Marine CAN communication system and ship

Abstract

The utility model relates to a CAN communication system for a ship and the ship. The marine CAN communication system comprises at least one set of marine machines, a plurality of bus adapters and a plurality of terminal resistors. The plurality of terminal resistors comprise two first terminal resistors; the plurality of bus adapters are sequentially arranged along the extension direction of the bus, and the plurality of bus adapters are connected to a primary branch line of the bus; each marine machine comprises a power assembly, an interaction assembly and an energy assembly. For each set of marine machine, the interaction assembly and the energy assembly are connected to respective corresponding bus adapters through secondary branch lines of a bus, and the power assembly is connected to the corresponding bus adapter through a primary branch line or a secondary branch line; when each set of marine machine is connected to the bus, the power assembly, the energy assembly and the interaction assembly are sequentially arranged in the extension direction of the bus. The two first terminal resistors are arranged at the first end and the second end of the bus respectively. According to the invention, the complexity of wiring on a ship can be reduced, and the communication quality of CAN bus communication is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technology, and in particular to a marine CAN communication system and a ship. Background Art

[0002] Ships are usually equipped with marine machinery, and each set of marine machinery has many electrical devices. These electrical devices need to cooperate with each other to realize the full functions of the ship. The mutual cooperation between the electrical devices requires data exchange, and data exchange needs to be achieved through some kind of communication method.

[0003] Currently, electrical equipment primarily communicates via RS-485, Ethernet, or CAN. While RS-485 offers lower costs and longer communication distances, its wiring is complex, resulting in low bus communication utilization and complex wiring, making it unsuitable for applications requiring high real-time performance. It is becoming increasingly unsuitable for applications on electrified and intelligent vessels, hindering the real-time collection and operational experience of onboard electrical equipment. The Ethernet bus offers high data transmission rates, a broad application base, and excellent scalability, but its installation and routing are complex, costly, and poorly resistant to interference. This makes it unsuitable for applications with strong electromagnetic interference or for smaller, cost-sensitive commercial or recreational vessels. The CAN bus offers higher bus utilization, higher communication rates, longer communication distances, and a more robust error detection mechanism, making it suitable for applications requiring high real-time performance. Consequently, an increasing number of electrical equipment onboard ships are adopting CAN communication.

[0004] However, the device connection topology layout and terminal resistance configuration of the CAN bus are relatively complex, and it is difficult to share a set of device connection topology layout and terminal resistance configuration on different ship types. As a result, the CAN bus has poor flexibility and is difficult to adapt to different ship types. Utility Model Content

[0005] In order to solve the above technical problems, the present disclosure provides a marine CAN communication system and a ship.

[0006] In a first aspect, the present disclosure provides a marine CAN communication system, comprising:

[0007] At least one set of marine machinery, a plurality of bus adapters, and a plurality of terminal resistors, wherein the plurality of terminal resistors include two first terminal resistors;

[0008] The plurality of bus adapters are arranged in sequence along the extension direction of the bus, and the plurality of bus adapters are connected to the primary branch lines of the bus;

[0009] Each set of marine machinery includes a power assembly, an interaction assembly, and an energy assembly. For each set of marine machinery, the interaction assembly and the energy assembly are connected to their respective bus adapters via a secondary branch line of the bus, and the power assembly is connected to its corresponding bus adapter via a primary branch line or a secondary branch line. When each set of marine machinery is connected to the bus, the power assembly, the energy assembly, and the interaction assembly are arranged in sequence along the extension direction of the bus.

[0010] The two first terminal resistors are respectively arranged at the first end and the second end of the bus.

[0011] Optionally, the multiple bus adapters include a first-end bus adapter and a second-end bus adapter, the first-end bus adapter is the bus adapter closest to the first end of the multiple bus adapters, and the second-end bus adapter is the bus adapter closest to the second end of the multiple bus adapters;

[0012] One of the first terminal resistors is connected to the first end bus adapter, and the other first terminal resistor is connected to the second end bus adapter.

[0013] Optionally, the marine CAN communication system further includes at least one second terminal resistor, and the second terminal resistor is connected to the bus adapter located between the first end bus adapter and the second end bus adapter.

[0014] Optionally, at least one second terminating resistor is connected to the bus adapter to which the most devices are connected.

[0015] Optionally, the resistance value of all terminal resistors on the bus after being connected in parallel is [30Ω, 60Ω].

[0016] Optionally, the marine CAN communication system includes two sets of marine machines. When the two sets of marine machines are connected to the bus, the two groups of interactive components in the two sets of marine machines are located at adjacent positions on the bus.

[0017] Optionally, the energy component includes an energy supply device, and the interactive component includes at least one of a control device and a display device.

[0018] Optionally, each set of marine machinery also includes a wireless communication device, which is connected to its corresponding bus adapter via a secondary branch line. The connection position of the wireless communication device on the bus is located between the power component and the interactive component of the set of marine machinery.

[0019] Optionally, the marine CAN communication system further includes repeaters, the number of which corresponds to the number of sets of marine machinery. Each repeater is connected to a primary branch line, and the connection position on the bus is located between the power component and the interactive component of the marine machinery to which it belongs.

[0020] In a second aspect, the present disclosure provides a ship, comprising a hull and the ship CAN communication system according to the first aspect, wherein the ship CAN communication system is arranged on the hull.

[0021] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art:

[0022] The marine CAN communication system and ship of the disclosed embodiments provide a marine CAN communication system layout, which can adapt to different ship types and ships with inconsistent number / connection of equipment on board by setting the connection position and connection method of marine equipment on the CAN bus, reducing the complexity of ship wiring, simplifying the matching of terminal resistances, and improving the communication quality of CAN bus communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of a bus topology structure provided by an embodiment of the present disclosure;

[0024] Figure 2 This is a schematic diagram of a tree topology structure provided by an embodiment of the present disclosure;

[0025] Figure 3 1 is a structural diagram of a marine CAN communication system provided by an embodiment of the present disclosure;

[0026] Figure 4 1 is a structural diagram of another marine CAN communication system provided by an embodiment of the present disclosure;

[0027] Figure 5 This is a structural diagram of another marine CAN communication system provided by an embodiment of the present disclosure;

[0028] Figure 6 1 is a structural diagram of another marine CAN communication system provided by an embodiment of the present disclosure;

[0029] Figure 7 1 is a structural diagram of a marine CAN communication system provided by an embodiment of the present disclosure;

[0030] Figure 8 1 is a structural diagram of another marine CAN communication system provided by an embodiment of the present disclosure;

[0031] Figure 9 This is a structural diagram of another marine CAN communication system provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0032] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0033] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0034] The device connection topology layout of CAN bus usually includes bus topology and tree topology. Figure 1 As shown, the bus topology logic is simple. It only requires placing a terminal resistor at each end of the bus, and then leading a branch line from the middle of the bus to connect to the electrical equipment. However, there are requirements for the length of the branch line. The limit on the length of the branch line is not friendly to ship wiring. The space on small ships is small. If the branch line is strictly followed, the length of the CAN bus will be too long and the upper limit of the CAN communication rate will be reduced. Figure 2 As shown, the tree topology forms a tree-like structure with a single root node and multiple levels of branch nodes. While this topology facilitates wiring and construction, shortening bus lengths, it also presents a complex topology, making field terminal resistor matching difficult and challenging to determine. Using this topology requires re-matching terminal resistors for each CAN bus installation layout on different ship types, hindering the unification and standardization of solutions. Consequently, the CAN bus's device connection topology and terminal resistor configuration are complex, and currently, there is no single, suitable solution for flexibly adapting the CAN bus to different ship types, with varying numbers of devices and connections.

[0035] In view of this, the present disclosure provides a marine CAN communication system and a ship, wherein the marine CAN communication system comprises: at least one set of marine machinery, a plurality of bus adapters, and a plurality of terminal resistors, wherein the plurality of terminal resistors include two first terminal resistors;

[0036] The plurality of bus adapters are arranged in sequence along the extension direction of the bus, and the plurality of bus adapters are connected to the primary branch lines of the bus;

[0037] Each set of marine machinery includes a power assembly, an interaction assembly, and an energy assembly. For each set of marine machinery, the interaction assembly and the energy assembly are connected to their respective bus adapters via a secondary branch line of the bus, and the power assembly is connected to its corresponding bus adapter via a primary branch line or a secondary branch line. When each set of marine machinery is connected to the bus, the power assembly, the energy assembly, and the interaction assembly are arranged in sequence along the extension direction of the bus.

[0038] The two first terminal resistors are respectively arranged at the first end and the second end of the bus.

[0039] Specifically, the bus includes a primary branch line and a secondary branch line.

[0040] Among them, the bus adapter can be directly connected to the primary branch line, or it can be plugged into a "bus adapter directly connected to the primary branch line" to be connected to the primary branch line of the bus through the "bus adapter directly connected to the primary branch line".

[0041] The power assembly can be directly connected to the primary branch line to be connected to the bus adapter via the primary branch line. The power assembly can also be directly connected to the secondary branch line to be connected to the bus adapter via the secondary branch line.

[0042] Optionally, the energy component includes an energy supply device, and the interactive component includes at least one of a control device and a display device.

[0043] Exemplarily, the control device may include a steering wheel and / or a remote control; the display device may include a display screen; the energy supply device may include at least one of a battery (with BMS), a photovoltaic module (with MPPT), a diesel generator, a fuel cell, and a wind turbine; the power component may include a propeller, which may be, for example, an outboard motor, an inboard motor, a pod propeller, etc., but is not limited thereto.

[0044] Specifically, along the extension direction of the bus, the power components, energy components, and interactive components of a set of marine machinery are arranged in sequence. It is understandable that, generally, the power component is located relatively close to the stern, while the interactive component is located at the bow. Placing the power component and interactive component at both ends can effectively utilize the maximum transmission distance that the CAN bus can achieve under the current layout. It should be noted that the arrangement order of the various devices in the power component on the bus can be set by those skilled in the art based on the actual arrangement order of the various devices in the power component on the hull, and this is not limited to this. The same applies to the energy component and interactive component, and will not be repeated here.

[0045] Optionally, at least one set of marine machinery further includes a wireless communication device, which is connected to its corresponding bus adapter via a secondary branch line, and the connection position of the wireless communication device on the bus is located between the power component and the interactive component of the marine machinery to which it belongs.

[0046] Exemplarily, the wireless universal device may include an external GPS, an external mobile communication module, etc., but is not limited thereto.

[0047] Specifically, the first end and the second end of the bus are the two ends of the bus.

[0048] Illustratively, the resistance of the first terminal resistor may be 120Ω, but is not limited thereto.

[0049] The disclosed embodiments combine bus and tree topologies to design a marine CAN communication system. Referring to the bus topology, the disclosed embodiments place a first terminal resistor at each end of the bus, which helps reduce signal reflection and attenuation on the bus. Referring to the tree topology, each device in the marine machinery is connected to its corresponding bus adapter, which helps shorten the bus length, reduces the complexity of shipboard wiring, and facilitates the wiring and construction of the shipboard CAN communication harness. This adapts to different ship types and ships with different numbers of devices or connections, simplifies terminal resistor matching, and improves the communication quality of the CAN bus.

[0050] Optionally, the multiple bus adapters include a first-end bus adapter and a second-end bus adapter, the first-end bus adapter is the bus adapter closest to the first end of the multiple bus adapters, and the second-end bus adapter is the bus adapter closest to the second end of the multiple bus adapters;

[0051] One of the first terminal resistors is connected to the first end bus adapter, and the other first terminal resistor is connected to the second end bus adapter.

[0052] It should be noted that the specific number of sets of marine machinery can be set by those skilled in the art according to actual conditions and is not limited here. The following describes typical examples of one and two sets of marine machinery.

[0053] For example, Figure 3 Schematic diagram of a ship CAN communication system provided by an embodiment of the present disclosure. Figure 3 As shown, six bus adapters are arranged in sequence along the extension direction of the bus, with five of them directly connected to the primary branch of the bus, and the remaining bus adapter (i.e., the second-end bus adapter) plugged into one bus adapter. The energy component, wireless communication device, and interactive component are each connected to their corresponding bus adapters via the secondary branch of the bus, while the power component is connected to its corresponding bus adapter via the primary branch. The power component, energy component, wireless communication device, and interactive component are arranged in sequence along the extension direction of the bus, with one first terminal resistor connected to the first-end bus adapter and another first terminal resistor connected to the detachable second-end bus adapter.

[0054] For example, Figure 4 FIG. 1 is a structural diagram of another marine CAN communication system provided by an embodiment of the present disclosure. Figure 4As shown, six bus adapters are arranged in sequence along the extension direction of the bus, with five of them directly connected to the primary branch of the bus, and the remaining bus adapter (i.e., the second-end bus adapter) plugged into one bus adapter. The power assembly, energy assembly, wireless communication device, and interactive assembly are each connected to their corresponding bus adapters via the secondary branch of the bus. The power assembly, energy assembly, wireless communication device, and interactive assembly are arranged in sequence along the extension direction of the bus, with one first terminal resistor connected to the first-end bus adapter and another first terminal resistor connected to the detachable second-end bus adapter.

[0055] For example, Figure 5 This is a structural diagram of another marine CAN communication system provided by the embodiment of the present disclosure. Figure 5 As shown, five bus adapters are arranged in sequence along the extension direction of the bus, and the five bus adapters are directly connected to the primary branch of the bus. The power component, energy component, wireless communication device, and interactive component are respectively connected to their corresponding bus adapters via the secondary branch of the bus. The power component, energy component, wireless communication device, and interactive component are arranged in sequence along the extension direction of the bus, with one first terminal resistor connected to the first end of the bus adapter, and another first terminal resistor connected to the second end of the bus adapter.

[0056] For example, Figure 6 FIG. 1 is a structural diagram of another marine CAN communication system provided by an embodiment of the present disclosure. Figure 6 As shown, nine bus adapters are arranged in sequence along the bus's extension direction. For each set of marine machinery, the energy component and interactive component are connected to their respective bus adapters via the bus's secondary branch lines, and the power component is connected to its corresponding bus adapter via the primary branch line. The power component, energy component, and interactive component are arranged in sequence along the bus's extension direction. Furthermore, one set of marine machinery includes a wireless communication device, which is connected to its corresponding bus adapter via the bus's secondary branch line. The wireless communication device's connection location on the bus is located between the power component and interactive component of the marine machinery. One of the first terminal resistors is connected to the first end of the bus adapter, and the other first terminal resistor is connected to the second end of the bus adapter.

[0057] For example, Figure 7 Schematic diagram of a ship CAN communication system provided by an embodiment of the present disclosure. Figure 6 and Figure 7 As shown, Figure 7 and Figure 6 The difference is: Figure 7 The two first terminal resistors are used as the starting end and the ending end respectively. Figure 7In the embodiment, nine bus adapters are arranged in sequence along the extension direction of the bus. For each set of marine machinery, the power assembly, energy assembly, and interactive assembly are respectively connected to their respective corresponding bus adapters via the secondary branch lines of the bus. The power assembly, energy assembly, and interactive assembly are arranged in sequence along the extension direction of the bus. In addition, one set of marine machinery includes a wireless communication device, which is connected to the corresponding bus adapter via the secondary branch lines of the bus. The connection position of the wireless communication device on the bus is located between the power assembly and the interactive assembly of the marine machinery. One of the first terminal resistors is connected to the first end bus adapter, and the other first terminal resistor is connected to the second end bus adapter.

[0058] For example, Figure 8 FIG. 1 is a structural diagram of another marine CAN communication system provided by an embodiment of the present disclosure. Figure 6 and Figure 8 As shown, Figure 8 and Figure 6 The difference is: Figure 8 The two first terminal resistors are used as the starting end and the ending end respectively. Figure 8 In the embodiment, eleven bus adapters are arranged in sequence along the extension direction of the bus, and nine of them are directly connected to the primary branch of the bus, and the remaining two bus adapters (i.e., the first and second terminal bus adapters and the second terminal bus adapter) are respectively plugged into their respective corresponding bus adapters. For each set of marine machinery: the power component, energy component, and interactive component are respectively connected to their respective corresponding bus adapters through the secondary branch of the bus, and the power component, energy component, and interactive component are arranged in sequence along the extension direction of the bus, and one set of marine machinery includes a wireless communication device, which is connected to the corresponding bus adapter through the secondary branch of the bus, and the connection position of the wireless communication device on the bus is located between the power component and the interactive component of the set of marine machinery. One of the first terminal resistors is connected to the first terminal bus adapter, and the other first terminal resistor is connected to the second terminal bus adapter.

[0059] Continue to see Figure 3-Figure 8 The distance between some secondary branches has been extended to 1 meter, and the distance between other secondary branches has been extended to 10 meters, which facilitates the actual wiring on the ship.

[0060] Continue to see Figure 6 The length of L1~L8 can be adjusted according to demand, and the length of L1+L2+...+L8 must be ≤30m, and the length of the first-level branch line (also known as the main line) must be ≤50m.

[0061] Continue to see Figure 7 and Figure 8The length of L1 to L8 can be adjusted according to demand, and the length of L1+L2+...+L8 must be ≤50m, that is, the total trunk line length must be ≤50m.

[0062] It should be noted that not every marine CAN communication system requires an MPPT and diesel generator. For some small vessels, where the required cruising time is shorter, the marine CAN communication system used usually only needs to include a battery. Therefore, MPPT and diesel generators can be omitted in some scenarios.

[0063] It should also be noted that the external GPS is suitable for inboard motors or podded propulsion scenarios. Since inboard motors or podded propulsion are installed at the bottom of the boat, the built-in GPS module may not be able to receive signals. Therefore, an external GPS module is required. The connection cable of the external GPS module is 10m. However, for outboard motors, which are installed at the stern of the boat, the built-in GPS module can be used, so an external GPS module is not required.

[0064] It should also be noted that the positions of the energy components and the external GPS on the bus can be swapped at will, as long as they are set between the whole machine and the interactive components.

[0065] It is understandable that Figure 3 、 Figure 4 and Figure 8 The first terminal resistor is plugged into another bus adapter through a bus adapter. The two bus adapters are plugged together for easy disassembly, so that the bus adapter with the first terminal resistor can be installed on other marine CAN communication systems after being removed, thereby facilitating the reuse of devices.

[0066] It can also be understood that by setting a first terminal resistor connected to the first end bus adapter and another first terminal resistor connected to the second end bus adapter, the impedance of the marine CAN communication system can be matched, signal reflections can be reduced, and the stability and reliability of data transmission can be ensured.

[0067] Optionally, the marine CAN communication system further includes at least one second terminal resistor, and the second terminal resistor is connected to the bus adapter located between the first end bus adapter and the second end bus adapter.

[0068] Specifically, the terminal resistors in a marine CAN communication system are configured as follows: a first terminal resistor is provided at each end of the bus; a second terminal resistor is provided at a bus adapter with a large number of secondary branches. For example, when the number of devices connected to the bus adapter via the secondary branches exceeds a preset threshold, a second terminal resistor may be provided at the bus adapter. It should be noted that the specific value of the preset threshold can be determined by those skilled in the art based on actual circumstances and is not limited herein. For example, the preset threshold may be 3, 4, or 5, but is not limited thereto.

[0069] Further optionally, at least one second terminal resistor is connected to the bus adapter to which the most devices are connected, so as to improve the quality of signals sent and received by the devices connected to the bus adapter.

[0070] For example, see Figure 6 and Figure 8 The bus adapter connecting the display screen, steering wheel and remote control has the most connected devices, so a second terminal resistor is set at the bus adapter.

[0071] Illustratively, the resistance of the second terminal resistor may be 360Ω, but is not limited thereto.

[0072] It can be understood that by referring to the bus topology, placing a first terminal resistor at each end of the bus can reduce signal reflection and signal attenuation on the bus; by referring to the tree topology, adding a second terminal resistor at each node in the middle of the bus is beneficial to improving the quality of sending and receiving signals at the intermediate communication node devices.

[0073] Optionally, the resistance of all terminal resistors on the bus after being connected in parallel is [30Ω, 60Ω]. In this way, the characteristic impedance of the marine CAN communication system can be better matched.

[0074] Optionally, the marine CAN communication system includes two sets of marine machinery. When the two sets of marine machinery are connected to the bus, the two sets of interactive components in the two sets of marine machinery are located adjacent to each other on the bus. In this way, the communication distance under the current architecture can be maximized.

[0075] For example, see Figure 6-8 , the two groups of interacting components in the two sets of marine machines are located in adjacent positions on the bus.

[0076] Optionally, the marine CAN communication system further includes repeaters, the number of which corresponds to the number of sets of marine machinery. Each repeater is connected to a primary branch line, and the connection position on the bus is located between the power component and the interactive component of the marine machinery to which it belongs.

[0077] Specifically, the repeater is connected to the bus via a primary branch line, and its connection location on the bus is between the power assembly and the interactive assembly of the marine machinery to which it belongs. The phrase "between the power assembly and the interactive assembly of the marine machinery to which it belongs" here means that the repeater is located on the bus between the "bus adapter connected to any device in the interactive assembly" and the "bus adapter connected to any device in the power assembly."

[0078] Specifically, since the repeater divides the CAN network in the marine CAN communication system into multiple sub-networks, the first terminal resistor needs to be moved from both ends of the bus to the repeater so that the first terminal resistor is located at the endpoint of the sub-network to which it belongs.

[0079] For example, Figure 9 This is a structural diagram of another marine CAN communication system provided by the embodiment of the present disclosure. Figure 9 As shown, nine bus adapters are arranged in sequence along the extension direction of the bus. For each set of marine machinery: the energy component and the interactive component are respectively connected to their corresponding bus adapters through the secondary branch line of the bus, and the power component is connected to its corresponding bus adapter through the primary branch line. The power component, energy component and interactive component are arranged in sequence along the extension direction of the bus, and one set of marine machinery includes a wireless communication device, which is connected to the corresponding bus adapter through the secondary branch line of the bus, and the connection position of the wireless communication device on the bus is located between the power component and the interactive component of the marine machinery. For each set of marine machinery: its corresponding repeater is connected to the primary branch line, and the connection position on the bus is located between the power component and the interactive component of the marine machinery to which it belongs, and each repeater is connected to two first terminal resistors. The total length of the main line is ≤110m. It should be noted that, Figure 9 The repeater is usually set between the interactive component and the BMS. Of course, the repeater can also be placed between the interactive component and the diesel generator.

[0080] It should also be noted that Figure 9 The marine CAN communication system shown is Figure 6 The result is obtained by adding a repeater to the marine CAN communication system shown and moving the position of the first terminal resistor. Figure 7 and Figure 8 The marine CAN communication system shown can also be used with Figure 6 A similar transformation results in a marine CAN communication system including a repeater, which will not be described in detail here.

[0081] It is understandable that adding a CAN repeater to the bus can divide the CAN network in the marine CAN communication system, reduce the signal interference between the sub-networks, enhance the communication signals between the sub-networks, and thus improve the communication quality, thereby extending the CAN communication distance and improving the signal stability.

[0082] An embodiment of the present disclosure further provides a ship, comprising: a hull and a marine CAN communication system provided by any of the above embodiments, wherein the marine CAN communication system is arranged on the hull.

[0083] Specifically, the ship may include a cargo ship, a passenger ship, a fishing boat, a work boat or a leisure boat, etc., which is not limited in the present disclosure.

[0084] The ship provided in this embodiment includes the marine CAN communication system provided in any of the above embodiments, and therefore has the same beneficial effects as the marine CAN communication system, which will not be described in detail here.

[0085] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprises" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device that includes 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, the elements defined by the sentence "comprise a..." do not exclude the presence of other identical elements in the process, method, article or device that includes the elements.

Claims

1. A marine CAN communication system, characterized in that: include: At least one set of marine machinery, a plurality of bus adapters, and a plurality of terminal resistors, wherein the plurality of terminal resistors include two first terminal resistors; The plurality of bus adapters are arranged in sequence along the extension direction of the bus, and the plurality of bus adapters are connected to the primary branch line of the bus; Each set of marine machinery includes a power assembly, an interaction assembly, and an energy assembly, wherein for each set of marine machinery: the interaction assembly and the energy assembly are respectively connected to their corresponding bus adapters via the secondary branch line of the bus, and the power assembly is connected to its corresponding bus adapter via the primary branch line or the secondary branch line; when each set of marine machinery is connected to the bus, the power assembly, the energy assembly, and the interaction assembly are arranged in sequence along the extension direction of the bus; The two first terminal resistors are respectively arranged at the first end and the second end of the bus.

2. The marine CAN communication system according to claim 1, characterized in that: The plurality of bus adapters include a first end bus adapter and a second end bus adapter, wherein the first end bus adapter is the bus adapter closest to the first end among the plurality of bus adapters, and the second end bus adapter is the bus adapter closest to the second end among the plurality of bus adapters; One of the first terminal resistors is connected to the first end bus adapter, and the other of the first terminal resistors is connected to the second end bus adapter.

3. The marine CAN communication system according to claim 2, characterized in that: The marine CAN communication system further includes at least one second terminal resistor, and the second terminal resistor is connected to a bus adapter located between the first end bus adapter and the second end bus adapter.

4. The CAN communication system according to claim 3, characterized in that At least one of the second terminating resistors is connected to the bus adapter to which the most devices are connected.

5. The CAN communication system according to claim 3, characterized in that: The resistance value of all terminal resistors on the bus after being connected in parallel is [30Ω, 60Ω].

6. The marine CAN communication system according to claim 1, characterized in that: The marine CAN communication system includes two sets of marine machines. When the two sets of marine machines are connected to the bus, the two groups of interactive components in the two sets of marine machines are located at adjacent positions on the bus.

7. The marine CAN communication system according to claim 1, characterized in that: The energy component includes an energy supply device, and the interactive component includes at least one of a control device and a display device.

8. The marine CAN communication system according to claim 7, characterized in that: Each set of the marine machinery also includes a wireless communication device, which is connected to its corresponding bus adapter through the secondary branch line. The connection position of the wireless communication device on the bus is located between the power component and the interactive component of the set of marine machinery.

9. The marine CAN communication system according to claim 1, characterized in that: The marine CAN communication system also includes repeaters, the number of which corresponds to the number of sets of marine machinery. Each repeater is connected to the primary branch line, and the connection position on the bus is located between the power component and the interactive component of the marine machinery to which it belongs.

10. A ship, characterized in that: include: A hull and a marine CAN communication system according to any one of claims 1 to 9, wherein the marine CAN communication system is arranged on the hull.

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