Method, system, equipment and medium for redundancy and stable switching of locomotive control equipment

Abstract

The invention relates to the field of locomotive control, and provides a locomotive control equipment redundancy and stable switching method, system, equipment and medium, and the method comprises the steps: setting mutually redundant hardware equipment in each controller, and initializing the hardware equipment into master equipment and slave equipment during power-on; the master device interacts with the slave device and devices of other controllers through network communication, and synchronizes data to the slave device; in response to the fact that the master device is abnormal or the master device is empty, the slave device is upgraded to the master device; and in response to the abnormity of the master device or the slave device rising to the master device, the master device retreats from the slave device. Hardware among redundant devices is completely independent, normal operation of the system is not affected when any device breaks down, the stability of the system is high, continuous and stable work of the whole system is guaranteed through redundancy configuration and automatic switching, different control strategies are generated according to fault conditions, and stable switching is achieved.

Description

Technical Field

[0001] The present invention relates to the field of locomotive control, and in particular to a method, system, device and medium for redundancy and smooth switching of locomotive control equipment. Background Art

[0002] The rail transit industry has high requirements for the data communication and control reliability of network terminal equipment. Therefore, redundant methods are generally adopted to improve equipment availability. That is, after a set of data links or a device fails, another set of hot standby redundant links or network terminal equipment will immediately take over control to ensure control availability and continuity.

[0003] Redundancy solutions can basically be divided into port redundancy and device redundancy: Port redundancy: Port redundancy is achieved by sending data through multiple ports at the same time in a device, that is, data interruption of one port will not affect the overall data communication. The defects of this method are: 1. It cannot completely guarantee that the data sent by each port is completely consistent, and in extreme cases, data and control confusion may occur; 2. Because the data and control sources of this method are still the same device, it cannot solve the reliability of equipment failure; Device redundancy: Device redundancy is achieved by having multiple devices working simultaneously, and by setting and switching between master and slave devices to achieve hot standby redundancy. This method is more reliable than the port redundancy solution, but the existing technologies currently rely on specific hardware structures in terms of the redundant switching mechanism, which increases hardware costs and is not universal.

[0004] The redundant devices proposed in the prior art are located in the same chassis, and the redundant switching function is realized through the slot information of the backplane, the backplane bus and the programmable logic device. However, the reliance on programmable logic devices increases additional costs. Based on the backplane slots and communication, this requires that the devices must be in the same chassis, which limits the layout of the devices. It is only applicable to devices with backplane communication, and the applicability is not strong. Since the prior art is in the same chassis and powered by the same power supply, the redundancy is not as high as that of a single device. Summary of the invention

[0005] Based on the above objectives, the present invention proposes a method for locomotive control equipment redundancy and smooth switching, comprising: Each controller is provided with mutually redundant hardware devices, and the hardware devices are initialized as a master device and a slave device when powered on; The master device interacts with the slave device and devices of other controllers through network communication, and synchronizes data to the slave device; In response to the master device being abnormal or the master device being empty, the slave device is promoted to the master device; In response to an abnormality of the master device or a slave device being promoted to a master device, the master device retreats to a slave device.

[0006] In some embodiments, the step of initializing the master device and the slave device at power-on includes: When powered on, the first device in the hardware device is detected, and the second device enters a waiting state; In response to the first device detecting and the switch communicating normally, setting the first device as a master device and detecting the second device; In response to the second device detecting that communication with the switch is normal and detecting that communication with the first device is abnormal, setting the first device as a slave device and the second device as a master device; In response to the second device detecting that the communication with the switch is normal, and detecting that the communication with the first device is normal and the first device is the master device, setting the first device as the master device and the second device as the slave device; In response to the second device detecting that communication with the switch is normal, and detecting that communication with the first device is normal and the first device is a slave device, the first device is set as a slave device and the second device is set as a master device.

[0007] In some embodiments, the step of the master device interacting with the slave device and other controller devices through network communication includes: The master device sends and receives data with other controller devices via control data frames in network communication; The slave device receives data from devices of other controllers via control data frames in network communication.

[0008] In some embodiments, the step of synchronizing the data to the slave device includes: The master device performs data operations and sends control instructions to other devices; The master device packages the calculated data into timestamp data through redundant synchronization frames of network communication and sends it to the slave device; The slave device verifies and analyzes the timestamp data and then synchronizes; In response to a failure in the communication between the master and slave devices, the slave device is controlled to prepare for upgrading to a master device, perform data operations, and does not send control instructions.

[0009] In some embodiments, the method further comprises: In response to two devices being promoted to master devices at the same time, the first device is set as the master device and the second device is set as the slave device.

[0010] In some embodiments, the method further comprises: In response to the master-slave switching frequency of the two devices exceeding a threshold, the device that actively switches is set as a slave device, and the device that passively switches is set as a master device.

[0011] In some embodiments, the step of setting mutually redundant hardware devices in each controller includes: Configure the controllers as mutually redundant hardware devices; Dual Ethernet switches communicate via dual Ethernet cables; Each device communicates via Ethernet cables and dual Ethernet switches.

[0012] The present invention proposes a system for redundancy and smooth switching of locomotive control equipment, comprising: An initialization module, configured to set mutually redundant hardware devices in each controller, and initialize the hardware devices as master devices and slave devices when powered on; A communication synchronization module, configured to allow the master device to interact with the slave device and other controller devices through network communication, and synchronize data to the slave device; A slave-to-master module configured to upgrade a slave device to a master device in response to an abnormality of the master device or the master device being empty; The master-slave retreat module is configured to respond to an abnormality of the master device or the promotion of the slave device to the master device, and then the master device retreats to the slave device.

[0013] The present invention provides a computer device, comprising: At least one processor; and a memory storing a computer program that can be run on the processor, and the processor executes the steps of the method for redundancy and smooth switching of locomotive control equipment when executing the program.

[0014] The present invention proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for redundancy and smooth switching of locomotive control equipment are executed.

[0015] The present invention has at least the following beneficial technical effects: The present invention proposes a method, system, device and medium for redundancy and smooth switching of locomotive control equipment. The method includes: setting mutually redundant hardware devices in each controller, and initializing the hardware devices as master devices and slave devices when powered on; the master device interacts with slave devices and devices of other controllers through network communication, and synchronizes data to the slave device; in response to an abnormality of the master device or the master device is empty, the slave device is promoted to the master device; in response to an abnormality of the master device or the slave device is promoted to the master device, the master device retreats to the slave device.

[0016] The present invention can realize system redundancy function while realizing conventional control without adding other hardware devices, thus saving costs. There is no requirement for the device layout location, and the universality and portability are strong. The hardware between redundant devices is completely independent, and the failure of any device will not affect the normal operation of the system. The system has strong stability. Through redundant configuration and automatic switching, the continuous and stable operation of the entire system is guaranteed, and different control strategies are generated according to the fault conditions to achieve smooth switching. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other embodiments can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A flow chart of the method for redundancy and smooth switching of locomotive control equipment provided by the present invention; Figure 2 A system module diagram of locomotive control equipment redundancy and smooth switching provided by the present invention; Figure 3 A power-on initialization flow chart of the method for redundancy and smooth switching of locomotive control equipment provided by the present invention; Figure 4 The network topology structure in the method for redundancy and smooth switching of locomotive control equipment provided by the present invention; Figure 5 A schematic diagram of the structure of an embodiment of a computer device provided by the present invention; Figure 6 A schematic diagram of the structure of an embodiment of a computer-readable storage medium provided by the present invention. DETAILED DESCRIPTION

[0019] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention are further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0020] It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are for distinguishing two non-identical entities with the same name or non-identical parameters. It can be seen that "first" and "second" are only for the convenience of expression and should not be understood as limitations on the embodiments of the present invention. The subsequent embodiments will not explain this one by one.

[0021] The present invention proposes a method for locomotive control equipment redundancy and smooth switching, please refer to Figure 1 ,include: S1: mutually redundant hardware devices are set in each controller, and the hardware devices are initialized as a master device and a slave device when powered on; S2: The master device interacts with the slave device and other controller devices through network communication, and synchronizes data to the slave device; S3: In response to the master device being abnormal or the master device being empty, the slave device is promoted to the master device; S4: In response to the master device being abnormal or the slave device being promoted to the master device, the master device retreats to the slave device.

[0022] The communication method of the present invention adopts Ethernet communication that complies with the IEC61357 standard TRDP protocol. Data is exchanged between devices through an Ethernet switch, and the communication link of all network terminal devices is realized between two switches through Ethernet. TRDP (Train Real-time Data Protocol) is a standard real-time communication protocol applied to industrial Ethernet in the rail transit industry. It has strong real-time performance and reliability and is a commonly used network communication solution in the current rail transit industry.

[0023] The network communication of the device is divided into two frames: one is the control data frame and the other is the redundant synchronization frame.

[0024] The master device needs to retreat to a slave device after detecting that it has failed or that a redundant slave device has been upgraded to a master device. The retreat logic is as follows: For the convenience of description, it is assumed that A-1 is currently the master device and A-2 is the slave device.

[0025] When A-1 detects any of the following conditions, it needs to actively retreat from the master device to the slave device and promptly change the master-slave status information sent out: A-1 detects that CS1, CS2, and A-2 communications are all faulty: If it detects that the communication status of all related devices is abnormal, it is judged that A-1 data reception has failed. Regardless of the current A-1 data sending status, A-1 cannot serve as the master device and A-1 enters the slave device state.

[0026] A-1 detects that A-2 is communicating normally and A-2 is in the master-slave state: This happens because the slave-to-master mechanism of A-2 is triggered, which proves that although A-1's data reception is normal, there is a problem with data transmission. At this time, A-1 needs to actively withdraw from the master and become a slave device to avoid a dual-master situation.

[0027] When the master device retreats to a slave device, it stops sending control instructions, stops data calculation and processing, and starts receiving the timestamp data of the master device in the network as its own calculation process data and writes it into the program.

[0028] The slave device has been working in hot standby redundant state. When it detects that the master device is abnormal or there is no master device in the network, it needs to be actively upgraded to the master device to take over system control.

[0029] For the convenience of description, it is still assumed that A-1 is the master device and A-2 is the slave device.

[0030] When A-2 detects any of the following conditions, it needs to proactively upgrade the slave device to the master device: A-2 detects that CS1 communication is normal or CS2 communication is normal, and A-1 communication is abnormal: This situation indicates that A-1 equipment is faulty or A-1 data transmission is abnormal. In either case, A-1 cannot be the master device. At this time, A-2 needs to actively upgrade itself to the master device.

[0031] When A-2 detects that CS1 communication is normal or CS2 communication is normal, and A-1 communication is normal, and the master-slave state in the redundant synchronization frame of A-1 is a slave device, it means that A-1 has triggered the master device retreat logic, and A-2 needs to actively upgrade itself to a master device to ensure that there is a master device in the system.

[0032] When a slave device is promoted to a master device, it starts to take over data processing based on the timestamp data received in the previous cycle and combined with the current real-time data and status of other systems, and immediately starts sending control instructions to ensure seamless switching in the time dimension.

[0033] The present invention can ensure that when a master device fails, a slave device can quickly take over the work, thereby maintaining the normal operation of the system by adding redundant control devices. This design greatly reduces the system downtime caused by equipment failure and improves the overall reliability of the system. Through the fault detection mechanism, the operating status of the device can be monitored in real time. Once a fault is detected, the switching mechanism is immediately triggered to transfer the control right to the slave device to ensure the continuous operation of the system. The redundant design makes the system more convenient during maintenance. Due to the existence of the slave device, the master device can be maintained and repaired without interrupting the operation of the system. Reduce downtime and maintenance costs caused by equipment failure. At the same time, due to the existence of the slave device, the service life of the master device can be extended to a certain extent, thereby reducing the overall maintenance cost. By realizing a smooth and fast switching process, it can be ensured that the system will not experience obvious performance degradation or interruption during the switching process.

[0034] In some embodiments, see Figure 3 The steps of initializing the master device and the slave device at power-on include: When powered on, the first device in the hardware device is detected, and the second device enters a waiting state; In response to the first device detecting and the switch communicating normally, setting the first device as a master device and detecting the second device; In response to the second device detecting that communication with the switch is normal and detecting that communication with the first device is abnormal, setting the first device as a slave device and the second device as a master device; In response to the second device detecting that the communication with the switch is normal, and detecting that the communication with the first device is normal and the first device is the master device, setting the first device as the master device and the second device as the slave device; In response to the second device detecting that communication with the switch is normal, and detecting that communication with the first device is normal and the first device is a slave device, the first device is set as a slave device and the second device is set as a master device.

[0035] like Figure 3 As shown in the figure, each controller has two redundant hardware devices. We select one of the controller devices for illustration and name them as device A-1 and device A-2. How to distinguish A-1 and A-2 between the two devices can be done by hardware or software. Hardware can be done by dip switches, jumpers, etc.; software can be done by writing different programs in the two devices.

[0036] When the two devices are powered on, they both detect the heartbeat of the other device, CS1, and CS2 to determine the communication status of each device. If the heartbeat signal does not change within several cycles, it is determined that the communication status is abnormal.

[0037] The two devices determine their master-slave status when they are powered on and initialized based on the communication status. The process is as follows: ①A-1 starts detection directly after power-on, and A-2 enters a waiting state for a period of time after power-on.

[0038] ②A-1 detects the communication status of CS1. If the status is normal, A-1 directly becomes the master device and sends the current master-slave status; if the communication status of CS1 is abnormal, the next step is judged. The cycle for judging communication abnormality can be selected in 3-10 operation cycles; ③A-1 continues to detect the communication status of CS2. If the status of CS2 is normal, A-1 directly becomes the master device and sends the current master-slave status. If the status of CS1 and CS2 are abnormal, it may be that CS1 itself is faulty or A-1 data reception is faulty. In either case, A-1 cannot be the master device. A-1 enters the slave device status and sends the current master-slave status. At this time, wait for A-2 to be powered on for detection.

[0039] ④After A-2 is finished waiting, detection begins. The power-on waiting time of A-2 can be selected between 5s and 20s.

[0040] ⑤A-2 detects the communication status of CS2. If the communication is normal, skip the next step and directly start step ⑦ to detect the communication status of A-1; if the CS2 communication fails, proceed to the next step; ⑥A-2 detects the communication status of CS1. If CS1 also fails to communicate, it means that A-2 no longer has the conditions to become the master device. A-2 directly becomes the slave device and sends the current master-slave status. If CS1 communication is normal, proceed to the next step; ⑦A-2 detects the communication status of A-1. If A-1 fails to communicate, A-2 directly becomes the master device and sends the current master-slave status. If A-1 communicates normally, proceed to the next step; ⑧A-2 detects the master-slave status in the redundant synchronization frame of A-1: ​​if A-1 is the master device, A-2 becomes the slave device; if A-1 is the slave device, A-2 becomes the master device and sends the current master-slave status.

[0041] In some embodiments, see Figure 1 The steps of the master device interacting with the slave device and other controller devices through network communication include: The master device sends and receives data with other controller devices via control data frames in network communication; The slave device receives data from devices of other controllers via control data frames in network communication.

[0042] The control data frame is used to communicate with other system devices, receive other system control information, and send control instructions to other systems. Both the master and slave devices will receive control data frames from other systems, but only the master device is allowed to send control data frames.

[0043] Communication between the master and slave devices enables data sharing, and the master device can coordinate the work of other devices to ensure that they run in a predetermined order and rhythm. It can avoid conflicts and competition between devices, thereby improving the overall performance of the system. The communication interface between the master device and other devices is usually standardized and universal, which makes the system easier to expand and upgrade. With the continuous advancement of technology and the growth of demand, the scale and function of the system can be expanded by adding new devices or functions.

[0044] In some embodiments, see Figure 1 , the step of synchronizing data to the slave device includes: The master device performs data operations and sends control instructions to other devices; The master device packages the calculated data into timestamp data through redundant synchronization frames of network communication and sends it to the slave device; The slave device verifies and analyzes the timestamp data and then synchronizes; In response to a failure in the communication between the master and slave devices, the slave device is controlled to prepare for upgrading to a master device, perform data operations, and does not send control instructions.

[0045] The redundant synchronization frame is only used for communication interaction between two redundant devices and is the basis for realizing the present invention. This frame should at least include the following contents: device life signal, current master-slave status of the device, timestamp and working status data.

[0046] The master and slave devices are synchronized according to the master-slave status, timestamp and working status data in the redundant synchronization frame.

[0047] As a device that interacts with other systems, the master device performs real-time calculations on control variables, working status and other data, and sends control instructions and status information to other systems. At the same time, the master device combines the processed information data, real-time status, etc. with system time information, verification information and other data to form timestamp data, and sends it to the slave control device; The slave device is in hot standby redundant state. To ensure the continuity of operation and control, the slave device does not actively perform data operations or send control instructions under normal circumstances. Instead, it verifies and parses the timestamp data sent by the master device, and writes it into the program as its own operation process data to ensure the control continuity and consistency between the master and slave devices in the time dimension. The timestamp data verification method can use CRC verification for data accuracy, and the judgment time range of the time verification can be selected between 50ms-200ms.

[0048] When the communication between the two devices fails, such as when the slave device cannot receive information from the master device and does not meet the conditions to be the master device, the slave device prepares to be the master device when the conditions are met and starts data calculation, but still does not send control instructions.

[0049] The master and slave devices can ensure that all devices record data on the same time basis through timestamp data synchronization, thereby avoiding data conflicts and ensuring that the timestamps of all devices are accurate, thereby improving the overall accuracy of the data. In the event of a failure of the master device, the slave device can quickly take over the work. If the timestamp is synchronized, the slave device can start processing data immediately without worrying about data problems caused by inconsistent timestamps, achieving fast failover and reducing system downtime. Through timestamp data synchronization, the fault tolerance of the system can be enhanced. Even if the master device fails, the slave device can accurately record and process data, ensuring the continuity and stability of the system.

[0050] In some embodiments, see Figure 1 , the method further comprises: In response to two devices being promoted to master devices at the same time, the first device is set as the master device and the second device is set as the slave device.

[0051] When the network recovers after a complete collapse, there may be two slave devices in the previous cycle, and two master devices in the next moment. At this time, A-1 maintains the master device status, and A-2 automatically retreats to the slave device to avoid control confusion caused by dual masters.

[0052] In the case of dual-master devices, both masters attempt to control the same resource or perform the same task at the same time, resulting in conflicts and confusion. Dual-master configurations increase system complexity, thereby introducing more points of failure.

[0053] Therefore, by ensuring that there is only one master device, the present invention can reduce potential sources of failure, ensure the stability and reliability of the system, and prevent system errors or failures caused by control conflicts. Avoiding control confusion caused by dual master devices can reduce the system's additional overhead caused by handling conflicts and coordinating different devices, improve the overall performance of the system, and enable it to perform tasks more efficiently.

[0054] In some embodiments, see Figure 1 , the method further comprises: In response to the master-slave switching frequency of the two devices exceeding a threshold, the device that actively switches is set as a slave device, and the device that passively switches is set as a master device.

[0055] When the reception and transmission of a device such as A-1 are in an intermittent and unstable state, the device may frequently actively upgrade to master and retreat to slave, and A-2 will also passively switch with the switching of A-1, affecting the stability of control. Therefore, if the active master-slave switching of A-1 exceeds a certain number of times within a certain period of time, it is judged that the redundant switching function of A-1 fails, A-1 retreats to a slave device and is locked as a slave device, and the control system reports the redundant switching function failure of A-1, and maintains the locked state until the fault is resolved.

[0056] Frequent master-slave switching can be judged as 3-5 switchings occurring within 10-30 minutes.

[0057] Frequent master-slave switching will lead to frequent changes in system status, which may cause a series of problems, such as data inconsistency, service interruption, etc. Avoid frequent master-slave switching to ensure the stability of the system status and reduce potential risks caused by switching.

[0058] During the master-slave switching process, data loss or corruption may occur if not handled properly. For example, if the data of the master node is not synchronized to the slave node in time during the switching process, the slave node may provide incomplete or erroneous data after the switching. In addition, frequent switching may also cause data synchronization delays or failures, further increasing the risk of data loss and corruption. By reducing the frequency of master-slave switching, these risks can be reduced and the integrity and accuracy of data can be ensured.

[0059] Each switch requires a series of operations, such as reconfiguration and data synchronization, which consume system resources and reduce system performance. By avoiding frequent master-slave switching, these unnecessary operations can be reduced, thereby optimizing system performance and improving system response speed and throughput.

[0060] In some embodiments, see Figure 4 The steps for setting up redundant hardware devices on each controller include: Configure the controllers as mutually redundant hardware devices; Dual Ethernet switches communicate via dual Ethernet cables; Each device communicates via Ethernet cables and dual Ethernet switches.

[0061] like Figure 4 As shown in the figure, the network topology adopts Ethernet full redundant dual regression framework, including network switches and network devices are all configured with two completely independent hardware devices, which are mutually redundant. One device is the master device, responsible for logical operations and control, and the other is the slave device, which is in hot standby redundant state. When the master device is abnormal, it will immediately switch to the master device for control takeover.

[0062] The two Ethernet switches are connected via dual Ethernet cables to ensure data interaction between the switches; other devices are connected to the two switches via Ethernet cables to form an Ethernet dual return ring network architecture.

[0063] The Ethernet dual-return ring network architecture achieves high network reliability by introducing redundant paths. When a node or link on the master device fails, the traffic can be quickly switched to the slave device to ensure the continuity and stability of the network. It has a fast fault detection and recovery mechanism. Once a fault is detected, the system can immediately trigger the switching mechanism to transfer the traffic to the backup ring, thereby achieving rapid recovery from the fault and reducing the time of network interruption. Equipped with a unified network management platform, it can achieve centralized management and monitoring of the entire network, reduce the complexity of network management, and improve management efficiency. By introducing redundant paths and fast fault recovery mechanisms, the process of troubleshooting and locating faults can be simplified.

[0064] In the dual-return ring network architecture, the master and slave devices can share network traffic and achieve load balancing. At the same time, it supports flexible addition and deletion of network devices and is easy to expand the network scale. With the development of business and the advancement of technology, new redundant devices or links can be easily added to meet future network needs.

[0065] The Ethernet dual-return ring network architecture supports multiple networking modes, including shared nodes, links composed of two shared nodes, and multi-ring / layer networks formed by overlapping multiple ring networks. In the present invention, multi-ring networks formed by overlapping multiple ring networks are preferred, which provides users with flexible networking options. The present invention proposes a system for locomotive control equipment redundancy and smooth switching, please refer to Figure 2 ,include: An initialization module 100 is configured to set mutually redundant hardware devices in each controller and initialize the hardware devices as master devices and slave devices when powered on; A communication synchronization module 200, configured to allow the master device to interact with slave devices and other controller devices through network communication, and synchronize data to the slave devices; The slave-to-master module 300 is configured to upgrade the slave device to the master device in response to the master device being abnormal or the master device being empty; The master-slave transition module 400 is configured to transition the master device to a slave device in response to an abnormality of the master device or the slave device being promoted to a master device.

[0066] This method builds a network topology, under which no other hardware devices need to be added, and system redundancy can be achieved while achieving conventional control, saving costs. There is no requirement for the location of the equipment layout, which is convenient for equipment layout and is applicable to all equipment based on the TRDP protocol communication method. It has strong universality and portability, and the hardware between redundant devices is completely independent. Failure of any device will not affect the normal operation of the system, and the system has strong stability.

[0067] Based on the same inventive concept, according to another aspect of the present invention, Figure 5 As shown, an embodiment of the present invention further provides a computer device 30, which includes a processor 310 and a memory 320. The memory 320 stores a computer program 321 that can be run on the processor. When the processor 310 executes the program, the steps of the above method are performed.

[0068] Based on the same inventive concept, according to another aspect of the present invention, Figure 6 As shown, an embodiment of the present invention further provides a computer-readable storage medium 40, which stores a computer program 410 for executing the above method when executed by a processor.

[0069] The embodiment of the present invention may also include a corresponding computer device. The computer device includes a memory, at least one processor, and a computer program stored in the memory and executable on the processor, and the processor executes any one of the above methods when executing the program.

[0070] The memory, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules in the embodiments of the present application. The processor executes various functional applications and data processing of the device by running the non-volatile software programs, instructions and modules stored in the memory, that is, implementing the above method.

[0071] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In an embodiment, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the local module via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0072] Finally, it should be noted that a person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium of the program can be a disk, an optical disk, a read-only storage memory (ROM) or a random access memory (RAM), etc. The above-mentioned computer program embodiments can achieve the same or similar effects as the corresponding above-mentioned arbitrary method embodiments.

[0073] It will also be appreciated by those skilled in the art that various exemplary logic blocks, modules, circuits and algorithm steps described in conjunction with the disclosure herein can be implemented as electronic hardware, computer software or a combination of the two. In order to clearly illustrate this interchangeability of hardware and software, a general description has been given to the functions of various schematic components, blocks, modules, circuits and steps. Whether this function is implemented as software or hardware depends on specific applications and the design constraints imposed on the entire system. Those skilled in the art can implement the function in various ways for each specific application, but this implementation decision should not be interpreted as causing a departure from the disclosed scope of the embodiments of the present invention.

[0074] The above are exemplary embodiments disclosed in the present invention, but it should be noted that various changes and modifications may be made without departing from the scope of the embodiments disclosed in the present invention as defined in the claims. The functions, steps and / or actions of the method claims according to the disclosed embodiments described herein do not need to be performed in any particular order. The serial numbers of the embodiments disclosed in the above embodiments of the present invention are for description only and do not represent the advantages and disadvantages of the embodiments. In addition, although the elements disclosed in the embodiments of the present invention may be described or required in individual form, they may also be understood as multiple unless explicitly limited to the singular.

[0075] It should be understood that, as used herein, the singular forms "a", "an" are intended to include the plural forms as well, unless the context clearly supports an exception. It should also be understood that, as used herein, "and / or" refers to any and all possible combinations including one or more of the associated listed items.

[0076] A person skilled in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the disclosure of the embodiments of the present invention (including the claims) is limited to these examples; under the concept of the embodiments of the present invention, the technical features in the above embodiments or different embodiments can also be combined, and there are many other changes in different aspects of the above embodiments of the present invention, which are not provided in detail for the sake of simplicity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the embodiments of the present invention.

Claims

1. A method for redundant and smooth switching of locomotive control equipment, characterized in that: include: Each controller is provided with mutually redundant hardware devices, and the hardware devices are initialized as a master device and a slave device when powered on; The master device interacts with the slave device and devices of other controllers through network communication, and synchronizes data to the slave device; In response to the master device being abnormal or the master device being empty, the slave device is promoted to the master device; In response to an abnormality of the master device or a slave device being promoted to a master device, the master device retreats to a slave device.

2. The method for locomotive control equipment redundancy and smooth switching according to claim 1, characterized in that: The step of initializing the hardware device as a master device and a slave device at power-on includes: When powered on, the first device in the hardware device is detected, and the second device enters a waiting state; In response to the first device detecting and the switch communicating normally, setting the first device as a master device and detecting the second device; In response to the second device detecting that communication with the switch is normal and detecting that communication with the first device is abnormal, setting the first device as a slave device and the second device as a master device; In response to the second device detecting that the communication with the switch is normal, and detecting that the communication with the first device is normal and the first device is the master device, setting the first device as the master device and the second device as the slave device; In response to the second device detecting that communication with the switch is normal, and detecting that communication with the first device is normal and the first device is a slave device, the first device is set as a slave device and the second device is set as a master device.

3. The method for locomotive control equipment redundancy and smooth switching according to claim 1, characterized in that: The steps of the master device interacting with the slave device and other controller devices through network communication include: The master device sends and receives data with other controller devices via control data frames in network communication; The slave device receives data from devices of other controllers via control data frames in network communication.

4. The method for locomotive control equipment redundancy and smooth switching according to claim 1, characterized in that: The step of synchronizing data to the slave device comprises: The master device performs data operations and sends control instructions to other devices; The master device packages the calculated data into timestamp data through redundant synchronization frames of network communication and sends it to the slave device; The slave device verifies and analyzes the timestamp data and then synchronizes; In response to a failure in the communication between the master and slave devices, the slave device is controlled to prepare for upgrading to the master device, perform data operations, and does not send control instructions.

5. The method for locomotive control equipment redundancy and smooth switching according to claim 1, characterized in that: The method also includes: In response to two devices being promoted to master devices at the same time, the first device is set as the master device and the second device is set as the slave device.

6. The method for locomotive control equipment redundancy and smooth switching according to claim 1, characterized in that: The method also includes: In response to the master-slave switching frequency of the two devices exceeding a threshold, the device that actively switches is set as a slave device, and the device that passively switches is set as a master device.

7. The method for locomotive control equipment redundancy and smooth switching according to claim 1, characterized in that: The steps to set up redundant hardware on each controller include: Configure the controllers as mutually redundant hardware devices; Dual Ethernet switches communicate via dual Ethernet cables; Each device communicates via Ethernet cables and dual Ethernet switches.

8. A system for redundant and smooth switching of locomotive control equipment, characterized in that: include: An initialization module, configured to set mutually redundant hardware devices in each controller, and initialize the hardware devices as master devices and slave devices when powered on; A communication synchronization module, configured to allow the master device to interact with the slave device and other controller devices through network communication, and synchronize data to the slave device; A slave-to-master module configured to upgrade a slave device to a master device in response to an abnormality of the master device or the master device being empty; The master-slave retreat module is configured to respond to an abnormality of the master device or the promotion of the slave device to the master device, and then the master device retreats to the slave device.

9. A computer device comprising: at least one processor; and a memory storing a computer program executable on the processor, wherein the processor executes the steps of the method for redundancy and smooth switching of locomotive control equipment as claimed in any one of claims 1 to 7 when executing the program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method for redundancy and smooth switching of locomotive control equipment as claimed in any one of claims 1 to 7 are performed.

Images