.

[0111] That is to say, each slave station can calculate the delay time according to the arrival time of the downlink data packet and the time interval between the arrival of the uplink data packet. The delay time of the slave station closer to the front is longer, and the delay time of the last slave station is the shortest.

[0112] Figure 4 is a block diagram of a system for determining synchronization delay provided by an embodiment of the present application. Figure 4 As shown, the first time that slave station 1 receives downlink data from the master station is t 0 The first time that slave 2 receives downlink data from slave 1 is t 1 , and so on. The first time that slave n receives downlink data from slave n-1 is t n-1 The second time when the slave station n generates the uplink data sent in the loop is the same as the first time t n-1 The difference can be recorded as the reference delay t c In this way, the synchronization delay of slave 1 can be calculated as t delay1 =t c +0.5*(t 1 -t 0 ); the synchronization delay of slave 2 is t delay2 =t c +0.5*(t 3 -t 2 ), and so on.

[0113] After determining the synchronization delay of each first-category industrial device, the gateway module can also obtain configuration information of each first-category industrial device, and complete the networking of the gateway module with the first-category industrial device through a custom protocol based at least on the configuration information and synchronization information. The synchronization information at least includes the synchronization delay of each first-category industrial device.

[0114] Figure 5 It is a flowchart of another industrial control data transmission method provided in an embodiment of the present application.

[0115] in, Figure 5 Steps S501 to S504 in the embodiment shown are Figure 1Steps S101 to S104 in the illustrated embodiment are substantially the same and will not be described in detail herein. Figure 5 As shown, the method also includes the following steps:

[0116] In step S505, first response messages sent sequentially by each first-category industrial device are received.

[0117] The first response message includes response data obtained by at least one first-category industrial device in response to the first industrial control data.

[0118] In step S506, the first response message is forwarded to the industrial controller.

[0119] In some embodiments of the present application, the gateway module may also receive first response messages sent sequentially by each first-category industrial device, and forward the first response messages to the industrial controller.

[0120] The first-class industrial devices sending the response data in sequence may be that the last first-class industrial device in the serially connected first-class industrial devices receives the first industrial control data and generates a response message. Each first-class industrial device in the serial connection receives the response message in sequence and transmits the response message to the next first-class industrial device until the first first-class industrial device in the serially connected first-class industrial devices transmits the response message to the gateway module. The order in which the first industrial control data is transmitted in sequence through the serially connected first-class industrial devices is opposite to the order in which the response message is transmitted in sequence through the serially connected first-class industrial devices, and the first device that executes the first industrial control data adds the device response data to the response message when transmitting the response message.

[0121] That is to say, after receiving the serial data frame, the last first-category industrial device in the serial connection can generate a loopback response message, and send the loopback response message to each first-category industrial device in reverse order of the serial sequence, and finally send it to the gateway module. Among them, when each first-category industrial device sends a response message, if the device executes the control instruction of the industrial control data in the serial data frame, it can generate response data and add the response data to the response message. In this way, the gateway module can receive the response data of each first-category industrial device that needs to execute the first industrial control instruction, and transmit the response data to the industrial controller.

[0122] Figure 6 It is a flowchart of another industrial control data transmission method provided in an embodiment of the present application.

[0123] in, Figure 6 Steps S601 to S604 in the embodiment shown are Figure 1Steps S101 to S104 in the illustrated embodiment are substantially the same and will not be described in detail herein. Figure 6 As shown, the method also includes the following steps:

[0124] In step S605 , in response to determining that the second target first-category industrial device completes networking parameter configuration and enters a data exchange state, the second target first-category industrial device receives periodic data.

[0125] Among them, the second target first category industrial equipment is any first category industrial equipment.

[0126] In step S606 , in response to receiving the periodic data, the second target first-category industrial device updates its own device input and output data using the periodic data.

[0127] In step S607, in response to determining that the second target first category industrial device completes updating the input and output data of the device using the periodic data, or the second target first category industrial device does not receive the periodic data, the second target first category industrial device receives at least one of synchronization data and diagnostic data.

[0128] In step S608 , in response to receiving at least one of the synchronization data and the diagnosis data, the second target first-category industrial device updates the synchronization data or the diagnosis data corresponding to the device.

[0129] In step S609 , in response to determining that the second target first-category industrial device completes updating of synchronization data and diagnostic data or does not receive any of the synchronization data and diagnostic data, and the watchdog of the second target first-category industrial device has not timed out, periodic data is received again.

[0130] In step S610, in response to determining that the second target first category industrial device completes the update of synchronization data and diagnostic data or does not receive any of the synchronization data and diagnostic data, and the watchdog of the second target first category industrial device has timed out, the networking parameters of the second target first category industrial device are reconfigured.

[0131] In some embodiments of the present application, after networking is completed, each first-class industrial device can exchange data with the gateway module. Before exchanging data, the second target first-class industrial device can first confirm that the device has completed the networking parameter configuration and entered the data exchange state, and then can receive periodic data.

[0132] If the periodic data is received, the second target first category industrial device can use the periodic data to update the input and output data of the device. Under the condition that the second target first category industrial device completes the use of the periodic data to update the input and output data of the device, or the second target first category industrial device does not receive the periodic data, the second target first category industrial device receives at least one of the synchronization data and the diagnostic data.

[0133] If at least one of the synchronization data and the diagnostic data is received, the second target first category industrial device can update the synchronization data or diagnostic data corresponding to the device. Under the condition that the second target first category industrial device completes the update of synchronization data and diagnostic data or does not receive any of the synchronization data and diagnostic data, and the watchdog of the second target first category industrial device has not timed out, the second target first category industrial device can receive periodic data again. Conversely, under the condition that the second target first category industrial device completes the update of synchronization data and diagnostic data or does not receive any of the synchronization data and diagnostic data, and the watchdog of the second target first category industrial device has timed out, the networking parameters of the second target first category industrial device can be reconfigured.

[0134] In some embodiments of the present application, the industrial device may further include at least one second-category industrial device, and the gateway module communicates with each second-category industrial device via Ethernet.

[0135] Figure 7 It is a flowchart of another industrial control data transmission method provided in an embodiment of the present application.

[0136] in, Figure 7 Steps S701 to S704 in the embodiment shown are similar to Figure 1 Steps S101 to S104 in the illustrated embodiment are substantially the same and will not be described in detail herein. Figure 7 As shown, the method also includes the following steps:

[0137] In step S705 , second industrial control data is received from the industrial controller.

[0138] In step S706 , the second industrial control data is forwarded to the target second-category industrial device.

[0139] The target second-category industrial equipment is the second-category industrial equipment corresponding to the destination address of the second industrial control data.

[0140] In step S707, a second response message sent by the target second-category industrial device is received, and the second response message is forwarded to the industrial controller.

[0141] In some embodiments of the present application, in addition to communicating with the first type of industrial equipment through a custom protocol, the gateway module can also forward Ethernet messages sent by the industrial controller to the second type of industrial equipment. At this time, the gateway module can receive the second industrial control data from the industrial controller, and directly forward the second industrial control data to the target second type of industrial equipment through the Ethernet interface, and receive the second response message sent by the target second type of industrial equipment, and forward the second response message to the industrial controller, thereby realizing direct communication between the industrial controller and the industrial equipment through Ethernet.

[0142] The step of processing the first industrial control data and the step of processing the second industrial control data can be performed in parallel, that is, the step of processing the first industrial control data and the step of processing the second industrial control data are independent of each other, and the processing of one does not affect the other, nor is it affected by the other.

[0143] Figure 8 : is a structural block diagram of the industrial control bus communication architecture provided by the embodiment of the present application. Figure 8 As shown, the communication architecture includes an industrial controller, a gateway module and industrial equipment, and the industrial equipment includes first-class industrial equipment and second-class industrial equipment. The first-class industrial equipment may be, for example, a functional IO (Input Output) module, and the second-class industrial equipment may be, for example, an industrial equipment serving as an Ethernet slave station.

[0144] The industrial controller and the gateway module communicate through the Ethernet port, for example, standard Ethernet protocols such as ProfiNET or EtherCAT can be used for data transmission. The gateway module can be connected to the next-level gateway module or industrial equipment (such as standard ProfiNET or EtherCAT Ethernet protocol slave) through the expansion network port. The FPGA (Field Programmable Gate Array) chip inside the gateway module converts the signal from the standard Ethernet protocol into a lightweight protocol stack of the branch trunk through logical coding, and connects the functional IO module through its serial link interface.

[0145] In one example, the gateway module includes at least a first Ethernet interface, a second Ethernet interface and a serial bus interface. The gateway module communicates with the industrial controller through the first Ethernet interface, communicates with the second type of industrial equipment through the second Ethernet interface, and communicates with each first type of industrial equipment through the serial bus interface using a custom protocol.

[0146] The gateway module also includes a first processing unit and a first programmable logic unit. The first processing unit is connected to the first Ethernet interface and the second Ethernet interface. The first programmable logic unit includes a master station protocol stack of a custom protocol. The first programmable logic unit is connected to the first processing unit through a parallel bus. The first programmable logic unit is connected to each first-class industrial device through a serial bus interface.

[0147] Fig. 9 is a structural block diagram of the gateway module provided in the embodiment of the present application. Fig. 9 As shown, the gateway module can include a processor chip and an FPGA chip, with two Ethernet interfaces and a serial bus interface. The processor chip integrates an Ethernet protocol controller (such as a slave controller ESC of the standard EtherCAT Ethernet protocol). The gateway module serves as an Ethernet slave of the industrial controller. The data forwarding function integrated in the processor chip supports forwarding messages from the industrial controller to another Ethernet interface. The FPGA integrates the lightweight protocol stack master function and supports the transceiver logic of full-duplex links such as LVDS / 422. A high-bandwidth parallel bus is used to interconnect the FPGA and the processor chip for data and diagnostic information interaction.

[0148] At the same time, the gateway module may also include a network card, such as an RJ45 network card, a PHY (port physical layer), a clock circuit, a reset circuit, a power conversion circuit, a storage circuit and other modules.

[0149] In another example, the first category of industrial equipment may include a second processing unit and a second programmable logic unit. The second processing unit is connected to the industrial field equipment to receive industrial data collected by the industrial field equipment, or send industrial data issued by the industrial controller to the industrial field equipment. The second programmable logic unit includes a slave station protocol stack of a custom protocol. The second programmable logic unit is connected to the second processing unit through a parallel bus, and the second programmable logic unit is connected to other first category industrial equipment or gateway modules through a serial bus interface.

[0150] Fig.10 1 is a structural block diagram of the functional IO module provided in the embodiment of the present application. Fig.10 As shown, the functional IO module can include an FPGA chip and an MCU (Micro Control Unit) chip. The MCU is responsible for processing industrial field equipment signals, such as ADC acquisition of 4-20mA analog quantities in the industrial field. And isolation is required between the MUC and the industrial field equipment. The FPGA integrates the lightweight protocol stack slave function and supports the hand-in-hand topology transmission logic of the LVDS / 422 full-duplex bus. A high-bandwidth parallel bus / serial bus is used to interconnect the FPGA and MCU chips for data and diagnostic information interaction.

[0151] At the same time, the functional IO module may also include modules such as clock circuit, reset circuit, power conversion circuit and storage circuit.

[0152] Fig.11 is a structural block diagram of a lightweight protocol stack provided in an embodiment of the present application. Fig.11 As shown in the figure, the master and slave stations of the lightweight protocol stack adopt the LVDS / 422 full-duplex link transmission scheme with a hand-in-hand topology, and the last slave station can automatically loop back without an additional terminal coupler. That is, the lightweight protocol stack master station and each lightweight protocol stack slave station are connected through a full-duplex serial bus, and the last slave station is connected to the master station in turn through a loopback.

[0153] The main tasks of the lightweight protocol stack master station include: the master station needs to send a query packet to scan the entire bus and identify the number of slave stations, then send a synchronization training packet to let each slave station calculate its own synchronization delay time with the master station, and then send the configuration information to each slave station according to the configuration information, and finally perform periodic data interaction. There are interfaces such as configuration information, synchronization information, periodic data and diagnosis between the master station protocol stack and the business application. Among them, the configuration information can be obtained from the configuration tool.

[0154] The lightweight protocol stack slave station is mainly used to encapsulate and forward the protocol stack link layer interface information and business applications, including periodic data, diagnostic and synchronization information, etc.

[0155] In some embodiments of the present application, the master station protocol stack of the custom protocol includes an interface module, a protocol stack module, a data conversion processing module and a data link layer module. The interface module includes a configuration parameter module, a periodic data module, a state diagnosis module and a synchronization signal module, the configuration parameter module is used to store networking parameters, the periodic data module is used to store periodic data, the state diagnosis module is used to store state diagnosis data, and the synchronization signal module is used to store synchronization signals.

[0156] The protocol stack module includes a master state machine module, a diagnostic module and an auxiliary module. The master state machine module is used to implement the functions of the master protocol stack, the diagnostic module is used to implement status diagnosis, and the auxiliary module is used to implement the auxiliary functions necessary to support the operation of the protocol stack. The data conversion processing module is used to assist the protocol stack module and the data link layer module in data interaction.

[0157] Fig.12 : is a structural block diagram of a lightweight protocol stack master station provided in an embodiment of the present application. Fig.12As shown in the figure, the lightweight protocol master station is divided into STACK-Interface (interface module), Protocol Stack (protocol stack module), data conversion processing module, etc. Among them, the STACK-Interface module is the interface between the business application and the Protocol-Stack, and the interface information includes configuration parameters, periodic data, status diagnosis and synchronization signals, etc.

[0158] Business applications are applications that download engineering algorithms for field business into industrial controllers through configuration tool software, and implement business application functions such as input data acquisition, calculation, and output data in industrial controllers.

[0159] The Protocol Stack module implements the lightweight protocol master station function scheduling, and is divided into the master station state machine, diagnostic module, and auxiliary function modules necessary to support the operation of the protocol stack.

[0160] The link layer data interaction module is used for the Protocol Stack to interact with the FDL-master (Fieldbus Data Link, data link layer) for data.

[0161] When the master state machine is working, it first sends a message to scan the entire system and identify the number of slaves on the bus, then sends a slave synchronization training package to allow the slave to calculate the synchronization delay time between itself and the master, and configures the data length information for each slave according to the configuration information, and finally performs periodic data interaction.

[0162] Fig.13 Schematic diagram of the interface between the main station and the business application provided in the embodiment of the present application. Fig.13 As shown, there are interfaces such as configuration information, synchronization information, periodic data, and diagnostic data between the master station protocol stack application layer and the business application program, and the interface form is register, dual-port RAM (Random Access Memory) or TRI-BUFF (Tri-state Buffer). Among them, the configuration information may include slave station configuration information, slave station parameters, etc., the periodic data may include master station setting parameters, etc., and the diagnostic data may include master station status, slave station status, etc.

[0163] In some embodiments of the present application, the slave station protocol stack of the custom protocol includes an interface module, a protocol stack module, a data conversion processing module and a data link layer module. The interface module includes a configuration parameter module, a periodic data module, a state diagnosis module and a synchronization signal module, the configuration parameter module is used to store networking parameters, the periodic data module is used to store periodic data, the state diagnosis module is used to store state diagnosis data, and the synchronization signal module is used to store synchronization signals.

[0164] The protocol stack module includes a master state machine module, a diagnostic module and an auxiliary module. The master state machine module is used to implement the functions of the slave protocol stack, the diagnostic module is used to implement status diagnosis, and the auxiliary module is used to implement the auxiliary functions necessary to support the operation of the protocol stack. The data conversion processing module is used to assist the protocol stack module and the data link layer module in data interaction.

[0165] Fig.14 : is a structural block diagram of a lightweight protocol stack slave station provided in an embodiment of the present application. Fig.14 As shown in the figure, the lightweight protocol stack slave station is divided into STACK-Interface, Protocol Stack, data conversion processing module, etc. The STACK-Interface module is the interface between the business application and the Protocol-Stack, and the interface information includes configuration parameters, periodic data, status diagnosis, and synchronization signals.

[0166] The Protocol Stack module implements lightweight protocol slave function scheduling and is divided into slave state machines, diagnostic modules, and auxiliary function modules necessary to support the operation of the protocol stack.

[0167] The data conversion processing module is used for data exchange between Protocol Stack and FDL-master (Fieldbus Data Link, data link layer).

[0168] The slave state machine is mainly used to encapsulate and forward link layer interface information with business applications, mainly including update cycle data, diagnosis, synchronization information, etc.

[0169] Fig.15 This is a working diagram of the slave state machine provided in the embodiment of the present application. Fig.15 As shown in the figure, after the slave state machine is initialized, it first performs parameter configuration, and then determines whether to enter the data exchange state. If so, it determines whether the periodic data is received, and if so, the input and output data are updated. If the input and output data are not received, or after the input and output data are updated, it can be further determined whether the synchronous diagnostic data is received. If so, the synchronous diagnostic data is updated, if not or after the synchronous diagnostic data is updated, it is determined whether the watchdog has timed out, and if not, it is determined again whether the periodic data is received. If the watchdog has timed out, the parameters can be reconfigured.

[0170] Fig.16 Schematic diagram of the interface between the slave station and the business application provided in the embodiment of the present application. Fig.16 As shown, there are interfaces such as module settings, synchronization information, periodic data, and diagnosis between the slave protocol stack application layer and the business application. The interface form is register, dual-port RAM or TRI-BUFF.

[0171] The slave protocol stack divides the RAM / BUFF (buffer) area for different types of interactive messages, identifies and organizes the data received by the link layer and stores it in the corresponding storage area. When sending data, it takes the corresponding data from the corresponding storage area and sends it.

[0172] The data in RAM / BUFF are mainly divided into two categories: the first category is the message received from the master station, including Parameter, Configure, Cyclical Receive data, etc.; the second category is the data filled by the business layer of the slave station and stored in RAM for use when supplying the master station, including Diagnosis, Cyclical Senddata, etc.

[0173] Both the master and slave have data link layers, and their overall functions are similar, so they are described separately in this section. The main responsibility of the data link layer is to ensure that data packets move between the master and slave, and to send the data to their respective application layers for processing.

[0174] The data packet transmission from the master to the last slave is called "downlink data", and the data packet transmission from the last slave to the master is called "uplink data". The slave data link layer extracts the process data from the "downlink data" and inserts the process data into the "uplink data". The extraction and insertion process is dynamic, resulting in minimal propagation delay.

[0175] Master station: During the establishment, configuration, and periodic data interaction of the protocol, the "data transceiver module" is called to send out the downlink data from the "protocol stack application layer", and the "data transceiver module" is called to receive the uplink data and send it to the "protocol stack application layer".

[0176] Slave: Mainly processes the data information of "downlink data" and "uplink data". Specifically, the slave receives data from the previous slave device and transmits the data to the next slave device. The slave can detect itself as the "last slave device" according to the actual situation and can automatically loop back without the need for an additional terminal coupler.

[0177] The "data transceiver module" is responsible for sending the data serially after 8B / 10B encoding, and at the same time receiving serial data and converting it into a lightweight protocol stack message after 8B / 10 decoding.

[0178] The function design of "data transceiver module" is as follows:

[0179] Sending function: receiving protocol frame -> 8B / 10B encoding -> parallel-serial conversion and sending

[0180] Receiving function: serial data oversampling reception->serial-to-parallel conversion->8B / 10B decoding->receiving protocol frame->frame check.

[0181] The technical solution provided by the embodiment of the present application can solve the problems of high-speed bus transmission efficiency, good scalability and high cost performance. The backbone network uses Ethernet with standard protocol to connect various gateway modules and third-party devices, and has the characteristics of flexible and universal backbone bus expansion. A set of lightweight protocol stacks is defined under the gateway module, which can complete hand-in-hand data transmission between a master station and multiple slave stations. The typical transmission rate is 100Mbps, and up to 64 nodes can be connected, which finally realizes efficient bus communication between functional cards and controllers in industrial control systems.

[0182] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0183] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0184] Fig.17 Schematic diagram of an electronic device provided in an embodiment of the present application. Fig.17 As shown, the electronic device 17 of this embodiment includes: a processor 1701, a memory 1702, and a computer program 1703 stored in the memory 1702 and executable on the processor 1701. When the processor 1701 executes the computer program 1703, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 1701 executes the computer program 1703, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0185] The electronic device 17 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 17 may include, but is not limited to, a processor 1701 and a memory 1702. Those skilled in the art will appreciate that Fig.17 The electronic device 17 is merely an example and does not limit the electronic device 17 , and may include more or less components than those shown in the figure, or different components.

[0186] Processor 1701 can be a central processing unit (CPU), or 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.

[0187] The memory 1702 may be an internal storage unit of the electronic device 17, for example, a hard disk or memory of the electronic device 17. The memory 1702 may also be an external storage device of the electronic device 17, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (FlashCard), etc. equipped on the electronic device 17. The memory 1702 may also include both an internal storage unit of the electronic device 17 and an external storage device. The memory 1702 is used to store computer programs and other programs and data required by the electronic device.

[0188] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0189] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0190] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application 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. 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 embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. An industrial control data transmission method, characterized in that: The method is performed by a gateway module, and is used to transmit industrial control data between an industrial controller and an industrial device, wherein the industrial device includes at least one first-category industrial device, and the gateway module communicates with the industrial controller via Ethernet; The method comprises: Step S101, networking with first-category industrial devices through a custom protocol, wherein the custom protocol includes a serial bus, and each first-category industrial device is looped back to serial connection; Step S102, receiving first industrial control data from the industrial controller; Step S103: converting the first industrial control data into a serial data frame, wherein the serial data frame includes the first industrial control data; Step S104, sending the serial data frame to each first-category industrial device connected in series in sequence through the serial bus of the custom protocol, so that the first-target first-category industrial device obtains the industrial control data of the device from the serial data frame, and the first-target first-category industrial device is the first-category industrial device corresponding to the destination address of the first industrial control data.

2. The method according to claim 1, characterized in that The step S101 of networking with the first type of industrial equipment through a custom protocol includes: Sending a query packet to each first-category industrial device to determine the number of the first-category industrial devices; Sending a synchronization training package to each first-category industrial device, and receiving a synchronization delay of the device determined by each first-category industrial device based on the synchronization training package; Acquire configuration information of each first-category industrial device, and complete networking of the gateway module with the first-category industrial device through a custom protocol at least based on the configuration information and synchronization information; The synchronization information at least includes the synchronization delay of each first-category industrial device.

3. The method according to claim 1, characterized in that After executing step S104, the method further includes: Step S505: receiving first response messages sent in sequence by each first-category industrial device, wherein the first response message includes response data obtained by at least one first-category industrial device in response to the first industrial control data; Step S506: forward the first response message to the industrial controller.

4. The method according to claim 3, characterized in that The first type of industrial equipment in step S505 sends response data in sequence, including: The last first-category industrial device among the first-category industrial devices connected in series receives the first industrial control data and generates a response message; Each first-category industrial device connected in series receives the response message in turn, and transmits the response message to the next first-category industrial device, until the first first-category industrial device in the first-category industrial devices connected in series transmits the response message to the gateway module; Among them, the order in which the first industrial control data is transmitted sequentially through the first type of industrial equipment connected in series is opposite to the order in which the response message is transmitted sequentially through the first type of industrial equipment connected in series, and the first device that executes the first industrial control data adds the response data of the device to the response message when transmitting the response message.

5. The method according to claim 1, characterized in that After the networking in step S101 is completed, each first-category industrial device exchanges data with the gateway module in the following manner: In response to determining that the second target first-category industrial device completes networking parameter configuration and enters a data exchange state, the second target first-category industrial device receives periodic data, and the second target first-category industrial device is any first-category industrial device; In response to receiving the periodic data, the second target first-category industrial device updates the input and output data of the device using the periodic data; In response to determining that the second target first category industrial device has completed using the periodic data to update the input and output data of the device, or the second target first category industrial device has not received the periodic data, the second target first category industrial device receives at least one of synchronization data and diagnostic data; In response to receiving at least one of the synchronization data and the diagnostic data, the second target first-category industrial device updates the synchronization data or the diagnostic data corresponding to the device; In response to determining that the second target first-category industrial device completes updating of synchronization data and diagnostic data or does not receive any one of synchronization data and diagnostic data, and a watchdog of the second target first-category industrial device has not timed out, re-receiving periodic data; In response to determining that the second target first category industrial device completes updating of synchronization data and diagnostic data or does not receive any of the synchronization data and diagnostic data, and the watchdog of the second target first category industrial device has timed out, reconfigure the networking parameters of the second target first category industrial device.

6. The method according to claim 1, characterized in that The industrial device further comprises at least one second-category industrial device, and the gateway module communicates with each second-category industrial device via Ethernet; After executing step S101, the method further includes: Step S705, receiving second industrial control data from the industrial controller; Step S706: forwarding the second industrial control data to a target second-category industrial device, where the target second-category industrial device is a second-category industrial device corresponding to a destination address of the second industrial control data; Step S707: receiving a second response message sent by the target second-category industrial device, and forwarding the second response message to the industrial controller; The steps S705 to S707 are performed in parallel with the steps S102 to S104.

7. The method according to claim 2, characterized in that The synchronization delay of each first-category industrial device determined based on the synchronization training package includes: The third target first-category industrial device determines a first time when the device receives the synchronous training package and a second time when the device receives a response message to the synchronous training package, and the third target first-category industrial device is any first-category industrial device; Determine the difference between the time when the last first-category industrial device among the first-category industrial devices connected in series generates a response message of the synchronous training packet and the time when the last first-category industrial device receives the synchronous training packet as a reference delay; Determine the difference between the second time and the first time as the delay correction value of the third target first category industrial equipment; The sum of the reference delay and half of the delay correction value is determined as the synchronization delay of the third target first-category industrial equipment.

8. An industrial control bus communication architecture, characterized in that: The communication architecture includes an industrial controller, a gateway module and industrial equipment, wherein the industrial equipment includes first-category industrial equipment and second-category industrial equipment; The gateway module at least comprises a first Ethernet interface, a second Ethernet interface and a serial bus interface, wherein the gateway module communicates with the industrial controller via the first Ethernet interface, communicates with the second type of industrial equipment via the second Ethernet interface, and communicates with each first type of industrial equipment via the serial bus interface using a custom protocol; The gateway module also includes a first processing unit and a first programmable logic unit, the first processing unit is connected to the first Ethernet interface and the second Ethernet interface, the first programmable logic unit includes a master station protocol stack of the custom protocol, the first programmable logic unit is connected to the first processing unit through a parallel bus, and the first programmable logic unit is connected to each first-category industrial device through a serial bus interface; The first category industrial equipment includes a second processing unit and a second programmable logic unit. The second processing unit is connected to the industrial field equipment to receive industrial data collected by the industrial field equipment, or to send industrial data issued by the industrial controller to the industrial field equipment. The second programmable logic unit includes a slave station protocol stack of the custom protocol. The second programmable logic unit is connected to the second processing unit via a parallel bus. The second programmable logic unit is connected to other first category industrial equipment or gateway modules via a serial bus interface.

9. The communication architecture according to claim 8, characterized in that: The master station protocol stack of the custom protocol includes an interface module, a protocol stack module, a data conversion processing module and a data link layer module; The interface module includes a configuration parameter module, a periodic data module, a state diagnosis module and a synchronization signal module, wherein the configuration parameter module is used to store networking parameters, the periodic data module is used to store periodic data, the state diagnosis module is used to store state diagnosis data, and the synchronization signal module is used to store synchronization signals; The protocol stack module includes a master station state machine module, a diagnostic module and an auxiliary module, wherein the master station state machine module is used to implement the functions of the master station protocol stack, the diagnostic module is used to implement state diagnosis, and the auxiliary module is used to implement the auxiliary functions necessary to support the operation of the protocol stack; The data conversion processing module is used to assist the protocol stack module and the data link layer module in data interaction.

10. The communication architecture according to claim 8, characterized in that: The slave station protocol stack of the custom protocol includes an interface module, a protocol stack module, a data conversion processing module and a data link layer module; The interface module includes a configuration parameter module, a periodic data module, a state diagnosis module and a synchronization signal module, wherein the configuration parameter module is used to store networking parameters, the periodic data module is used to store periodic data, the state diagnosis module is used to store state diagnosis data, and the synchronization signal module is used to store synchronization signals; The protocol stack module includes a master station state machine module, a diagnostic module and an auxiliary module, wherein the master station state machine module is used to implement the functions of the slave station protocol stack, the diagnostic module is used to implement state diagnosis, and the auxiliary module is used to implement the auxiliary functions necessary to support the operation of the protocol stack; The data conversion processing module is used to assist the protocol stack module and the data link layer module in data interaction.

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