CN112994998A - Communication node, communication method, communication device and electronic equipment - Google Patents
Communication node, communication method, communication device and electronic equipment Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H04L12/40195—Flexible bus arrangements involving redundancy by using a plurality of nodes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
- H04L12/40202—Flexible bus arrangements involving redundancy by using a plurality of master stations
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
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Abstract
The invention discloses a communication node, a communication method, a communication device and electronic equipment, and belongs to the field of communication. The communication node comprises a processor, a memory, an I/O interface and a communication interface, wherein the processor comprises at least two cores, and each core is respectively connected with the I/O interface and the communication interface through an independent Ethernet protocol stack. The method is applied to an Ethernet network comprising at least two master communication nodes and a plurality of slave communication nodes, and comprises the following steps: receiving communication messages sent by corresponding main communication nodes from each core of the communication nodes respectively; respectively judging whether the received communication messages carry interrupt requests, if so, carrying out the next step; respectively analyzing the received communication messages, and respectively operating the communication messages to generate new communication messages; and respectively sending the new communication message to the next slave communication node connected through the same real-time Ethernet network. The invention can not only improve the redundancy capability of the industrial Ethernet, but also synchronize the data of the main communication nodes.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a communication node, a communication method, a communication device, and an electronic device.
Background
With the development of the industrial internet of things and the 5G technology, the requirements of the industrial real-time control field on the speed, the real-time performance and the reliability of communication are higher and higher. In the application field with high reliability requirement, the ring network redundancy of the traditional real-time ethernet field bus such as Profinet and ehterCAT cannot meet the requirement of reliability and redundancy control.
Each slave station (slave communication node) in the traditional real-time Ethernet protocol stack can only communicate with a single master station (master communication node), and when the master station (master communication node) fails, the system is forced to stop working, thereby causing communication paralysis.
Disclosure of Invention
The invention aims to provide a communication node, a communication method, a communication device and electronic equipment, aiming at solving the problem that each slave station in a real-time Ethernet protocol stack in the prior art can only communicate with a single master station, so that the system is easy to break down.
In order to achieve the purpose, the technical scheme of the invention is as follows:
in one aspect, the invention provides an industrial ethernet communication node based on multiple cores, which includes a processor, a memory, an I/O interface connected to an external device, and a communication interface connected to other communication nodes, where the processor includes at least two cores, and each core is connected to the I/O interface and the communication interface through an independent ethernet protocol stack.
By adopting the technical scheme, at least two cores are configured for the communication node, and each core is independently provided with the Ethernet protocol stack, so that when the communication node is used as a slave station, the communication node can be simultaneously connected with a plurality of master stations, and when one master station fails, other cores can still be in communication connection with other master stations, so that normal transmission of data is facilitated, and smooth communication is ensured.
In another aspect, the present invention provides a method for communication between nodes in a real-time industrial ethernet network, where the network includes at least two master communication nodes and a plurality of slave communication nodes, and the slave communication nodes are the above communication nodes, where each master communication node is connected in series to one of cores in the plurality of slave communication nodes through an independent ethernet network to form a communication loop, and the method includes the following steps:
step S1, receiving communication messages sent by corresponding main communication nodes from each core of the communication nodes respectively;
step S2, each core of the slave communication node respectively determines whether each received communication packet carries an interrupt request, and if yes, proceeds to the next step;
step S3, according to the interrupt request, each core in the slave communication node analyzes the received communication packet, and operates the received communication packet according to the analysis result, and generates a new communication packet;
and step S4, each core in the slave communication nodes sends a new communication packet corresponding thereto to a next slave communication node connected through the same real-time ethernet network, so that each core in the next slave communication node executes the contents of step S2 and step S3 after receiving the new communication packet corresponding thereto, and circulates to form one or more communication cycles.
Preferably, the step of operating the received communication messages respectively according to the analysis result and generating new communication messages comprises,
each core in the slave communication node writes data obtained from the I/O interface into a communication message received by each core respectively and generates a new communication message; and/or
And each core in the slave communication node writes the cache data of one or more other cores into the received communication message respectively and generates a new communication message.
Preferably, the cache data includes the communication packets received from each core in the communication node.
Preferably, the cache data further includes data obtained from each slave I/O interface of each core in the slave node.
By adopting the technical scheme, each main communication node (master station) is connected with a plurality of slave communication nodes (slave stations) through an independent Ethernet network, so that the slave communication nodes can add data information received from external equipment to a communication message sent by the main communication node on one hand, the main communication node can acquire information from each slave communication node periodically, meanwhile, when each main communication node is configured to send the communication message periodically, the data between the two main communication nodes has at most one communication period difference, and when any main communication node cannot work normally due to faults, the processing of service logic can be switched to the other main communication node; on the other hand, each core in the slave communication nodes can cache the communication message received by each core and the data information received from the external equipment to other cores, so that each master communication site realizes data synchronization.
In another aspect, the present invention provides a multi-core-based industrial ethernet communication node, including a processor, a memory, an I/O interface connected to an external device, and a communication interface connected to other communication nodes, where the processor includes at least two cores, and each core is connected to the I/O interface and the communication interface through an independent ethernet protocol stack; wherein the ethernet protocol stacks of at least two cores are connected in series with each other.
By adopting the technical scheme, the communication capacity of the industrial Ethernet can be expanded under the condition of not increasing the number of the communication nodes.
In still another aspect, the present invention provides a method for communication between nodes in a real-time industrial ethernet network, where the nodes include a master communication node and at least one slave communication node, and the slave communication node is the above communication node, where the master communication node and the at least one slave communication node are connected in series to form a communication loop through the ethernet network, the method includes the following steps,
step S1, receiving a communication message sent by a main communication node from a core in the communication nodes;
step S2, judging whether the communication message carries an interrupt request, if so, carrying out the next step;
step S3, according to the interrupt request, the slave node analyzes the received communication packet, and operates the communication packet according to the analysis result, and generates a new communication packet;
and step S4, the one of the slave communication nodes sends the new communication packet to the next one of the slave communication nodes, so that the next one of the slave communication nodes executes the contents of step S2 and step S3 after receiving the new communication packet, and loops to form one or more communication cycles.
Preferably, the step of operating the received communication packets according to the analysis result and generating new communication packets includes:
and the core in the slave communication node writes the data obtained from the I/O interface into the received communication message and generates a new communication message.
By adopting the technical scheme, the main communication node can acquire more data information of the external equipment in one communication period under the condition of not increasing the number of the slave communication nodes.
In another aspect, the present invention provides a device for communication between nodes in a real-time industrial Ethernet network, comprising
The receiving module is used for receiving a communication message sent by a master communication node or a previous slave communication node in a communication loop;
the judging module is used for judging whether the communication message carries an interrupt request;
the analysis module is used for analyzing the communication message according to an interrupt request carried in the communication message;
the read-write module is used for performing read-write operation on the communication message according to the analysis result of the analysis module and generating a new communication message; and
and the sending module is used for sending the new communication message to the next slave communication node in the communication loop or the next core of the slave communication node.
In yet another aspect, the present invention provides an electronic device comprising
A memory storing executable program code; and
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the communication method according to any one of claims 3-6 or 7-8.
Drawings
Fig. 1 is a schematic structural diagram of a communication node according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating connection between communication nodes according to a second embodiment of the present invention;
fig. 3 is a flowchart of a communication method between nodes in a real-time industrial ethernet network according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a communication node according to a third embodiment of the present invention;
fig. 5 is a schematic diagram illustrating connection between communication nodes according to a fourth embodiment of the present invention;
fig. 6 is a flowchart illustrating a communication method between nodes in a real-time industrial ethernet network according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a communication device between nodes in a real-time industrial ethernet network according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device in a sixth embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.
In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.
Example one
An industrial ethernet communication node based on multi-core is shown in fig. 1, which includes a processor, a memory, an I/O interface connected to an external device, and a communication interface connected to other communication nodes. The processor comprises at least two cores, and each core is connected with the I/O interface and the communication interface through an independent Ethernet protocol stack.
The number of the I/0 interfaces and the number of the communication interfaces are the same as the number of the cores, and the present invention is described in detail by taking two cores as an example, and correspondingly, there are two I/O interfaces and two communication interfaces. For any one of the cores, the core is connected with one of the I/O interfaces and one of the communication interfaces through an independent ethernet protocol stack carried by the core, so that data information acquired by external equipment can be input to the core through the I/O interface, and other communication nodes input data information (communication messages) to the core through the communication interfaces, and the received data information is processed by the core and then sent to other communication nodes through the communication interfaces connected with the core.
Wherein, the communication interface is RJ45 or optical fiber Ethernet network.
The communication node is arranged to be capable of realizing communication connection with a plurality of other communication nodes (such as a master station) simultaneously when being used as a slave station. Furthermore, each master station can be connected in series with one core of the plurality of slave stations through an independent Ethernet network to form a communication loop, so that when any master station fails, the standby master station still has a usable communication loop, and smooth communication is ensured.
Example two
A communication method between nodes in a real-time industrial Ethernet network is applied to the Ethernet network, as shown in FIG. 2, the Ethernet network comprises at least two master communication nodes and a plurality of slave communication nodes, wherein the slave communication nodes are the communication nodes disclosed in the first embodiment, and each master communication node is connected in series with one core of the plurality of slave communication nodes through an independent Ethernet network to form a communication loop.
As shown in fig. 3, the method includes step S1, step S2, step S3, and step S4.
Step S1, receiving communication messages sent by corresponding main communication nodes from each core of the communication nodes respectively;
step S2, judging whether the received communication message carries the interrupt request from each core of the communication node, if yes, proceeding the next step;
step S3, according to the interrupt request, each core in the communication node analyzes the received communication message, and according to the analysis result, each core respectively operates the received communication message, and generates a new communication message;
and step S4, each core in the slave nodes sends a new communication packet corresponding thereto to a next slave node connected through the same real-time ethernet network, so that each core in the next slave node executes the contents of step S2 and step S3 after receiving the new communication packet corresponding thereto, and circulates to form one or more communication cycles.
In this embodiment, a detailed description will be given by taking an example in which cores in the slave communication nodes are configured as two (core I and core II), and an ethernet network is configured with two master communication nodes (master communication node I and master communication node II) and two slave communication nodes. One main communication node (main communication node I) is connected with a core I of two slave communication nodes in series through an Ethernet network I to form a communication loop, and the other main communication node (main communication node II) is connected with a core II of the two slave communication nodes in series through an Ethernet network II to form another communication loop.
For one of the communication loops (connected to the Ethernet I), after the Ethernet protocol stack is initialized, the core I of the first slave communication node receives a communication message sent by the master communication node I through the input port of the Ethernet protocol stack I carried by the first slave communication node, the core I detects and judges the communication message, when the communication message is judged to carry an interrupt request, the core I analyzes field information in the communication message, writes data obtained by the core I from other channels into the communication message according to the indication of the field information, sends the data to the core I of the next slave communication node through the output port of the Ethernet protocol stack I, and performs the same operation until the communication message returns to the master communication node I again. For the other communication loop (connected to the ethernet network II), the operation is the same.
In this embodiment, in step S3, "a step of operating the received communication packets respectively according to the analysis result and generating a new communication packet", or the above-mentioned indication of the field information obtained by analyzing the communication packet may be divided into two types.
Firstly, the core writes the data obtained from the I/O interface into the received communication message according to the indication of the relevant field in the communication message, thereby generating a new communication message;
secondly, the core writes the cache data of one or more other cores into the received communication message according to the indication of the relevant field in the communication message, so as to generate a new communication message. The cache data at least includes communication packets received by each core, or may also include data obtained by each core from an I/O interface.
Data information (communication messages and data information acquired from the I/O interface) acquired by one core can be correspondingly transmitted to other cores through a tool such as Cache loaded in the processor.
It can be understood that the cores connected to the two ethernet networks may respectively execute the above two indications, or may simultaneously execute one of the indications, and when the cores simultaneously execute the second indication, the two primary communication nodes may implement data synchronization.
In the case of executing the first indication at the same time, when the two primary communication nodes alternately transmit and receive the periodic communication packet, since data between the two primary communication nodes differs by at most one communication cycle, when any one primary communication node fails to operate normally due to a failure, the processing of the service logic can be switched to the other primary communication node, thereby improving redundancy performance.
EXAMPLE III
An industrial Ethernet communication node based on multiple cores comprises a processor, a memory, an I/O interface connected with external equipment and communication interfaces connected with other communication nodes, wherein the processor comprises at least two cores, and each core is respectively connected with the I/O interface and the communication interfaces through an independent Ethernet protocol stack; wherein the ethernet protocol stacks of at least two cores are connected in series with each other.
It can be understood that, the communication node provided in this embodiment is based on the communication node in the first embodiment, and the cores therein are connected in series, so that the communication data sequentially passes through the cores, and receives the operation of the cores, as shown in fig. 4.
With such a configuration, one communication node in the embodiment can replace a plurality of conventional communication nodes, so that the communication packet can sequentially obtain data information input by a plurality of external devices, thereby expanding the industrial ethernet without increasing the number of communication nodes
By adopting the technical scheme, the communication capacity of the industrial Ethernet can be expanded under the condition of not increasing the number of the communication nodes.
Example four
A communication method between nodes in a real-time industrial Ethernet network is applied to the Ethernet network, as shown in FIG. 5, the Ethernet network comprises a master communication node and at least one slave communication node, wherein the slave communication node is the communication node disclosed in the third embodiment, and the master communication node is connected in series with all cores in the at least one slave communication node through the Ethernet network to form a communication loop.
As shown in fig. 6, the method includes step S1, step S2, step S3, and step S4.
Step S1, receiving a communication message sent by a main communication node from a core in the communication nodes;
step S2, judging whether the communication message carries an interrupt request, if so, carrying out the next step;
step S3, according to the interrupt request, analyzing the received communication message from one core of the communication node, and according to the analysis result, operating the communication message and generating a new communication message;
and step S4, sending a new communication message from one core of the communication node to the next core of the communication node, so that the next core of the communication node executes the contents of step S2 and step S3 after receiving the new communication message, and looping to form one or more communication cycles.
In this embodiment, a detailed description will be given by taking an example in which cores in the slave communication nodes are configured as two (core I and core II), and the ethernet network is configured with one master communication node and one slave communication node. One of the main communication nodes is connected with an input port of an Ethernet protocol stack I carried by a core I through an Ethernet network, an output port of the Ethernet protocol stack I carried by the core I is connected with an input port of an Ethernet protocol stack II carried by a core II, and an output port of the Ethernet protocol stack II carried by the core II is connected with the main communication node through the Ethernet network, so that a communication loop is formed.
When the communication node is used, after the Ethernet protocol stack is initialized, a communication message sent by a main communication node is received from a core I of the communication node through an input port of the Ethernet protocol stack I carried by the communication node, the core I detects and judges the communication message, when the communication message is judged to carry an interrupt request, the core I analyzes field information in the communication message, data obtained by the core I from other channels is written into the communication message according to the indication of the field information and is sent to an input port of an Ethernet protocol stack II carried by the core II through an output port of the Ethernet protocol stack I, and the core II carries out the same operation until the communication message returns to the main communication node again.
In this embodiment, in step S3, "step of operating the received communication packets respectively according to the analysis result and generating a new communication packet", or the indication of the field information obtained by analyzing the communication packet is: and the core writes the data obtained from the I/O interface into the received communication message according to the indication of the relevant field in the communication message, thereby generating a new communication message.
By the arrangement, the main communication node can acquire more data information of the external equipment in one communication period under the condition that the number of the slave communication nodes is not increased.
EXAMPLE five
A communication device between nodes in a real-time industrial Ethernet network, as shown in FIG. 7, includes
The receiving module is used for receiving a communication message sent by a master communication node or a previous slave communication node in a communication loop;
the judging module is used for judging whether the communication message carries an interrupt request;
the analysis module is used for analyzing the communication message according to the interrupt request carried in the communication message;
the read-write module is used for performing read-write operation on the communication message according to the analysis result of the analysis module and generating a new communication message; and
and the sending module is used for sending the new communication message to the next slave communication node in the communication loop or the next core of the slave communication node.
EXAMPLE six
An electronic device, as shown in FIG. 8, includes
A memory storing executable program code; and
a processor coupled to the memory;
the processor calls the executable program code stored in the memory to execute the communication method according to the second embodiment or the fourth embodiment.
EXAMPLE seven
The embodiment of the application also discloses a computer storage medium, wherein a computer program is stored on the storage medium, and when the computer program is executed by a processor, the communication method as described in the second embodiment or the fourth embodiment is executed.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.
Claims (10)
1. An industrial Ethernet communication node based on multi-core, comprising a processor, a memory, an I/O interface connected with external equipment and a communication interface connected with other communication nodes, characterized in that: the processor comprises at least two cores, and each core is connected with the I/O interface and the communication interface through an independent Ethernet protocol stack.
2. The multi-core based industrial ethernet communications node according to claim 1, wherein: the Ethernet protocol stacks of the at least two cores are connected in series.
3. A method for communication between nodes in a real-time industrial Ethernet network, wherein the network comprises at least two master communication nodes and a plurality of slave communication nodes, and the slave communication nodes are the communication nodes in claim 1, wherein each master communication node is connected in series with one of cores of the slave communication nodes to form a communication loop through an independent Ethernet network, and the method comprises the following steps:
step S1, receiving communication messages sent by corresponding main communication nodes from each core of the communication nodes respectively;
step S2, each core of the slave communication node respectively determines whether each received communication packet carries an interrupt request, and if yes, proceeds to the next step;
step S3, according to the interrupt request, each core in the slave communication node analyzes the received communication packet, and operates the received communication packet according to the analysis result, and generates a new communication packet;
and step S4, each core in the slave communication nodes sends a new communication packet corresponding thereto to a next slave communication node connected through the same real-time ethernet network, so that each core in the next slave communication node executes the contents of step S2 and step S3 after receiving the new communication packet corresponding thereto, and circulates to form one or more communication cycles.
4. The communication method between nodes in the real-time industrial ethernet system according to claim 3, wherein: the step of operating the received communication messages respectively according to the analysis result and generating new communication messages comprises,
each core in the slave communication node writes data obtained from the I/O interface into a communication message received by each core respectively and generates a new communication message; and/or
And each core in the slave communication node writes the cache data of one or more other cores into the received communication message respectively and generates a new communication message.
5. The communication method between nodes in the real-time industrial ethernet system according to claim 4, wherein: the cache data includes the communication packets received from each core in the communication node.
6. The communication method between nodes in the real-time industrial ethernet system according to claim 5, wherein: the cache data further comprises data obtained by each core in the slave communication node from each slave I/O interface.
7. A method for communication between nodes in a real-time industrial Ethernet network, wherein the nodes comprise a master communication node and at least one slave communication node, the slave communication node being the communication node of claim 2, wherein the master communication node is connected in series with the at least one slave communication node via the Ethernet network to form a communication loop, the method comprising the steps of,
step S1, receiving a communication message sent by a main communication node from a core in the communication nodes;
step S2, judging whether the communication message carries an interrupt request, if so, carrying out the next step;
step S3, according to the interrupt request, the slave node analyzes the received communication packet, and operates the communication packet according to the analysis result, and generates a new communication packet;
and step S4, the one of the slave communication nodes sends the new communication packet to the next one of the slave communication nodes, so that the next one of the slave communication nodes executes the contents of step S2 and step S3 after receiving the new communication packet, and loops to form one or more communication cycles.
8. The communication method between nodes in the real-time industrial ethernet system according to claim 7, wherein: the step of operating the received communication messages respectively according to the analysis result and generating new communication messages comprises the following steps:
and the core in the slave communication node writes the data obtained from the I/O interface into the received communication message and generates a new communication message.
9. A communication device between nodes in a real-time industrial Ethernet network is characterized in that: comprises that
The receiving module is used for receiving a communication message sent by a master communication node or a previous slave communication node in a communication loop;
the judging module is used for judging whether the communication message carries an interrupt request;
the analysis module is used for analyzing the communication message according to an interrupt request carried in the communication message;
the read-write module is used for performing read-write operation on the communication message according to the analysis result of the analysis module and generating a new communication message; and
and the sending module is used for sending the new communication message to the next slave communication node in the communication loop or the next core of the slave communication node.
10. An electronic device, characterized in that: comprises that
A memory storing executable program code; and
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the communication method according to any one of claims 3-6 or 7-8.
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| CN114448801A (en) * | 2021-12-23 | 2022-05-06 | 东莞市李群自动化技术有限公司 | Method, network topology, device and storage medium for creating real-time channel group |
| CN114448801B (en) * | 2021-12-23 | 2024-04-12 | 东莞市李群自动化技术有限公司 | Method for creating real-time channel group, network topology, equipment and storage medium |
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