Abstract: A CANopen-based train network data transmission method includes: switching, when a first CAN channel of a first slave node is detected as faulty, to a second CAN channel of the first slave node to receive over a standby network a heartbeat packet and data transmitted by another relevant node; monitoring, if no heartbeat packet transmitted by a relevant second slave node is received from the standby network within a preset heartbeat period, by an active master node, in an active network, a heartbeat packet and data transmitted by the second slave node; receiving, through the second CAN channel, the heartbeat packet and the data of the second slave node forwarded by the active master node to the standby network when the active master node detects in the active network the heartbeat packet and the data transmitted by the second slave node through the first CAN channel.

Abstract: The present disclosure discloses a train network node and a CANopen-based train network node monitoring method. The method includes: obtaining, by a train network node, an offline duration and a heartbeat packet transmission period based on a pre-configured network node list, where the offline duration is set on an offline timer corresponding to each node related to the network node, and the heartbeat packet transmission period is set on a heartbeat timer; and comparing the offline duration that is set on the offline timer corresponding to each node with the heartbeat packet transmission period that is set on the heartbeat timer, and determining an offline monitoring mechanism of each node based on a comparison result.

Abstract: The present disclosure discloses a CANopen-based train network data transmission method. The method includes: monitoring, on an active network, a heartbeat packet transmitted through a first CAN channel by each slave node related to an active master node; determining whether the first CAN channel of each slave node is faulty; transmitting a reset instruction to a first node from the active network if no heartbeat packet of the first node is received within the preset first heartbeat period; learning, if no heartbeat packet of the first node is received, that the first CAN channel of the first node is faulty, and switching to a standby network to monitor the heartbeat packet transmitted by the first node; otherwise, receiving, on the standby network, data transmitted by the first node, and also receiving, on the active network, data transmitted by other slave nodes that normally transmit heartbeat packets.

Abstract: A CANopen-based train network data transmission method includes: switching, when a first CAN channel of a first slave node is detected as faulty, to a second CAN channel of the first slave node to receive over a standby network a heartbeat packet and data transmitted by another relevant node; monitoring, if no heartbeat packet transmitted by a relevant second slave node is received from the standby network within a preset heartbeat period, by an active master node, in an active network, a heartbeat packet and data transmitted by the second slave node; receiving, through the second CAN channel, the heartbeat packet and the data of the second slave node forwarded by the active master node to the standby network when the active master node detects in the active network the heartbeat packet and the data transmitted by the second slave node through the first CAN channel.

Abstract: The present disclosure discloses a train network node and a CANopen-based train network node monitoring method. The method includes: obtaining, by a train network node, an offline duration and a heartbeat packet transmission period based on a pre-configured network node list, where the offline duration is set on an offline timer corresponding to each node related to the network node, and the heartbeat packet transmission period is set on a heartbeat timer; and comparing the offline duration that is set on the offline timer corresponding to each node with the heartbeat packet transmission period that is set on the heartbeat timer, and determining an offline monitoring mechanism of each node based on a comparison result.

Abstract: The present disclosure discloses a CANopen-based train network data transmission method. The method includes: monitoring, on an active network, a heartbeat packet transmitted through a first CAN channel by each slave node related to an active master node; determining whether the first CAN channel of each slave node is faulty; transmitting a reset instruction to a first node from the active network if no heartbeat packet of the first node is received within the preset first heartbeat period; learning, if no heartbeat packet of the first node is received, that the first CAN channel of the first node is faulty, and switching to a standby network to monitor the heartbeat packet transmitted by the first node; otherwise, receiving, on the standby network, data transmitted by the first node, and also receiving, on the active network, data transmitted by other slave nodes that normally transmit heartbeat packets.