Emergency data sending method and device for secure real-time bus (SRB)

Abstract

The invention provides an emergency data sending method and device for a secure real-time bus (SRB), and the method comprises the steps: dividing each macro-cycle time in communication time into a plurality of equipment time slices and a plurality of public time slices according to the transmission data size corresponding to each piece of equipment in the secure real-time bus; when a public time slice request sent by first equipment is received, querying a public time slice closest to the current time, and marking the public time slice as a target public time slice; and distributing the target public time slice to the first equipment, so that the first equipment sends emergency data based on the target public time slice. In addition to division of an independent time slice for each device, a public time slice is also set to cope with the sending demand of emergency data. The equipment can directly use the public time slice to send the emergency data, so that quick response is realized, the waiting time is reduced, and more timely equipment control is realized. The problems of delay and low efficiency of data transmission are effectively solved, the real-time performance and reliability of the system are guaranteed, and the efficiency and reliability of data transmission are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data communication, and in particular to a method and device for sending emergency data of a safety real-time bus (SRB). Background Art

[0002] The Security Real-time Bus (SRB) is a communication bus designed specifically for industrial automation systems. It can address the shortcomings of standard Ethernet in terms of real-time and deterministic communication and is suitable for building the main network of the system.

[0003] At present, each device in SRB technology can only send information in the corresponding time slice. When non-periodic data needs to be sent, the non-periodic data declaration message must be sent in the time slice, and the non-periodic time can only be used when the priority is high. This method has certain problems. The main problem is that this mechanism may cause delays and inefficiencies in data transmission, especially in emergency situations that require rapid response. Waiting for the time slice and high-priority non-periodic data to be sent may cause delayed transmission of key data, affecting the real-time and reliability of the system.

[0004] Therefore, there is an urgent need to improve the data transmission method of SRB to improve the efficiency and reliability of data transmission. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a method and device for sending emergency data of a secure real-time bus (SRB) to solve the problem of delayed and inefficient data transmission of the SRB.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] A first aspect of the present invention discloses an emergency data sending method of a secure real-time bus (SRB), the method comprising:

[0008] Divide the communication time into multiple macrocycle times;

[0009] According to the amount of transmission data corresponding to each device in the secure real-time bus, each macrocycle time is divided into a plurality of device time slices and a plurality of common time slices; wherein the interval between each of the common time slices is within a preset range;

[0010] When receiving a public time slice request sent by a first device, querying the public time slice closest to the current time and marking it as a target public time slice; the first device is any of the devices;

[0011] The target common time slice is allocated to the first device so that the first device sends the urgent data based on the target common time slice.

[0012] Preferably, the step of dividing each macrocycle time into a plurality of device time slices and a plurality of common time slices according to the amount of transmission data corresponding to each device in the secure real-time bus comprises:

[0013] For each macrocycle time, obtaining the amount of transmission data corresponding to each device in the secure real-time bus;

[0014] Divide the device time slice corresponding to each device from the cycle time of the macro cycle time according to the amount of transmission data;

[0015] A plurality of common time slices are divided from the cycle time and the non-cycle time of the macro cycle time.

[0016] Preferably, the method further comprises:

[0017] When receiving emergency requests sent by multiple second devices, obtaining priorities corresponding to the multiple second devices; the second device is any of the devices;

[0018] The common time slice closest to the current time is allocated to the second device with the highest priority, so that the second device with the highest priority can send the emergency data.

[0019] Preferably, after dividing each macrocycle time into a plurality of device time slices and a plurality of common time slices according to the amount of transmission data corresponding to each device in the secure real-time bus, the method further comprises:

[0020] A plurality of the device time slices are allocated to the corresponding devices so that each of the devices sends data based on the device time slice.

[0021] Preferably, after allocating the plurality of device time slices to the corresponding devices, the method further includes:

[0022] If a non-periodic data declaration message sent by multiple third devices in the device time slice is received, the priorities corresponding to the multiple third devices are obtained; the third device is any of the devices;

[0023] The non-periodic time in the macro cycle time is allocated to the third device with the highest priority, so that the third device sends non-periodic data.

[0024] A second aspect of the present invention discloses an emergency data sending device for a secure real-time bus (SRB), the device comprising:

[0025] A first division unit, used for dividing the communication time into a plurality of macrocycle times;

[0026] A second division unit is used to divide each macrocycle time into a plurality of device time slices and a plurality of common time slices according to the amount of transmission data corresponding to each device in the secure real-time bus; wherein the interval between each of the common time slices is within a preset range;

[0027] A query unit, configured to query the public time slice closest to the current time and mark it as a target public time slice when receiving a public time slice request sent by a first device; the first device is any of the devices;

[0028] The first allocating unit is configured to allocate the target common time slice to the first device, so that the first device sends emergency data based on the target common time slice.

[0029] Preferably, the second division unit includes:

[0030] An acquisition module, used for acquiring the amount of transmission data corresponding to each device in the secure real-time bus for each macrocycle time;

[0031] A first division module, configured to divide a device time slice corresponding to each device from the cycle time of the macro cycle time according to the amount of transmission data;

[0032] The second division module is used to divide a plurality of common time slices from the cycle time and the non-cycle time of the macro cycle time.

[0033] Preferably, the device further comprises:

[0034] A first acquisition unit is configured to acquire priorities corresponding to the plurality of second devices when receiving emergency requests sent by the plurality of second devices; the second device is any of the plurality of second devices;

[0035] The second allocating unit is configured to allocate the common time slice closest to the current time to the second device with the highest priority, so that the second device with the highest priority can send emergency data.

[0036] Preferably, the device further comprises:

[0037] The third allocating unit is used to allocate a plurality of the device time slices to the corresponding devices, so that each of the devices sends data based on the device time slice.

[0038] Preferably, the device further comprises:

[0039] A second acquisition unit is configured to acquire priorities corresponding to multiple third devices if non-periodic data declaration messages sent by multiple third devices in the device time slice are received; the third device is any of the devices;

[0040] The fourth allocation unit is used to allocate the non-periodic time in the macro cycle time to the third device with the highest priority, so that the third device sends non-periodic data.

[0041] Based on the above-mentioned embodiment of the present invention, a method and device for sending emergency data of a secure real-time bus SRB is provided. According to the amount of transmission data corresponding to each device in the secure real-time bus, each macrocycle time in the communication time is divided into multiple device time slices and multiple common time slices; when a common time slice request sent by the first device is received, the common time slice closest to the current time is queried and marked as the target common time slice; the target common time slice is allocated to the first device so that the first device sends emergency data based on the target common time slice. In addition to dividing independent time slices for each device, a common time slice is also set to meet the needs of sending emergency data. The device can directly use the common time slice to send emergency data, achieve rapid response and reduce waiting time, thereby achieving more timely device control. It effectively solves the problems of delay and inefficiency in data transmission, ensures the real-time and reliability of the system, and improves the efficiency and reliability of data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, 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 embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0043] Figure 1 A schematic diagram of time slice division of the existing SRB technology provided in an embodiment of the present invention;

[0044] Figure 2 A schematic diagram of the scheduling principle of the SRB technology provided by an embodiment of the present invention;

[0045] Figure 3 A flowchart of an emergency data sending method of a safety real-time bus SRB provided by an embodiment of the present invention;

[0046] Figure 4 A flowchart of dividing a macrocycle time into multiple device time slices and multiple common time slices provided by an embodiment of the present invention;

[0047] Figure 5A schematic diagram of time slice division of an emergency data transmission method of a secure real-time bus provided by an embodiment of the present invention;

[0048] Figure 6 The present invention provides a structural block diagram of an emergency data sending device for a secure real-time bus (SRB) according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0050] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0051] As can be seen from the background technology, in the embodiment of the present invention Figure 1 As shown, the SRB technology specifically divides the communication time into multiple macrocycle times. Each device can only send information in the corresponding time slice. When non-periodic data needs to be sent, the non-periodic data declaration message must be sent in advance in the corresponding time slice (such as the embodiment of the present invention). Figure 2 As shown in the figure, and non-periodic time can only be used when the priority is higher, this method may cause delays and inefficiency in data transmission, especially in emergency situations that require rapid response, waiting for time slices and high-priority non-periodic data to be sent, which may cause delayed transmission of key data and affect the real-time performance and reliability of the system.

[0052] Therefore, an embodiment of the present invention provides an emergency data sending method and device for a secure real-time bus SRB. According to the amount of transmission data corresponding to each device in the secure real-time bus, each macrocycle time in the communication time is divided into multiple device time slices and multiple common time slices; when a common time slice request sent by the first device is received, the common time slice closest to the current time is queried and marked as the target common time slice; the target common time slice is allocated to the first device so that the first device sends emergency data based on the target common time slice. In addition to dividing independent time slices for each device, a common time slice is also set to meet the demand for sending emergency data. The device can directly use the common time slice to send emergency data, achieve rapid response and reduce waiting time, thereby achieving more timely device control. It effectively solves the problems of delay and inefficiency in data transmission, quickly responds to requests for sending emergency data, ensures the real-time and reliability of the system, and improves the efficiency and reliability of data transmission.

[0053] See also Figure 3 , shows a flow chart of an emergency data sending method of a secure real-time bus SRB provided by an embodiment of the present invention, the method comprising:

[0054] Step S301: Divide the communication time into a plurality of macrocycle times.

[0055] In the specific implementation of step S301 , in the secure real-time bus, the communication time is divided into a plurality of macrocycle times, such as macrocycle time 1, macrocycle time 2, . . . , macrocycle time n.

[0056] It should be noted that the multiple macrocycle times are specifically continuous time periods of equal length. Each macrocycle time is divided into two parts: cycle time and non-cycle time.

[0057] The periodic time is used to send periodic data, and the non-periodic time is used to send non-periodic data (including but not limited to emergency data).

[0058] Step S302: according to the transmission data volume corresponding to each device in the secure real-time bus, each macrocycle time is divided into a plurality of device time slices and a plurality of common time slices.

[0059] In the specific implementation of step S302, the transmission data volume corresponding to each device in the secure real-time bus is obtained, and each macrocycle time is divided into a device time slice corresponding to each device and multiple common time slices based on all transmission data volumes.

[0060] It should be noted that the specific implementation of dividing the macrocycle time into multiple device time slices and multiple public time slices is detailed in the embodiments of the present invention. Figure 4 The content in Figure 4 include:

[0061] Step S401: For each macrocycle time, the amount of transmission data corresponding to each device in the secure real-time bus is obtained.

[0062] In the specific implementation of step S401, for each macrocycle time divided from the communication time, the transmission data volume corresponding to each device in the secure real-time bus is obtained.

[0063] In practical applications, the amount of transmission data corresponding to each device can be obtained by analyzing the communication requirements of the device, parsing the protocol and data packet structure, and using the bandwidth allocation model.

[0064] It can be understood that obtaining the amount of transmission data corresponding to each device helps to accurately calculate and manage the bandwidth requirements of the device and allocate corresponding time slices to each device, thereby achieving efficient real-time data transmission and security assurance.

[0065] Step S402: Divide the device time slice corresponding to each device from the cycle time of the macro cycle time according to the amount of transmitted data.

[0066] In the specific implementation of step S402 , according to the acquired data transmission volume corresponding to each device, a device time slice corresponding to each device is divided from the cycle time of the macro cycle time.

[0067] It should be noted that each device corresponds to a device time slice, and the length of each device time slice is specifically determined according to the data transmission volume corresponding to the device. Therefore, the length of each device time slice is different, and there is no overlap between each device time slice.

[0068] In actual application, the multiple device time slices obtained by division are allocated to corresponding devices, so that each device sends data based on the device time slice.

[0069] It is understandable that each device sends periodic data based on the corresponding device time slice, and when non-periodic data needs to be sent, a non-periodic data declaration message is sent in the device time slice so that the non-periodic data can be sent subsequently using the non-periodic time.

[0070] It should be noted that when multiple devices request non-periodic time, the device that uses the non-periodic time is determined based on the priority of the device. The implementation principle is shown in process A1 and process A2.

[0071] Process A1: If aperiodic data declaration messages sent by multiple third devices in a device time slice are received, priorities corresponding to the multiple third devices are obtained.

[0072] It should be noted that the third device is any device in the secure real-time bus.

[0073] In the specific implementation process A1, if aperiodic data declaration messages sent by multiple third devices in their respective device time slices are received, the preset priority corresponding to each third device is obtained.

[0074] Process A2: Allocate the non-periodic time in the macro cycle time to the third device with the highest priority, so that the third device sends non-periodic data.

[0075] When the process A1 is specifically implemented, the non-periodic time in the macro cycle time is allocated to the third device with the highest priority, so that the third device with the highest priority sends non-periodic data based on the non-periodic time.

[0076] For example, in the embodiment of the present invention Figure 5 As shown, according to the data transmission volume corresponding to device 1, device 2, device 3 and device 4, the device time slice 1, device time slice 2, device time slice 3 and device time slice 4 corresponding to each device are divided from the cycle time of the macro cycle time (that is, time slice 1, time slice 2, time slice 3 and time slice 4 in the figure).

[0077] It is understandable that when the transmission start time of device 1 arrives, if device 1 has periodic data to send, it can send the periodic data in device time slice 1. If the periodic data is not sent in the current device time slice 1, it must wait for the device time slice 1 corresponding to device 1 in the next macrocycle time to send the periodic data; if device 1 has non-periodic data to send, it will send a non-periodic data declaration message. Devices 2, 3, and 4 follow the same rules.

[0078] From the above analysis, it can be seen that if a device needs to send urgent data, it must decide whether to send it within the corresponding device time slice, otherwise it can only wait until the device time slice of the next macro cycle time to send it. However, for sending urgent data, the waiting time may be too long, which may lead to unpredictable effects.

[0079] For example, for an aircraft with a speed of 1,200 kilometers per hour, if the macrocycle time is 10 milliseconds, the aircraft may have flown 3.3 meters during the waiting period (calculation formula: 3.3=1200*1000 / 3600 / 1000*10). For high-precision control aircraft, such a waiting time will lead to inaccurate control and affect the stability and safety of the aircraft.

[0080] Based on this, the embodiment of the present invention additionally proposes a common time slice mechanism, and the specific content is detailed in step S403.

[0081] Step S403: multiple common time slices are divided from the cycle time and non-cycle time of the macro cycle time.

[0082] In the process of implementing step S403, in addition to the time slices of each device in the cycle time of the macro cycle time, multiple common time slices are further divided in the cycle time and non-cycle time of the macro cycle time, wherein the interval length between each common time slice is within a preset range to make the interval between each common time slice as uniform as possible.

[0083] It is understandable that the interval between each common time slice is preset according to the urgency of sending the urgent data. If the urgency of sending the urgent data is very urgent, the preset interval is shorter. Otherwise, the interval can be longer based on the preset range.

[0084] For example Figure 5 As shown, two common time slices, namely common time slice 1 and common time slice 2, are divided in the cycle time, and one common time slice, namely common time slice 3, is divided in the non-cycle time.

[0085] It should be noted that the public time slice does not require the device to send a message in advance to apply for it in advance, and can be used directly when the device needs to send urgent data. In the non-periodic time, except for the public time slice, all are non-emergency time slices.

[0086] Step S303: when receiving the public time slice request sent by the first device, query the public time slice closest to the current time and mark it as the target public time slice.

[0087] It should be noted that the first device is a device in any secure real-time bus.

[0088] In the specific implementation of step S303, when a public time slice request sent by the first device is received, a public time slice closest to the current moment (the time when the first device sends the request) that has not been allocated or occupied is searched and marked as the target public time slice.

[0089] Step S304: Allocate the target common time slice to the first device, so that the first device sends the emergency data based on the target common time slice.

[0090] In the specific process of implementing step S304, the found target common time slice is allocated to the first device, so that the first device sends the emergency data based on the target common time slice.

[0091] by Figure 5 Taking the content shown as an example, if device 2 just missed device time slice 2 and has urgent data to send, and finds that public time slice 1 is available, device 2 sends the urgent data through public time 1.

[0092] It is understandable that when multiple devices request the same common time slice, the priority of the devices determines which device uses the common time slice. The implementation principle is shown in process B1 and process B2.

[0093] Process B1: when emergency requests sent by multiple second devices are received, priorities corresponding to the multiple second devices are obtained.

[0094] It can be understood that the second device is any device in the safety real-time bus.

[0095] In the specific implementation process B1, when emergency requests sent by multiple second devices are received, the priority preset by each second device is obtained.

[0096] Process B2: Allocate the public time slice closest to the current time to the second device with the highest priority, so that the second device with the highest priority can send the emergency data.

[0097] When specifically implementing process B2, find the public time slice that is closest to the current moment (the time when the second device sends a request) and has not been allocated or occupied, and allocate the public time slice to the second device with the highest priority, so that the second device with the highest priority can send urgent data based on the public time slice.

[0098] For example: when both device 1 and device 2 need to send urgent data, if common time slot 1 is available, the priority of device 1 and device 2 determines who uses common time slot 1. If the priority of device 1 is higher than that of device 2, device 1 uses common time slot 1 to send urgent data, and device 2 interrupts the sending and waits to resend the urgent data when it can be sent, such as the next common time slot, or device time slot 2 of device 2.

[0099] It should be noted that if no device needs to send urgent data within a complete macro cycle time, the public time slice remains idle.

[0100] In an embodiment of the present invention, in addition to allocating independent device time slices for each device, it is also proposed to allocate a certain number of common time slices to meet the needs of sending urgent data. If a device needs to send urgent data, it can directly use the common time slice. When multiple devices use the same common time slice at the same time, the device with the highest priority is sent first, and other devices retreat and do not use the time slice. Through this scheme, urgent data can be sent quickly, significantly reducing waiting time, thereby achieving more timely device control. This method effectively solves the problems of delay and inefficiency in data transmission, quickly responds to requests for sending urgent data, ensures the real-time and reliability of the system, and improves the efficiency and reliability of data transmission.

[0101] Corresponding to the method for sending emergency data of a secure real-time bus SRB provided in the above embodiment of the present invention, see Figure 6 , shows a structural block diagram of an emergency data sending device of a secure real-time bus SRB provided in an embodiment of the present invention, the device includes: a first division unit 601, a second division unit 602, a query unit 603 and a first allocation unit 604.

[0102] The first dividing unit 601 is used to divide the communication time into a plurality of macrocycle times.

[0103] The second division unit 602 is used to divide each macrocycle time into multiple device time slices and multiple common time slices according to the transmission data volume corresponding to each device in the secure real-time bus; wherein the interval between each common time slice is within a preset range.

[0104] The query unit 603 is used to query the public time slice closest to the current time and mark it as a target public time slice when receiving a public time slice request sent by the first device; the first device is any device.

[0105] The first allocating unit 604 is configured to allocate the target common time slice to the first device so that the first device sends the emergency data based on the target common time slice.

[0106] In an embodiment of the present invention, in addition to allocating independent device time slices for each device, it is also proposed to allocate a certain number of common time slices to meet the needs of sending urgent data. If a device needs to send urgent data, it can directly use the common time slice. When multiple devices use the same common time slice at the same time, the device with the highest priority is sent first, and other devices retreat and do not use the time slice. Through this scheme, urgent data can be sent quickly, significantly reducing waiting time, thereby achieving more timely device control. This method effectively solves the problems of delay and inefficiency in data transmission, quickly responds to requests for sending urgent data, ensures the real-time and reliability of the system, and improves the efficiency and reliability of data transmission.

[0107] Combination Figure 6 As shown in the content, the second division unit 602 includes: an acquisition module, a first division module and a second division module.

[0108] The acquisition module is used to acquire the transmission data volume corresponding to each device in the safety real-time bus for each macro cycle time.

[0109] The first division module is used to divide the device time slice corresponding to each device from the cycle time of the macro cycle time according to the amount of transmission data.

[0110] The second division module is used to divide a plurality of common time slices from the cycle time and the non-cycle time of the macro cycle time.

[0111] Combination Figure 6 As shown in the content, the device also includes: a first acquisition unit and a second allocation unit.

[0112] The first acquisition unit is used to acquire the priorities corresponding to the multiple second devices when emergency requests sent by the multiple second devices are received; the second device is any device.

[0113] The second allocation unit is configured to allocate the common time slice closest to the current time to the second device with the highest priority, so that the second device with the highest priority can send the emergency data.

[0114] Combination Figure 6 As shown in the content, the apparatus also includes: a third allocation unit, configured to allocate multiple device time slices to corresponding devices so that each device sends data based on the device time slice.

[0115] Combination Figure 6 As shown in the content, the device also includes: a second acquisition unit and a fourth allocation unit.

[0116] The second acquisition unit is used to acquire the priorities corresponding to the plurality of third devices if non-periodic data declaration messages sent by the plurality of third devices in the device time slice are received; the third device is any device.

[0117] The fourth allocation unit is used to allocate the non-periodic time in the macro cycle time to the third device with the highest priority, so that the third device can send non-periodic data.

[0118] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0119] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0120] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for sending emergency data of a safety real-time bus SRB, characterized in that: The method comprises: Divide the communication time into multiple macrocycle times; According to the amount of transmission data corresponding to each device in the secure real-time bus, each macrocycle time is divided into a plurality of device time slices and a plurality of common time slices; wherein the interval between each of the common time slices is within a preset range; When receiving a public time slice request sent by a first device, querying the public time slice closest to the current time and marking it as a target public time slice; the first device is any of the devices; The target common time slice is allocated to the first device so that the first device sends the urgent data based on the target common time slice.

2. The method according to claim 1, characterized in that The method of dividing each macrocycle time into a plurality of device time slices and a plurality of common time slices according to the amount of transmission data corresponding to each device in the secure real-time bus comprises: For each macrocycle time, obtaining the amount of transmission data corresponding to each device in the secure real-time bus; Divide the device time slice corresponding to each device from the cycle time of the macro cycle time according to the amount of transmission data; A plurality of common time slices are divided from the cycle time and the non-cycle time of the macro cycle time.

3. The method according to claim 1, characterized in that: The method further comprises: When receiving emergency requests sent by multiple second devices, obtaining priorities corresponding to the multiple second devices; the second device is any of the devices; The common time slice closest to the current time is allocated to the second device with the highest priority, so that the second device with the highest priority can send the emergency data.

4. The method according to claim 1, characterized in that: According to the amount of transmission data corresponding to each device in the safety real-time bus, each macrocycle time is divided into a plurality of device time slices and a plurality of common time slices, and further includes: A plurality of the device time slices are allocated to the corresponding devices so that each of the devices sends data based on the device time slice.

5. The method according to claim 1, characterized in that After allocating the plurality of device time slices to the corresponding devices, the method further includes: If a non-periodic data declaration message sent by multiple third devices in the device time slice is received, the priorities corresponding to the multiple third devices are obtained; the third device is any of the devices; The non-periodic time in the macro cycle time is allocated to the third device with the highest priority, so that the third device sends non-periodic data.

6. An emergency data sending device for a safety real-time bus SRB, characterized in that: The device comprises: A first division unit, used for dividing the communication time into a plurality of macrocycle times; A second division unit is used to divide each macrocycle time into a plurality of device time slices and a plurality of common time slices according to the amount of transmission data corresponding to each device in the secure real-time bus; wherein the interval between each of the common time slices is within a preset range; A query unit, configured to query the public time slice closest to the current time and mark it as a target public time slice when receiving a public time slice request sent by a first device; the first device is any of the devices; The first allocating unit is configured to allocate the target common time slice to the first device so that the first device sends emergency data based on the target common time slice.

7. The device according to claim 6, characterized in that The second division unit comprises: An acquisition module, used for acquiring the amount of transmission data corresponding to each device in the secure real-time bus for each macrocycle time; A first division module, configured to divide a device time slice corresponding to each device from the cycle time of the macro cycle time according to the amount of transmission data; The second division module is used to divide a plurality of common time slices from the cycle time and the non-cycle time of the macro cycle time.

8. The device according to claim 6, characterized in that The device also includes: A first acquisition unit is configured to acquire priorities corresponding to the plurality of second devices when receiving emergency requests sent by the plurality of second devices; the second device is any of the plurality of second devices; The second allocating unit is configured to allocate the common time slice closest to the current time to the second device with the highest priority, so that the second device with the highest priority can send emergency data.

9. The device according to claim 6, characterized in that The device also includes: The third allocating unit is used to allocate a plurality of the device time slices to the corresponding devices, so that each of the devices sends data based on the device time slice.

10. The device according to claim 6, characterized in that The device also includes: A second acquisition unit is configured to acquire priorities corresponding to multiple third devices if non-periodic data declaration messages sent by multiple third devices in the device time slice are received; the third device is any of the devices; The fourth allocation unit is used to allocate the non-periodic time in the macro cycle time to the third device with the highest priority, so that the third device sends non-periodic data.

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