Cooperative control system, method and equipment of dual-network heterogeneous equipment and medium

Abstract

The invention provides a cooperative control system for dual-network heterogeneous equipment, and the system comprises a master station which communicates with a relay station through a first industrial network; at least one substation communicating with the relay station over a second industrial network; wherein the master station and the sub-station carry out data synchronization through a data synchronization method. According to the invention, through the collaborative architecture of the master station, the substations and the relay stations, in combination with the dynamic protocol conversion and dual-network data mirroring technology, the problem of data synchronization among heterogeneous network equipment is effectively solved, meanwhile, the continuous operation of the system is ensured by using a hardware accelerated fault isolation mechanism, and the method has the effects of improving the reliability and flexibility of the system and reducing the downtime.

Description

Technical Field

[0001] This invention relates to the field of industrial automation control technology, and in particular to a collaborative control system, method, device and medium for dual-network heterogeneous devices. Background Technology

[0002] In industrial automation control systems, traditional control systems employing a single network architecture have significant limitations. Taking an automotive painting production line as an example, the existing 25 Mitsubishi A-series workstations operate using a MELSECNET / Ⅱ local area network. This single network architecture has revealed numerous problems in practical applications. First, the system equipment is severely aging, with over 90 core components such as CPU modules and I / O modules showing damage. Furthermore, since Mitsubishi A-series PLCs are discontinued, spare parts procurement is difficult, severely impacting production stability. Second, the existing system uses a single network protocol and lacks heterogeneous network compatibility. When a workstation malfunctions, it directly affects the operation of the entire production line, potentially leading to a complete shutdown.

[0003] Existing technological upgrade solutions have significant shortcomings: upgrading to a Q-series control system requires up to three months of downtime, resulting in substantial economic losses; while upgrades using a single network architecture cannot address network heterogeneity issues, making seamless collaboration between devices using different protocols difficult. Especially in the context of Industry 4.0, production equipment often uses heterogeneous networks from different manufacturers and using different protocols. Existing systems cannot achieve cross-network data synchronization and fault isolation, severely restricting the reliability and flexibility of production systems. Summary of the Invention

[0004] This invention provides a collaborative control system, method, device, and medium for dual-network heterogeneous devices to solve at least one technical problem in the prior art.

[0005] This invention provides a collaborative control system for dual-network heterogeneous devices, the collaborative control system for dual-network heterogeneous devices comprising:

[0006] The main station communicates with the relay stations through the first industrial network;

[0007] At least one substation communicates with the relay station via a second industrial network;

[0008] The main station and the sub-station synchronize data using a data synchronization method.

[0009] In one embodiment of the present invention, the relay station includes at least one of the following:

[0010] A dynamic protocol conversion engine is used to convert a protocol to be converted into a target protocol; wherein, when the protocol to be converted is a first communication protocol, the target protocol is a second communication protocol; when the protocol to be converted is a second communication protocol, the target protocol is a first communication protocol; the first communication protocol corresponds to the master station, and the second communication protocol corresponds to the substation;

[0011] The fault isolation module is used to identify and isolate faulty substations through a hardware-accelerated fault detection mechanism, and at the same time, it uses pre-replicated state synchronization and connection persistence technology to complete the stateless service migration within the remaining time window.

[0012] The dual-network data mirror pool is used to achieve incremental status data synchronization between the master station and the sub-station through physically isolated dual transmission channels and dynamic address mapping.

[0013] In one embodiment of the present invention, the dynamic protocol conversion engine includes:

[0014] The protocol sniffing layer is used to identify the protocol type and obtain the protocol to be converted.

[0015] The protocol parser is used to obtain the target protocol by dynamically deconstructing the semantic layer features of the protocol to be converted and mapping them to the syntactic structure of the target protocol, thereby achieving lossless semantic transmission of application layer data and maintaining the continuity of transport layer sessions.

[0016] In one embodiment of the present invention, the fault isolation module includes:

[0017] The feature extraction module is used to obtain key features;

[0018] The fault identification module is used to input the key features into the trained fault identification model to obtain the abnormal probability value or abnormal confidence score classification and the abnormal type label. When the abnormal probability value or abnormal confidence score exceeds the preset decision threshold, it is determined to be an abnormal substation.

[0019] In one embodiment of the present invention, the key features include at least one of the following: basic traffic features, connection features, performance features, behavioral features, and security features.

[0020] In one embodiment of the present invention, the fault identification module determines whether it is a single point of failure or a regional failure based on the topology information and dependency relationship between substations.

[0021] In one embodiment of the present invention, the data synchronization method includes:

[0022] The master station sends its data to the relay station via the first industrial network;

[0023] The interrupt station identifies the master station data and maps the master station data to the shared memory area;

[0024] The substation reads the master station data from the shared memory area, and when there are multiple substations, it broadcasts or transmits the data point by point to other substations in the at least one substation via a second industrial network.

[0025] This invention provides a collaborative control method for dual-network heterogeneous devices, the collaborative control method for dual-network heterogeneous devices comprising:

[0026] The master station communicates with the relay station through the first industrial network;

[0027] At least one substation communicates with the relay station via a second industrial network;

[0028] Synchronize the data between the master station and the at least one sub-station.

[0029] This invention provides a collaborative control device for dual-network heterogeneous devices, comprising:

[0030] One or more processors; and

[0031] One or more machine-readable media storing instructions thereon, which, when executed by the one or more processors, cause the device to perform the cooperative control method for the dual-network heterogeneous device.

[0032] The present invention provides a machine-readable medium storing instructions that, when executed by one or more processors, cause the processors to perform the cooperative control method for dual-network heterogeneous devices.

[0033] The beneficial effects of this invention are:

[0034] This invention discloses a collaborative control system for heterogeneous dual-network devices. The system includes: a master station communicating with a relay station via a first industrial network; and at least one substation communicating with the relay station via a second industrial network. The master station and the substation synchronize data using a data synchronization method. This invention, through a collaborative architecture of master station, substation, and relay station, combined with dynamic protocol conversion and dual-network data mirroring technology, effectively solves the data synchronization problem between heterogeneous network devices. Simultaneously, it utilizes a hardware-accelerated fault isolation mechanism to ensure continuous system operation, thereby improving system reliability and flexibility and reducing downtime. Attached Figure Description

[0035] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0036] In the attached diagram:

[0037] Figure 1 This is a schematic diagram of a collaborative control system for dual-network heterogeneous devices according to an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of a dynamic protocol conversion engine according to an embodiment of the present invention;

[0039] Figure 3 This is a flowchart of a data synchronization method according to an embodiment of the present invention;

[0040] Figure 4 This is a flowchart of a collaborative control method for dual-network heterogeneous devices according to an embodiment of the present invention;

[0041] Figure 5 A schematic diagram of a computer system suitable for implementing an embodiment of the present invention is shown. Detailed Implementation

[0042] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0043] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the shape, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0044] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0045] In existing technologies, upgrading and retrofitting industrial control systems often faces a conflict between equipment downtime and production continuity. Taking a coating production line as an example, aging core components lead to frequent failures, and replacing them with new PLCs requires a three-month cycle, severely impacting normal business operations. While traditional overall upgrade solutions can address hardware aging issues, they cannot prevent the economic losses caused by production interruptions.

[0046] To address these issues, achieving seamless compatibility between new and old control equipment without disrupting production line operations is crucial. Existing heterogeneous network devices face challenges in protocol differences and data synchronization; directly replacing old equipment would lead to communication interruptions. In-depth analysis of the industrial network architecture revealed that using intermediate nodes for protocol conversion and data mirroring can preserve existing hardware resources while simultaneously introducing new control equipment. This approach breaks away from the traditional model that necessitates production shutdowns for upgrades, providing a possibility for gradual system upgrades.

[0047] Please see Figure 1 , Figure 1 This is a schematic block diagram of a collaborative control system for dual-network heterogeneous devices according to an embodiment of the present invention. Figure 1 The collaborative control system for the dual-network heterogeneous devices includes:

[0048] The main station communicates with the relay stations through the first industrial network;

[0049] At least one substation communicates with the relay station via a second industrial network;

[0050] The main station and the sub-station synchronize data using a data synchronization method.

[0051] The first industrial network refers to the communication link between the master station and the relay station, which can use the MELSECNET / II protocol for data exchange, retaining the core control functions of the original workstations. The second industrial network refers to the communication link between the substations and the relay station, specifically using the MELSECNET / 10 protocol for data exchange. The relay station acts as a protocol conversion hub, which can be implemented using an embedded gateway device, dynamically parsing the semantic features of different protocols to complete data format conversion. The data synchronization method can specifically employ a double-buffered storage mechanism, establishing a mirrored data pool in physically isolated transmission channels to ensure state consistency between the master station and the substations.

[0052] Specifically, taking the coating production line as an example, the master station continuously collects operating parameters from each process section of the coating production line and transmits control commands to the relay station via the MELSECNET / Ⅱ network. The protocol conversion engine within the relay station parses the command data packets in real time, converts them into a data interaction protocol format, and stores them in the dual-network data mirror pool. The substation periodically reads control commands from the dual-network data mirror pool via the MELSECNET / 10 network and synchronously updates parameters such as conveyor speed and oven temperature. When a failure is detected in the old workstation, the relay station automatically switches control to the backup substation; the entire process does not require interruption of the production line operation.

[0053] Compared to existing technologies, traditional solutions require complete replacement of old equipment and shutdown of production to upgrade the network architecture. Benyiming, however, uses relay stations to achieve heterogeneous network protocol conversion, allowing existing A-series workstations to continue operating. Conventional upgrade solutions only support collaboration between homogeneous network devices; this system, through a dynamic protocol conversion engine, is compatible with different generations of industrial network equipment, enabling equipment iteration while maintaining production continuity.

[0054] Through the above technical solution, this invention achieves parallel operation and smooth transition between old and new control equipment, effectively extending the service life of older equipment. In the case of coating production line transformation, the original Mitsubishi A-series PLC workstations continue to transmit data through the first industrial network, while the newly added Q-series PLC substations access the system through the second industrial network. The relay station completes protocol conversion and data synchronization. The transformation process requires no production stoppage and reduces costs by approximately 50%.

[0055] In one embodiment, the relay station includes at least one of the following:

[0056] A dynamic protocol conversion engine is used to convert a protocol to be converted into a target protocol; wherein, when the protocol to be converted is a first communication protocol, the target protocol is a second communication protocol; when the protocol to be converted is a second communication protocol, the target protocol is a first communication protocol; the first communication protocol corresponds to the master station, and the second communication protocol corresponds to the substation;

[0057] The fault isolation module is used to identify and isolate faulty substations through a hardware-accelerated fault detection mechanism, and at the same time, it uses pre-replicated state synchronization and connection persistence technology to complete the stateless service migration within the remaining time window.

[0058] The dual-network data mirror pool is used to achieve incremental status data synchronization between the master station and the sub-station through physically isolated dual transmission channels and dynamic address mapping.

[0059] The dynamic protocol conversion engine converts the protocol to be converted into the target protocol. This can be achieved by using a protocol sniffing layer to identify the protocol type, and a protocol parser to dynamically deconstruct semantic layer features and map them to the syntactic structure of the target protocol, enabling lossless conversion between different communication protocols between the master station and substations. The fault isolation module identifies and isolates faulty substations. This can be achieved using a hardware-accelerated fault detection mechanism combined with pre-replicated state synchronization and connection persistence technology, quickly isolating faulty nodes and migrating services when an anomaly is detected. The dual-network data mirror pool enables incremental state data synchronization. This can be achieved using physically isolated dual transmission channels and dynamic address mapping, ensuring data consistency between the master station and substations.

[0060] Specifically, the dynamic protocol conversion engine automatically identifies the communication protocol types of the master station and substations through the protocol sniffing layer. The protocol parser performs bidirectional conversion of the semantic layer features of the first and second communication protocols, such as converting the MELSECNET / Ⅱ protocol to the MELSECNET / 10 protocol, enabling seamless communication between new and old devices. The fault isolation module monitors the operating status of the substations in real time through a hardware acceleration mechanism. When the probability of an anomaly exceeds a preset threshold, the faulty substation is immediately isolated, and the service is migrated to a normal node using pre-replication technology to avoid production line downtime. The dual-network data mirror pool synchronizes incremental data between the master station and substations through independent transmission channels. For example, redundant links are used to transmit electrophoresis parameters or oven temperature data, and dynamic address mapping ensures that data is accurately distributed to the target substation.

[0061] This invention solves the maintenance difficulties caused by spare parts outages in older equipment by using a dynamic protocol conversion engine to ensure compatibility between older equipment and newer control systems. It achieves coexistence of old and new systems through protocol conversion, avoiding long-term production line downtime and enabling upgrades without production stoppages. The fault isolation module automatically migrates services when a single workstation fails, avoiding regional outages. The dual-network data mirror pool ensures data synchronization reliability through redundant channels, significantly reducing the risk of data loss compared to traditional single-network architectures.

[0062] Please see Figure 2 , Figure 2 This is a schematic diagram of a dynamic protocol conversion engine according to an embodiment of the present invention. Figure 2 The dynamic protocol conversion engine includes:

[0063] Protocol sniffing layer 210 is used to identify the protocol type and obtain the protocol to be converted;

[0064] Protocol parser 220 is used to obtain the target protocol by dynamically deconstructing the semantic layer features of the protocol to be converted and mapping them to the syntactic structure of the target protocol, thereby achieving lossless semantic transmission of application layer data and maintaining the continuity of transport layer sessions.

[0065] The protocol sniffing layer is a component used to detect and identify the type of communication protocol in the data stream in real time. It can be implemented using deep packet inspection technology combined with protocol fingerprint database matching. For example, it can identify the MELSECNET / II or MELSECNET / 10 protocol by analyzing packet header or payload features. This component automatically determines the current communication protocol type, providing input for subsequent protocol conversion. The protocol parser is a module used to convert application layer data from the source protocol into the target protocol format. It can be implemented using semantic tree mapping and a syntax rule engine. For example, it extracts semantic elements such as device status codes and control commands from the protocol and converts them into the equivalent data structure of the target protocol. This module ensures semantic integrity and uninterrupted session state during data transmission between different protocols.

[0066] Specifically, in a coating production line control scenario, the master station and slave stations may communicate using different industrial protocols. When the master station sends control commands via the MELSECNET / II protocol, the protocol sniffing layer first identifies the protocol type. Subsequently, the protocol parser extracts semantic elements from the command, such as the spraying pressure setpoint and oven temperature threshold, and repackages them according to the register address mapping rules of the target protocol (e.g., MELSECNET / 10). During this process, transport layer session parameters such as sequence numbers and acknowledgment mechanisms are synchronously converted, allowing the slave station to execute control actions without being aware of protocol differences when receiving data, while maintaining the continuity of the TCP session.

[0067] This invention, through dynamic semantic parsing and grammatical reconstruction, can adapt to the conversion needs of protocols not predefined, and maintains session connectivity during protocol switching, avoiding data retransmission or connection interruption issues caused by protocol differences. This invention can achieve protocol compatibility between older control systems and newer equipment without modifying the existing Mitsubishi A-series equipment hardware, ensuring accurate transmission of control commands and status data between the master station and slave stations. This avoids the risk of production line downtime due to protocol incompatibility and provides a transitional solution for gradually replacing aging modules.

[0068] In one embodiment, the fault isolation module includes:

[0069] The feature extraction module is used to obtain key features;

[0070] The fault identification module is used to input the key features into the trained fault identification model to obtain the abnormal probability value or abnormal confidence score classification and the abnormal type label. When the abnormal probability value or abnormal confidence score exceeds the preset decision threshold, it is determined to be an abnormal substation.

[0071] Specifically, the feature extraction module collects basic traffic features, connection features, performance features, behavioral features, and security features from network traffic, device logs, and system status, and inputs these multi-dimensional features into the fault identification module. The fault identification module first uses a rule engine to determine if a basic threshold alarm has been triggered, such as a sudden increase in the number of connections or CPU overload; secondly, it uses a statistical model to detect whether the traffic deviates from the historical baseline; if no rule or statistical alarm is triggered, it further analyzes behavioral and security features using a machine learning model to identify potential unknown anomalies; for complex scenarios, a deep learning model is used to process time-series data or topology relationships. When the anomaly probability or confidence level exceeds the decision threshold, it is determined to be an abnormal substation, and the topology information and dependencies are combined to distinguish between single-point faults and regional faults, such as a single substation anomaly or multiple substations in the same network area anomaly.

[0072] This invention integrates multi-dimensional features and various detection models to cover detection scenarios ranging from basic performance anomalies to complex attack behaviors. It also combines topological relationships to accurately determine the scope of faults, avoiding unnecessary service interruptions due to misjudgments or missed detections. This invention can identify and isolate abnormal substations in real time, reducing the risk of downtime caused by equipment aging or network attacks. Furthermore, by differentiating fault types and optimizing service migration strategies, it ensures the continuity of collaborative control between the master station and substations, preventing production line shutdowns caused by localized faults.

[0073] In one embodiment, the key features include at least one of the following: basic traffic features, connection features, performance features, behavioral features, and security features.

[0074] Among them, basic traffic characteristics refer to the total traffic, packet rate, connection rate, average packet size, protocol distribution, source or destination IP and port distribution in network communication. These can be achieved by collecting data in real time through traffic capture tools or network probes, and are used to identify abnormal network load or protocol anomalies.

[0075] Connection characteristics, which include the number of TCP or UDP sessions, the rate of new connections, the duration of connections, the distribution of connection states, and abnormal flags, can be implemented through session tracking tables or connection state monitoring tools to detect session overruns or abnormal connection states.

[0076] Performance characteristics, including latency, jitter, packet loss rate, retransmission rate, application layer response time, and error rate, can be achieved through network performance probes or application layer log analysis tools to detect transmission quality degradation or application layer failures.

[0077] Behavioral characteristics refer to traffic periodicity patterns, frequency of specific protocol commands, access path sequences, and deviations from the baseline of user or device behavior. These characteristics can be identified through time series analysis or behavioral baseline modeling tools and are used to identify abnormal operation patterns or unauthorized behavior.

[0078] Security features refer to scanning and probing behaviors, known attack signature matching, abnormal payloads, and encrypted traffic entropy values. These can be implemented through intrusion detection systems or deep packet inspection tools to detect malicious attacks or data breaches.

[0079] A rule engine refers to a preset static threshold, such as CPU utilization exceeding 90% or connection count surging by 300%. This can be implemented through a threshold alarm system or a real-time monitoring platform to quickly trigger basic anomaly alarms.

[0080] Statistical models refer to time series forecasting methods based on historical baselines, such as SARIMA or Holt-Winters models. These models can be trained using historical data and compared with real-time data to detect anomalies that deviate significantly from the baseline.

[0081] Machine learning models, including clustering, isolated forests, or autoencoders in unsupervised learning, and SVM, random forests, XGBoost, or LSTM in supervised learning, can be trained on labeled or unlabeled data to discover unknown anomaly patterns or accurately identify known anomaly types.

[0082] Deep learning models, including CNN, RNN, LSTM, or GNN, can be implemented by processing graphical traffic features, time series features, or network topology graph features to capture complex nonlinear anomalies.

[0083] In one embodiment, the fault identification module determines whether it is a single point of failure or a regional failure based on the topology information and dependencies between substations.

[0084] Topology information refers to the physical or logical connection structure between substations. This can be obtained using network topology discovery protocols or configuration management databases, such as dynamically collecting connection relationships between devices to form a topology graph via the LLDP protocol. Dependencies refer to the degree of functional coupling or data interaction paths between substations. This can be achieved by recording data flow dependencies or control logic dependencies between devices in the configuration management database, such as establishing a dependency graph based on the control command transmission paths between devices. Topology information and dependencies are used to quantify the scope of fault propagation. When a substation experiences an anomaly, analyzing its connection paths and dependency strength can determine whether the fault may spread to adjacent devices.

[0085] Specifically, when an anomaly is detected in a substation, the system first extracts the list of directly connected devices for that substation, traverses all reachable devices in its subnet topology, and uses a preset dependency weight threshold to determine if there is a risk of regional faults. For example, in a coating production line, if the oven control substation has strong dependencies on temperature sensors and gas valve substations, a failure in the oven control substation can be analyzed using its dependency graph to determine if the failure may cause regional temperature runaway, thus triggering a rapid isolation mechanism. For single-point faults, only the faulty device needs to be isolated and redundant backups activated; for regional faults, a cross-regional status synchronization mechanism needs to be activated to prevent the fault from spreading to the conveyor chain or air conditioning system.

[0086] This invention, by introducing topology and dependency analysis, can quickly assess the impact of equipment-level failures on the overall system, avoiding unnecessary global downtime due to misjudgment of local faults. For example, in a coating production line, if a failure of an I / O module only affects a single workstation, there is no need to interrupt the entire production line; however, if the module is at a critical path node, regional protection measures must be activated immediately. This invention can accurately distinguish between equipment-level and system-level failures, optimize fault handling strategies, and reduce the risk of unplanned downtime due to misjudgment. In coating production line upgrade scenarios, this technology can prevent the entire line from being shut down due to a single workstation failure, while reducing the recovery time for regional faults, ensuring that control system upgrades can be completed without interrupting production.

[0087] Please see Figure 3 , Figure 3 This is a flowchart illustrating a data synchronization method according to an embodiment of the present invention. Figure 3 The data synchronization method includes:

[0088] Step S310: The master station sends the master station data to the relay station through the first industrial network;

[0089] Step S320: The interrupt station identifies the master station data and maps the master station data to the shared memory area;

[0090] In step S330, the substation reads the master station data from the shared memory area and, if there are multiple substations, broadcasts or transmits it point-to-point to other substations in the at least one substation via the second industrial network.

[0091] The shared memory area refers to a physically isolated bidirectional data buffer area, which can be implemented using dual-port memory or a ring buffer via FPGA. This buffer temporarily stores standardized, converted data for substations to read, avoiding the real-time limitations of direct reliance on network transmission. Broadcast or point-to-point transmission refers to selecting multicast or unicast communication modes based on the number of substations. This can be achieved through dynamic multicast address allocation or MAC address table lookup, adapting to the data distribution needs of substation clusters of different sizes.

[0092] Specifically, after the master station sends the painting production line control commands to the relay station via the MELSECNET / Ⅱ network, the relay station converts the A-series PLC-specific protocol data and writes the converted data into the shared memory area. When the substation reads data from the shared memory area via the MELSECNET / 10 network, if multiple painting robot substations are detected, multicast mode is automatically enabled to synchronize the oven temperature parameters to all substations; when only a single conveyor chain control substation needs to be updated, point-to-point communication mode is switched. This enables real-time data interaction between the Q-series substations and the original A-series master station during the coexistence of the old and new PLC systems.

[0093] This invention establishes a transitional data channel through the shared memory area of ​​a relay station, allowing for the gradual replacement of substation equipment while retaining the original master station. Simultaneously, this invention utilizes dynamic protocol conversion to achieve online hot migration, enabling phased upgrades of each section of the production line while maintaining data synchronization during operation. Through the above technical solutions, this application achieves real-time synchronization of control data across heterogeneous networks during the transformation of a coating production line, avoiding data loss or transmission interruptions caused by protocol differences.

[0094] Please see Figure 4 , Figure 4 This is a flowchart illustrating a collaborative control method for dual-network heterogeneous devices according to an embodiment of the present invention. Figure 4 The collaborative control method for the dual-network heterogeneous devices includes:

[0095] Step S410: The master station communicates with the relay station through the first industrial network;

[0096] Step S420: At least one substation communicates with the relay station via the second industrial network;

[0097] Step S430: Synchronize the data between the master station and the at least one sub-station.

[0098] It should be noted that the collaborative control method for dual-network heterogeneous devices provided in the above embodiments and the collaborative control system for dual-network heterogeneous devices provided in the above embodiments belong to the same concept. The specific methods by which each module and unit performs operations have been described in detail in the method embodiments and will not be repeated here. In practical applications, the collaborative control method for dual-network heterogeneous devices provided in the above embodiments can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0099] Embodiments of the present invention also provide a collaborative control device for dual-network heterogeneous devices, comprising: one or more processors; and a memory for storing one or more programs, wherein when one or more programs are executed by one or more processors, the memory enables the collaborative control method for dual-network heterogeneous devices described in the above embodiments.

[0100] Embodiments of the present invention also provide one or more machine-readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the cooperative control method for dual-network heterogeneous devices described in the above embodiments.

[0101] Figure 5 A schematic diagram of a computer system suitable for implementing an embodiment of the present invention is shown. It should be noted that... Figure 5The computer system with the memory shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of the present invention.

[0102] like Figure 5 As shown, the computer system 500 includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on a program stored in Read-Only Memory (ROM) 502 or a program loaded from storage into Random Access Memory (RAM) 503. The RAM also stores various programs and data required for system operation. The CPU 501, ROM 502, and RAM 503 are interconnected via a bus 504. An Input / Output (I / O) interface 505 is also connected to the bus 504.

[0103] The following components are connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to I / O interface 505 as needed. Removable media 511, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 510 as needed so that computer programs read from them can be installed into storage section 508 as needed.

[0104] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing a computer program for performing the cooperative control method for dual-network heterogeneous devices as described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, it performs various functions defined in the system of the present invention.

[0105] It should be noted that the computer-readable medium shown in the embodiments of the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM) 503, read-only memory (ROM) 502, erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. Each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0107] The units described in the embodiments of the present invention can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0108] Another aspect of the present invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the aforementioned collaborative control method for dual-network heterogeneous devices. This computer-readable storage medium may be included in the memory described in the above embodiments, or it may exist independently and not incorporated into that memory.

[0109] Another aspect of the present invention provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the cooperative control method for dual-network heterogeneous devices provided in the various embodiments described above.

[0110] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A collaborative control system for dual-network heterogeneous devices, characterized in that, The collaborative control system for the dual-network heterogeneous devices includes: The main station communicates with the relay stations through the first industrial network; At least one substation communicates with the relay station via a second industrial network; The main station and the sub-station synchronize data using a data synchronization method.

2. The collaborative control system for dual-network heterogeneous devices according to claim 1, characterized in that, The relay station includes at least one of the following: A dynamic protocol conversion engine is used to convert a protocol to be converted into a target protocol; wherein, when the protocol to be converted is a first communication protocol, the target protocol is a second communication protocol; when the protocol to be converted is a second communication protocol, the target protocol is a first communication protocol; the first communication protocol corresponds to the master station, and the second communication protocol corresponds to the substation; The fault isolation module is used to identify and isolate faulty substations through a hardware-accelerated fault detection mechanism, and at the same time, it uses pre-replicated state synchronization and connection persistence technology to complete the stateless service migration within the remaining time window. The dual-network data mirror pool is used to achieve incremental status data synchronization between the master station and the sub-station through physically isolated dual transmission channels and dynamic address mapping.

3. The collaborative control system for dual-network heterogeneous devices according to claim 2, characterized in that, The dynamic protocol conversion engine includes: The protocol sniffing layer is used to identify the protocol type and obtain the protocol to be converted. The protocol parser is used to obtain the target protocol by dynamically deconstructing the semantic layer features of the protocol to be converted and mapping them to the syntactic structure of the target protocol, thereby achieving lossless semantic transmission of application layer data and maintaining the continuity of transport layer sessions.

4. The collaborative control system for dual-network heterogeneous devices according to claim 2, characterized in that, The fault isolation module includes: The feature extraction module is used to obtain key features; The fault identification module is used to input the key features into the trained fault identification model to obtain the abnormal probability value or abnormal confidence score classification and the abnormal type label. When the abnormal probability value or abnormal confidence score exceeds the preset decision threshold, it is determined to be an abnormal substation.

5. The collaborative control system for dual-network heterogeneous devices according to claim 4, characterized in that, The key features include at least one of the following: Basic traffic characteristics, connection characteristics, performance characteristics, behavioral characteristics, and security characteristics.

6. The collaborative control system for dual-network heterogeneous devices according to claim 4, characterized in that, The fault identification module determines whether a fault is a single point of failure or a regional fault based on the topology information and dependencies between substations.

7. The collaborative control system for dual-network heterogeneous devices according to claim 2, characterized in that, The data synchronization method includes: The master station sends its data to the relay station via the first industrial network; The interrupt station identifies the master station data and maps the master station data to the shared memory area; The substation reads the master station data from the shared memory area, and when there are multiple substations, it broadcasts or transmits the data point by point to other substations in the at least one substation via a second industrial network.

8. A collaborative control method for dual-network heterogeneous devices, characterized in that, The collaborative control method for the dual-network heterogeneous devices includes: The master station communicates with the relay station through the first industrial network; At least one substation communicates with the relay station via a second industrial network; Synchronize the data between the master station and the at least one sub-station.

9. A collaborative control device for dual-network heterogeneous devices, characterized in that, include: One or more processors; and One or more machine-readable media storing instructions thereon, which, when executed by the one or more processors, cause the device to perform the cooperative control method for dual-network heterogeneous devices as described in claim 8.

10. A machine-readable medium, characterized in that, It stores instructions that, when executed by one or more processors, cause the processors to perform the collaborative control method for dual-network heterogeneous devices as described in claim 8.

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