Main and standby system switching method, device and system

Abstract

The invention provides a main and standby system switching method, device and system, and the method comprises the steps: starting a first control system at a first time point, and building the system communication between the first control system and a digital input / output board; a second control system is started at a second time point, and the second time point is later than the first time point; under the condition that the system communication is successfully created, determining the first control system as a main system, determining the second control system as a standby system, and synchronizing service data of the main system in the standby system; and switching the first control system to a standby system and switching the second control system to a main system when it is detected that the service data synchronization fails and the communication state of the system communication is disconnected. According to the method, the digital input and output board is introduced, and when to switch the main system and the standby system is judged through communication between the digital input and output board and the first control system as well as the second control system, so that the driving safety of the target train is ensured, and the switching cost of the main system and the standby system is reduced.

Description

Technical Field

[0001] The present application relates to the field of rail transit technology, and in particular to a method for switching between a primary and a secondary system. The present application also relates to a primary and a secondary system switching device, a primary and a secondary system switching system, a computing device, a computer-readable storage medium, and a computer program product. Background Art

[0002] Redundancy and switching technology is a technology commonly used in computer system reliability design. In the field of rail transit, in order to prevent the vehicle operation from being affected when an abnormality occurs on one onboard platform (such as hardware damage, system downtime, etc.), a main and standby dual-system onboard platform will be designed during the train operation. The main and standby dual-system onboard platform can improve the reliability of the train system. When the main system fails or fails, the standby system can take over immediately to ensure that the train can continue to operate normally and reduce the train downtime caused by the failure.

[0003] The current switching of the main and standby systems of trains has the problem that the switching conditions are not objective and scientific enough and the judgment conditions are single. When the main and standby systems are switched, the hardware relay circuits are interlocked. When the hardware fault circuit fails, frequent switching and switching failures will occur. During the switching process, there will be delays, which increases the driving risk during the switching process. Therefore, technicians are in urgent need of a safer and more reliable method for switching the main and standby systems. Summary of the invention

[0004] In view of this, the embodiment of the present application provides a method for switching between active and standby systems. The present application also relates to an active and standby system switching device, an active and standby system switching system, a computing device, a computer-readable storage medium and a computer program product to solve the above problems existing in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a method for switching a primary and standby system is provided, the method being applied to a primary and standby system switching system of a target train, the system comprising a digital input and output board, a first control system and a second control system, the method comprising: Starting a first control system at a first time point, and establishing system communication between the first control system and the digital input and output board; Starting a second control system at a second time point, wherein the second time point is later than the first time point; In the case where the system communication is successfully established, the first control system is determined as the primary system, the second control system is determined as the backup system, and the service data of the primary system is synchronized in the backup system; When it is detected that the business data synchronization fails and the communication state of the system communication is disconnected, the first control system is switched to a standby system, and the second control system is switched to a main system.

[0006] According to a second aspect of an embodiment of the present application, there is provided a master-slave system switching system, including a control server, a digital input and output board, a first control system and a second control system; The first control system is configured to start at a first time point and establish system communication with the digital input and output board, and determine the first control system as the main system when it is determined that the digital input and output board communicates normally with the first control system; The second control system is configured to start at a second time point, establish communication with the digital input and output board, and determine that the second control system is a standby system when the digital input and output board communicates normally with the first control system, wherein the second time point is later than the first time point; The control server is configured to synchronize the service data of the primary system in the standby system; The control server is further configured to switch the first control system to a standby system and the second control system to a main system when detecting that the business data synchronization fails and the communication status of the system communication is disconnected.

[0007] According to a third aspect of an embodiment of the present application, a main-standby system switching device is provided, the device being applied to a main-standby system switching system of a target train, the system comprising a digital input and output board, a first control system and a second control system, the device comprising: A first starting module, configured to start a first control system at a first time point, and establish system communication between the first control system and the digital input and output board; A second starting module is configured to start a second control system at a second time point, wherein the second time point is later than the first time point; A master-slave system confirmation module, configured to determine the first control system as the master system and the second control system as the slave system when the system communication is successfully established, and synchronize the service data of the master system in the slave system; The active-standby system switching module is configured to switch the first control system to the standby system and the second control system to the active system when it is detected that the business data synchronization fails and the communication state of the system communication is disconnected.

[0008] According to a fourth aspect of an embodiment of the present application, a computing device is provided, including: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the above-mentioned active-standby system switching method are implemented.

[0009] According to a fifth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program / instruction, and when the computer program / instruction is executed by a processor, the steps of the above-mentioned active-standby system switching method are implemented.

[0010] According to a sixth aspect of an embodiment of the present application, a computer program product is provided, including a computer program / instruction, which implements the steps of the above-mentioned active-standby system switching method when executed by a processor.

[0011] The main-standby system switching method provided in the present application is applied to the main-standby system switching system of the target train, the system includes a digital input and output board, a first control system and a second control system, the method includes: starting the first control system at a first time point to establish system communication between the first control system and the digital input and output board; starting the second control system at a second time point, wherein the second time point is later than the first time point; when the system communication is successfully established, determining the first control system as the main system, determining the second control system as the standby system, and synchronizing the business data of the main system in the standby system; when it is detected that the business data synchronization fails and the communication state of the system communication is disconnected, switching the first control system to the standby system and switching the second control system to the main system.

[0012] The method provided in the embodiment of the present application introduces a digital input and output board, and determines when to perform the primary and standby switching through the communication between the digital input and output board and the first control system and the second control system, thereby ensuring the driving safety of the target train and reducing the cost of the primary and standby system switching. Seamless switching of the primary and standby systems is achieved during the driving of the target train. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a flow chart of a method for switching between a primary and a secondary system provided by an embodiment of the present application; Figure 2 This is a schematic diagram of a train communication architecture provided by an embodiment of the present application; Figure 3 is a schematic diagram of a train communication architecture provided by another embodiment of the present application; Figure 4 This is a system block diagram of a main control board card provided by an embodiment of the present application at the same end; Figure 5 This is a system block diagram of a main control board card at different ends provided by an embodiment of the present application; Figure 6 is a schematic diagram of various states of a control system provided by an embodiment of the present application; Figure 7It is a processing flow chart of a method for switching between a main control board and a standby system provided by an embodiment of the present application, in which the main control board is arranged at both ends of a train; Figure 8 It is a processing flow chart of a method for switching between a main and standby system in which a main control board is arranged at one end of a train, provided by an embodiment of the present application; Fig. 9 It is a structural schematic diagram of a main-standby system switching device provided in one embodiment of the present application; Fig.10 It is a structural diagram of a main-standby system switching system provided in one embodiment of the present application; Fig.11 It is a structural block diagram of a computing device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0014] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0015] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "said" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0016] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0017] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards in the relevant regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0018] First, the terms involved in one or more embodiments of the present application are explained.

[0019] Activation end: When the train driver starts the running key at one end of the train, it is considered to activate that end, and the activation end signal is obtained through the DIO board.

[0020] DIO board: A digital input and output board with isolation function, suitable for application scenarios that require isolation. DIO board has a wide range of applications, including but not limited to traffic signal control (such as traffic lights), camera control, etc.

[0021] Dual-system communication and IO decision: The master and standby systems communicate with the IO board through the CAN bus, and the master and standby systems communicate through the UPD network. Specific communication protocols need to be applied here. The master and standby systems are jointly decided by the communication status with the IO board and the dual-system communication status.

[0022] Head-to-tail redundancy: A set of onboard systems is placed at the head and tail ends of the train, which are started simultaneously and run redundantly.

[0023] Dual-system switching: There is a main system and a backup system during operation. When the main system fails, the backup system is upgraded to the main system. There can only be one main system at a time, and only the main system outputs business data to the application layer.

[0024] In the field of rail transit, two control systems are usually set up during train operation, one main system and one backup system. When the main system fails, the backup system can take over the work immediately, thereby avoiding single point failure of the system and improving the reliability and stability of train operation. At present, before the train switches between the main and backup systems, the judgment condition is that the working state of the system is worse than that of the other system. Among them, poor working state is a subjective concept, and there is no scientific indicator to judge whether the state is good or bad, which is not objective and scientific enough. In the process of switching between the main and backup systems, hardware relay circuits are used to achieve interlocking. When the hardware circuit fails, frequent switching and switching failure may occur.

[0025] Based on this, in the present application, a master-standby system switching method is provided. The present application also involves a master-standby system switching device, a master-standby system switching system, a computing device, a computer-readable storage medium and a computer program product, which are described in detail one by one in the following embodiments.

[0026] Figure 1 A flowchart of a method for switching between a primary and a standby system according to an embodiment of the present application is shown. The method is applied to a primary and a standby system switching system of a target train, the system comprising a digital input and output board (DIO board), a first control system and a second control system. Specifically, the following steps are included: Step 102: Start a first control system at a first time point, and establish system communication between the first control system and the digital input and output board.

[0027] In the method provided in the embodiment of the present application, the train onboard main control board needs to be installed in the slot of the cage in the target train, the target train includes a first main control board and a second main control board, the first main control board is deployed with a first control system, and the second main control board is deployed with a second control system. After the target train is powered on, the first control system and the second control system are confirmed by the slot number.

[0028] A DIO board (Digital Input / Output board) is a circuit board used in the fields of industrial control, automation equipment, data acquisition, etc., and is mainly used to realize the input and output functions of digital signals. In the method provided in the present application, after the first control system and the second control system are started, the main system and the backup system are determined through communication with the digital input / output board.

[0029] In the method provided in the present application, the first control system and the second control system can be determined by the slot number in the cage, and after the first control system and the second control system are determined, the first control system is started first through system settings. After starting, the first control system first establishes communication with the digital input and output board.

[0030] In a specific implementation manner provided in the present application, starting a first control system at a first time point includes: Receiving a start instruction for the target train at a first time point; In response to the start-up instruction, the first control system is started.

[0031] In this embodiment, the target vehicle is equipped with a corresponding main-standby system switching system. The first control system and the second control system both use the same power switch. The train driver powers on the target train at a first time point and sends a start command to the target train. The first control system and the second control system are powered on at the same time. According to the system settings, the first control system starts immediately when it receives the start command at the first time point. That is, when the target train receives the start command at the first time point, the first control system starts immediately.

[0032] In practical applications, the first control system is deployed in the first main control board, and the second control system is deployed in the second main control board. The first main control board and the second main control board are arranged in the cage of the target train, and the cage of the target train is respectively arranged at the head end and the tail end of the target train. The first main control board and the second main control board can be respectively arranged in the cages at both ends of the target train, or can be simultaneously arranged in the cage at one end of the target train. The following will further explain these two situations.

[0033] In a specific embodiment provided in the present application, the main-standby system switching system includes a first main control board and a first digital input-output board deployed at the first end of the target train, and a second main control board and a second digital input-output board deployed at the second end of the target train, wherein the first main control board is deployed with a first control system, and the second main control board is deployed with a second control system; Establishing system communication between the first control system and the digital input and output board includes: System communication between the first control system and the first digital input-output board and system communication between the first control system and the second digital input-output board are established.

[0034] In this embodiment, the first main control board and the second main control board are respectively arranged in the cages at both ends of the target train for explanation. The first main control board is arranged at the first end of the target train, and the second main control board is arranged at the second end of the target train. The first end and the second end belong to the front or the rear of the target train respectively.

[0035] In this embodiment, there are two digital input and output boards, namely a first digital input and output board arranged at the first end and a second digital input and output board arranged at the second end. The first main control board is equipped with a first control system, and the second control board is equipped with a second control system.

[0036] After being started, the first control system communicates with the first digital input and output board to establish system communication between the first control system and the first digital input and output board.

[0037] See also Figure 2 , Figure 2 A schematic diagram of a train communication architecture provided by an embodiment of the present application is shown. Figure 2 As shown, the first main control board and the second main control board are respectively arranged at the two ends of the target train, the first main control board is deployed with the first control machine system, and the second main control board is deployed with the second control system. The first main control board and the second main control board communicate with each other through a data exchange device. The main control board and the digital input and output board communicate with each other through the CAN bus. Specifically, the first main control board includes a can0 port and a can1 port, and the second main control board includes a can0 port and a can1 port. The first digital input and output board communicates with the can0 port in the first main control board and communicates with the can1 port in the second main control board; the second digital input and output board communicates with the can0 port in the second main control board and communicates with the can1 port in the first main control board. The external device exchanges data with the first control system and the second control system through the data exchange device. One of the first control system and the second control system is a main system and the other is a standby system.

[0038] After the driver powers on the target train, the first control system in the first main control board is started first according to the slot numbers of the control boards, that is, the first control system is started at the first time point, and at the same time, the first control system begins to establish system communication with the first digital input and output board.

[0039] In another specific embodiment provided in the present application, the first end of the target train is provided with a first main control board, a second main control board and a digital input and output board, the first main control board deploys a first control system, and the second main control board deploys a second control system.

[0040] In this embodiment, the first main control board and the second main control board are set in the cage at the same end of the target train as an example for explanation. The first end of the target train can be the front of the train or the rear of the train. The first main control board, the second main control board and the digital input and output board are simultaneously arranged in the cage at the first end of the target train.

[0041] See also Figure 3 , Figure 3 A schematic diagram of a train communication architecture provided by another embodiment of the present application is shown. Figure 3 As shown, the first main control board and the second main control board are arranged in a cage at the same end of the target train, and a digital input and output board is also arranged in the cage. The digital input and output board communicates with the first main control board and the second main control board respectively through CAN. The external device communicates and synchronizes data with the first control system in the first main control board and the second control system in the second main control board through a switch.

[0042] In this embodiment, after the driver powers on the target train, the driver determines to start the first control system in the first main control board first according to the slot number of each main control board. That is, the first control system starts at the first time point, and at the same time, the first control system establishes system communication with the digital input and output board.

[0043] Step 104: Start a second control system at a second time point, wherein the second time point is later than the first time point.

[0044] The second time point refers to a time point later than the first time point. For example, taking the first time point as 7:01:50 as an example, the second time point may be 7:01:51. The second control system is powered on at the same time as the first control system, but the second control system is started a period of time later than the first control system. In the method provided in the present application, the delayed start time may be 1 second, 2 seconds, etc., and the specific delayed start time may be set according to actual conditions.

[0045] In the method provided in the embodiment of the present application, the first control system and the second control system are powered on at the same time, and the first control system can be started first and then the second control system by the slot number corresponding to the main control board where each control system is located. The startup time of the second control system is slightly later than that of the first control system.

[0046] After the second control system is started, it is necessary to further communicate with the digital input and output board to determine whether the first control system has established system communication with the digital input and output board. As described in the above steps, in the method provided by the present application, the first main control board and the second main control board are used in the scenarios where the first main control board and the second main control board are set in the same cage and two different cages. The following will explain these two scenarios respectively.

[0047] In a specific embodiment provided in the present application, a first end of the target train is provided with a first main control board, a second main control board and a digital input and output board, the first main control board deploys a first control system, and the second main control board deploys a second control system; The method further comprises: The first main control board and the second main control board establish system communication with the digital input and output board respectively.

[0048] In this embodiment, the first main control board and the second main control board are set in the cage at the same end of the target train as an example for explanation. The first end of the target train can be the front of the train or the rear of the train. The first main control board, the second main control board and the digital input and output board are simultaneously arranged in the cage at the first end of the target train.

[0049] In this embodiment, the first main control board and the second main control board are arranged in the cage at the same end of the target train, and a digital input and output board is also arranged in the cage at the same end. Figure 4 , Figure 4 A system block diagram of a main control board provided by an embodiment of the present application is shown. Figure 4As shown, the first main control board is provided with a first control system, the first main control board communicates with the digital input and output board through the CAN bus, the second main control board communicates with the digital input and output board through the CAN bus, and the startup time of the second control system is later than the first control system. When the first control system is started, a communication connection is established with the digital input and output board through the CAN bus. After that, the second control system is started, and a communication connection is also established with the digital input and output board through the CAN bus, and it is obtained from the digital input and output board whether it has established a communication connection with the first control system, so as to further perform subsequent processing and determine which of the first control system and the second control system is the main system and which is the backup system. ETH0 is the first Ethernet interface of the board, and ETH1 is the second Ethernet interface of the board. RS-485 is a serial bus standard, RS485-1 is the first communication interface based on the RS-485 standard, and RS485-2 is the second communication interface based on the RS-485 standard.

[0050] In another specific embodiment provided in the present application, a first main control board is provided at the first end of the target train, and a second main control board is provided at the second end of the target train; The method further comprises: The first main control board receives the second communication data sent by the second digital input and output board through the second control bus; The second main control board receives the first communication data sent by the first digital input and output board through the first control bus. In this embodiment, the first main control board and the second main control board are respectively arranged in the cages at both ends of the target train. For example, the first main control board is arranged at the first end of the target train, and the second main control board is arranged at the second end of the target train. At the same time, the first end of the target train is also provided with a first digital input and output board, and the second end of the target train is also provided with a second digital input and output board.

[0051] See also Figure 5 , Figure 5 The system block diagram of the main control board provided by an embodiment of the present application at different ends is shown. Figure 5As shown, after the first main control board establishes system communication with the first digital input and output board, it will receive the first communication data sent by the first digital input and output board, and at the same time, it will receive the second communication data sent by the second digital input and output board through the second control bus. After the second control system is started, the first communication data received by the second main control board can be used to determine whether the first control system has established system communication with the first digital input and output board, so as to further perform subsequent processing and determine which of the first control system and the second control system is the main system and which is the backup system. ETH0 is the first Ethernet interface of the board, and ETH1 is the second Ethernet interface of the board. RS-485 is a serial bus standard, RS485-1 is the first communication interface based on the RS-485 standard, and RS485-2 is the second communication interface based on the RS-485 standard. RS485-3 is the third communication interface based on the RS-485 standard, and RS485-4 is the fourth communication interface based on the RS-485 standard.

[0052] In this embodiment, the second main control board can also receive the second communication data sent by the second digital input and output board, and at the same time receive the first communication data sent by the first digital input and output board through the first control bus.

[0053] In practical applications, the second main control board receives the second communication data sent by the second digital input and output board, and sends the second communication data to the first main control board through the second control bus, including: The first main control board receives a first input acquisition frame sent by the first digital input and output board, and sends the first input acquisition frame to a second control system in the second main control board through a first control bus; The second control system parses the first input acquisition frame to obtain communication status information of system communication between the first digital input and output board and the first control system; Determine whether the communication status of the system communication is disconnected according to the communication status information.

[0054] It should be noted that when only one end of the main control board is started, the main control board communicates with the digital input and output board at the local end to determine the communication status between the main control board and the digital input and output board at the local end; if the main control boards at both ends are started, it is necessary to determine the communication status between each main control board and the digital input and output board at the other end.

[0055] In the implementation mode provided by the present application, the main control board is at both ends of the target train, and the main control board sends an output control frame to the digital input and output board in each cycle, and the digital input and output board returns an input acquisition frame to the main control board according to the output control frame. Whether the system communication is normal is further determined by the communication status information in the input acquisition frame.

[0056] Specifically, in each communication cycle, the first main control board sends an output control frame to the first digital input and output board, and the output control frame carries a SYS ID flag (0x00: first control system, 0x01: second control system). After receiving the output control frame, the first digital input and output board reports the first input acquisition frame to the first main control board according to the SYS ID flag therein, and the first input acquisition frame includes the communication status information between it and each main control board (0x00: communication link is broken, 0x01: communication with system I is normal, 0x02: communication with system II is normal).

[0057] After receiving the first input acquisition frame, the first main control board will send the first input acquisition frame to the second control system of the second main control board through the CAN main line. The second control system will parse the first input acquisition frame and obtain the communication status between the main first digital input and output board and the first control system, as well as the communication status between the first digital input and output board and the second control system. The communication status information is used to determine which main control board the digital input and output board is communicating with.

[0058] Referring to Table 1 and Table 2 below, Table 1 shows the message format of an output control frame provided in an embodiment of the present application. Table 2 shows the message format of an input acquisition frame provided in an embodiment of the present application.

[0059] Table 1

[0060] Table 2

[0061] Step 106: When the system communication is successfully established, the first control system is determined as the primary system, the second control system is determined as the backup system, and the business data of the primary system is synchronized in the backup system.

[0062] After the above steps are processed, the second control system will receive the input acquisition frame sent by the digital input and output board after startup, and the input acquisition frame includes communication status information. The second control system can obtain the communication status between the first control system and the digital input and output board by parsing the input acquisition frame. Through the communication status, it can be determined whether the first control system has established system communication with the digital input and output board.

[0063] If the system communication between the first control system and the digital input and output board has been successfully established, the first control system is determined as the main system, and the second control system is determined as the backup system. At the same time, the business data in the main system is synchronized in the backup system.

[0064] In another specific embodiment provided in the present application, the method further comprises: In the case where the system communication establishment fails, the first control system is determined as a backup system, and the second control system is determined as a primary system.

[0065] In another specific implementation provided by the present application, when the system communication between the first control system and the digital input and output board fails to be established, the second control system is determined as the main system and the first control system is determined as the backup system. Similarly, after the main system and the backup system are determined, the business data in the main system is synchronized in the backup system.

[0066] In a specific implementation manner provided in the present application, synchronizing the service data of the primary system in the backup system includes: The main system receives the initial business logic data sent by the business logic layer, and generates business data based on the initial business logic data; The primary system sends the service data to the backup system; The standby system receives and stores the service data.

[0067] In this embodiment, the business data is generated by the initial business logic data sent down by the business logic layer. In practical applications, the business logic layer can be understood as collecting the initial business logic data collected and sent by external devices. The initial business logic data can be understood as the basic input for business processing, such as the train's location information, train speed, train acceleration, train travel time and other information.

[0068] After receiving the initial business logic data sent by each external device, the business logic layer will send each initial business logic data to the main system, where it will be collected and processed accordingly to generate corresponding business data. The business data will be sent to the data switch, which will then send it to the backup system for data synchronization and backup.

[0069] See Table 3 below, which shows the message format of the business data provided by an embodiment of the present application.

[0070] Table 3

[0071] The service data is packaged and delivered through the message format of Table 3. After receiving the service data of each period, the backup system saves it and judges whether the service data synchronization fails through the synchronization sequence number in the message format. Specifically, in another specific implementation provided by the present application, the method further includes: The standby system receives and stores at least one piece of service data sent by the primary system; The standby system determines whether synchronization of the service data fails according to the service data identifier corresponding to each service data.

[0072] In this embodiment, the standby system receives and stores the service data sent by the primary system, and the format of the service data is as shown in the message format in Table 3. The service data identifier (synchronization sequence number) in each service data is used to further determine whether the standby system has a service data synchronization failure.

[0073] Specifically, the standby system determines whether the synchronization of the service data fails according to the service data identifier corresponding to each service data, including: When the difference between the business data identifiers corresponding to the stored business data is greater than a preset identifier threshold, it is determined that the business data synchronization has failed; When the difference between the business data identifiers corresponding to the stored business data is less than or equal to a preset identifier threshold, it is determined that the business data synchronization is successful.

[0074] Furthermore, after receiving the business data, the backup system will sort and save the business data according to the business data identifier. If the difference between the business data identifiers corresponding to two adjacent business data saved is greater than the preset identifier threshold, it means that the synchronization of the business data of the primary system to the backup system fails. Otherwise, it can be determined that the business data synchronization is successful.

[0075] For example, taking the preset identification threshold of 3 as an example for explanation, if the data identification of the business data received by the standby system for n consecutive packets is "...5, 6, 7, 9", at this time, the difference between the business data identification 7 and the business data identification 9 is 2, which is less than the preset identification threshold 3, then it can be considered that the business data synchronization is successful in this case. If the data identification of the business data received by the standby system for n consecutive packets is "...5, 6, 7, 13". At this time, the difference between the business data identification 7 and the business data identification 13 is 6, which is greater than the preset identification threshold 3, then it is determined that the business data synchronization has failed in this case.

[0076] In a specific embodiment provided in the present application, the method further comprises: The main system generates a control instruction according to the business data; The target train is controlled to travel according to the control instruction.

[0077] In the method provided in the present application, after generating the business data, the main system will further generate corresponding control instructions according to the business data, and control the movement of the target train based on the control instructions.

[0078] Step 108: When it is detected that the business data synchronization fails and the communication status of the system communication is disconnected, the first control system is switched to a backup system and the second control system is switched to a primary system.

[0079] The method provided by the present application can detect the synchronization status of the backup system according to the above-mentioned method for detecting whether the synchronization of business data fails. When the synchronization failure of business data is detected, the communication status of the communication system needs to be determined at the same time. Therefore, it is determined whether the active-standby system switching is required according to the synchronization status of the business data and the communication status of the communication system.

[0080] Specifically, only when business data synchronization failure is detected and the communication status of the system communication is disconnected, the main system will be considered abnormal. In this case, the main and backup systems will be switched, that is, the first control system will be switched to the backup system and the second control system will be switched to the main system.

[0081] For another example, when a business data synchronization failure is detected, but the communication status of the system communication is still connected, it can be considered that the backup system is abnormal while the primary system is normal. In this case, there is no need to switch the primary and backup systems.

[0082] For another example, when no business data synchronization failure is detected, but the communication status of the system communication is disconnected, the fact that the business data synchronization has not failed can confirm that the main system is still working normally, and when the communication status of the system communication is determined to be disconnected through the information of the digital input and output board, it can be considered that there is an abnormality in the system communication between the main system and the digital input and output board. At this time, it does not affect the normal use of the main system, and there is no need to switch the main and standby systems.

[0083] In a specific implementation manner provided in the present application, before determining that the first control system is a standby system and determining that the second control system is a main system, the method further includes: Obtaining the number of master-slave system switching between the first control system and the second control system within a preset time interval; Accordingly, when it is detected that the business data synchronization fails and the communication state of the system communication is disconnected, the first control system is switched to the standby system and the second control system is switched to the main system, including: When it is detected that the business data synchronization fails, the number of master-slave system switching is less than a preset number threshold, and the communication status of the system communication is disconnected, the first control system is determined to be the backup system, and the second control system is determined to be the master system.

[0084] In this embodiment, before performing the main-backup system switching, it is necessary to further determine the number of main-backup system switchings within a preset time interval. In order to prevent frequent switching between the main and backup systems and affect the normal operation of the target train, in this embodiment, by counting the number of main-backup system switchings within a preset time interval, the switching frequency between the main and backup systems can be effectively controlled. The main-backup system switching will only be performed when business data synchronization fails, the communication status of the system communication is disconnected, and the number of main-backup system switchings is less than the preset number threshold, that is, the first control system is switched from the main system to the backup system, and the second control system is switched from the backup system to the main system.

[0085] The method provided in the embodiment of the present application can be summarized into four states in the control system, namely, the system initial state, the main system state, the standby system unsynchronized state and the standby system synchronized state. Figure 6 , Figure 6 FIG. 1 is a schematic diagram showing various states of a control system provided by an embodiment of the present application. Figure 6 The system is initially in the initial state. In this case, the target train is powered on, and the first control system in the first main control board is started first by judging the slot identifiers of the first main control board and the second main control board, and the second control system in the second main control board is started after a delay.

[0086] After the first control system is started, it first establishes communication with the digital input and output board (DIO board). At this time, it can be determined that the first control system is the main system, and the first control system enters the main system state. When the second control system is started, it communicates with the digital input and output board to determine that the first control system has already established communication with the DIO board, and the second control system is used as the backup system. At this time, the second control system has not yet started to synchronize the business data of the main system. The second control system enters the backup system unsynchronized state.

[0087] When the second control system is acting as a backup system, dual-system synchronization is performed. If the dual-system synchronization is successful, the second control system enters the backup system synchronization state. When the second control system is in the backup system unsynchronized state, if the number of business data synchronization failures exceeds 3 times, and the backup system has not upgraded the main system within the preset time interval, and the communication status of the DIO board and the main system is marked as disconnected, the main and backup systems are switched, the first control system is switched to the backup system, and the second control system is switched to the main system.

[0088] When the second control system serves as a backup system and enters the backup system synchronization state, it also detects the synchronization of business data. When the number of business data synchronization failures exceeds three times, and the backup system has not upgraded the main system within the preset time interval, and the communication status between the DIO board and the main system is marked as communication disconnection, the main and backup systems are switched, the first control system is switched to the backup system, and the second control system is switched to the main system.

[0089] The method provided by the embodiment of the present application solves the problem of seamless switching of the main and standby systems of the target train. By introducing a digital input and output board and combining the data synchronization conditions between the main and standby systems to jointly determine the main and standby system switching method, the switching cost is reduced while ensuring the safety of the switching. In the process of switching the main and standby systems, the situation of the simultaneous existence of two main systems is avoided. In the process of judging the switching conditions, multiple conditions are combined for judgment, and there is no need for human intervention or manual operation. The main and standby system switching action is automatically judged and executed, with fast processing speed and high efficiency.

[0090] Combine the following Figure 7 Taking the main and standby system switching method provided by the present application in the scenario where the main control board is set at both ends of the train as an example, the main and standby system switching method is further explained, wherein: Figure 7 A processing flow chart of a method for switching between a main and standby systems in which a main control board is arranged at both ends of a train provided by an embodiment of the present application is shown. In this embodiment, the method for switching between a main and standby systems is applied to a main and standby system switching system, which includes a first main control board and a first digital input and output board deployed at the first end of a target train, a second main control board and a second digital input and output board deployed at the second end of the target train, the first main control board deploys a first control system, and the second main control board deploys a second control system; specifically, the following steps are included: Step 702: receiving a start instruction for the target train at a first time point, and starting the first control system in response to the start instruction.

[0091] Step 704: Establish system communication between the first control system and the first digital input and output board and between the first control system and the second digital input and output board, and simultaneously obtain the communication status between the first control system and the second digital input and output board, and determine that the first control system is the main system.

[0092] Step 706: Start a second control system at a second time point, wherein the second time point is later than the first time point.

[0093] Step 708: The second control system communicates with the first digital input and output board and the second digital input and output board, and simultaneously obtains the communication status between the first control system and the first digital input and output board.

[0094] Step 710: When the first control system successfully establishes communication with the first digital input and output board, determine that the second control system is a standby system.

[0095] Step 712: The main system receives the initial business logic data sent by the business logic layer, and generates business data based on the initial business logic data.

[0096] Step 714: The main system generates a control instruction according to the business data so that the control instruction controls the movement of the target train, and sends the business data to the standby system.

[0097] Step 716: The standby system receives and stores at least one piece of business data sent by the primary system, and determines whether the business data synchronization fails according to the business data identifier corresponding to each piece of business data.

[0098] Step 718: The input acquisition frame of the first digital input and output board is sent to the second main control board through the cross CAN bus, so that the standby system determines the communication status between the main system and the first digital input and output board according to the communication status information in the input acquisition frame.

[0099] Step 720: When the number of business data synchronization failures of the standby system is greater than 3 times, the communication status is disconnected, and the standby system has not upgraded the main system in 24 hours, the first control system is switched to the standby system and the second control system is switched to the main system.

[0100] Combine the following Figure 8 Taking the main and standby system switching method provided by the present application in the scenario where the main control board is set at one end of the train as an example, the main and standby system switching method is further explained, wherein: Figure 8 A processing flow chart of a method for switching between a main and standby systems in which a main control board is arranged at one end of a train provided by an embodiment of the present application is shown. In this embodiment, the method for switching between a main and standby systems is applied to a main and standby system switching system, which includes a first main control board, a second main control board and a digital input and output board deployed at the same end of a target train, wherein the first main control board deploys a first control system and the second main control board deploys a second control system; specifically, the following steps are included: Step 802: receiving a start instruction for the target train at a first time point, and starting the first control system in response to the start instruction.

[0101] Step 804: Establish system communication between the first control system and the digital input and output board, obtain the communication status between the first control system and the digital input and output board, and determine that the first control system is the main system.

[0102] Step 806: Start a second control system at a second time point, wherein the second time point is later than the first time point.

[0103] Step 808: The second control system communicates with the digital input and output board to obtain the communication status between the first control system and the digital input and output board.

[0104] Step 810: When the first control system successfully establishes communication with the digital input and output board, determine that the second control system is a standby system.

[0105] Step 812: The main system receives the initial business logic data sent by the business logic layer, and generates business data based on the initial business logic data.

[0106] Step 814: The main system generates a control instruction according to the business data so that the control instruction controls the movement of the target train, and sends the business data to the standby system.

[0107] Step 816: The standby system receives and stores at least one piece of business data sent by the primary system, and determines whether the business data synchronization fails according to the business data identifier corresponding to each piece of business data.

[0108] Step 818: The second main control board obtains the input acquisition frame of the digital input and output board, and determines the communication status between the main system and the digital input and output board according to the communication status information in the input acquisition frame.

[0109] Step 820: When the number of business data synchronization failures of the standby system is greater than 3 times, the communication status is disconnected, and the standby system has not upgraded the main system in 24 hours, the first control system is switched to the standby system and the second control system is switched to the main system.

[0110] Corresponding to the above method embodiment, the present application also provides an embodiment of a main-standby system switching device, Fig. 9 The schematic diagram of the structure of a main-standby system switching device provided by an embodiment of the present application is shown. The device is applied to the main-standby system switching system of the target train, and the system includes a digital input and output board, a first control system and a second control system, such as Fig. 9 As shown, the device comprises: A first starting module 902 is configured to start a first control system at a first time point to establish system communication between the first control system and the digital input and output board; A second starting module 904 is configured to start a second control system at a second time point, wherein the second time point is later than the first time point; The master-slave system confirmation module 906 is configured to determine the first control system as the master system and the second control system as the slave system when the system communication is successfully established, and synchronize the service data of the master system in the slave system; The primary-backup system switching module 908 is configured to switch the first control system to the backup system and the second control system to the primary system when it is detected that the business data synchronization fails and the communication status of the system communication is disconnected.

[0111] Optionally, the primary-backup system confirmation module 906 is configured to determine that the first control system is a backup system and the second control system is a primary system when the system communication establishment fails.

[0112] Optionally, the first starting module 902 is further configured to: Receiving a start instruction for the target train at a first time point; In response to the start-up instruction, the first control system is started.

[0113] Optionally, the master / slave system confirmation module 906 is further configured to: The main system receives the initial business logic data sent by the business logic layer, and generates business data based on the initial business logic data; The primary system sends the service data to the backup system; The standby system receives and stores the service data.

[0114] Optionally, the device further includes a judgment module configured to: The standby system receives and stores at least one piece of service data sent by the primary system; The standby system determines whether synchronization of the service data fails according to the service data identifier corresponding to each service data.

[0115] Optionally, the judging module is further configured to: When the difference between the business data identifiers corresponding to the stored business data is greater than a preset identifier threshold, it is determined that the business data synchronization has failed; When the difference between the business data identifiers corresponding to the stored business data is less than or equal to a preset identifier threshold, it is determined that the business data synchronization is successful.

[0116] Optionally, the device further includes a control module configured to: The main system generates a control instruction according to the business data; The target train is controlled to travel according to the control instruction.

[0117] Optionally, the main-standby system switching system includes a first main control board and a first digital input-output board deployed at the first end of the target train, and a second main control board and a second digital input-output board deployed at the second end of the target train, wherein the first main control board is deployed with a first control system, and the second main control board is deployed with a second control system; The first starting module 902 is further configured to: System communication between the first control system and the first digital input-output board and system communication between the first control system and the second digital input-output board are established.

[0118] Optionally, a first main control board is provided at the first end of the target train, and a second main control board is provided at the second end of the target train; The device also includes a data transmission module configured to: The first main control board receives the second communication data sent by the second digital input and output board through the second control bus; The second main control board receives the first communication data sent by the first digital input and output board through the first control bus.

[0119] Optionally, the data transmission module is further configured as follows: The first main control board receives a first input acquisition frame sent by the first digital input and output board, and sends the first input acquisition frame to a second control system in the second main control board through a first control bus; The second control system parses the first input acquisition frame to obtain communication status information of system communication between the first digital input and output board and the first control system; Determine whether the communication status of the system communication is disconnected according to the communication status information.

[0120] Optionally, the first end of the target train is provided with a first main control board, a second main control board and a digital input and output board, the first main control board deploys a first control system, and the second main control board deploys a second control system; The device also includes a communication connection module, which is configured to: The first main control board and the second main control board establish system communication with the digital input and output board respectively.

[0121] The device provided in the embodiment of the present application solves the problem of seamless switching of the main and standby systems of the target train. By introducing a digital input and output board and combining the data synchronization conditions between the main and standby systems to jointly determine the main and standby system switching method, the switching cost is reduced while ensuring the safety of the switching. In the process of switching the main and standby systems, the situation of the simultaneous existence of two main systems is avoided. In the process of judging the switching conditions, multiple conditions are combined for judgment, and there is no need for human intervention or manual operation. The main and standby system switching action is automatically judged and executed, with fast processing speed and high efficiency.

[0122] The above is a schematic scheme of a master-standby system switching device of this embodiment. It should be noted that the technical scheme of the master-standby system switching device and the technical scheme of the master-standby system switching method described above belong to the same concept, and the details not described in detail in the technical scheme of the master-standby system switching device can be found in the description of the technical scheme of the master-standby system switching method described above.

[0123] Fig.10 The structure diagram of the active-standby switching system provided by an embodiment of the present application is shown, and the system includes a control server 1002, a digital input and output board 1004, a first control system 1006 and a second control system 1008; The first control system 1006 is configured to start at a first time point and establish system communication with the digital input and output board 1004, and when it is determined that the communication between the digital input and output board 1004 and the first control system 1006 is normal, determine that the first control system 1006 is the main system; The second control system 1008 is configured to start at a second time point, establish communication with the digital input and output board 1004, and determine that the second control system 1008 is a standby system when the digital input and output board 1004 communicates normally with the first control system 1006, wherein the second time point is later than the first time point; The control server 1002 is configured to synchronize the service data of the primary system in the standby system; The control server 1002 is further configured to switch the first control system 1006 to a backup system and the second control system 1008 to a primary system when detecting that the business data synchronization fails and the communication status of the system communication is disconnected.

[0124] The system provided by the embodiment of the present application solves the problem of seamless switching of the main and standby systems of the target train. By introducing a digital input and output board and combining the data synchronization conditions between the main and standby systems to jointly determine the main and standby system switching method, the switching cost is reduced while ensuring the safety of the switching. In the process of switching the main and standby systems, the situation of the simultaneous existence of two main systems is avoided. In the process of judging the switching conditions, multiple conditions are combined for judgment, and there is no need for human intervention or manual operation. The main and standby system switching action is automatically judged and executed, with fast processing speed and high efficiency.

[0125] Fig.11 The block diagram of a computing device 1100 provided according to an embodiment of the present application is shown. The components of the computing device 1100 include but are not limited to a memory 1110 and a processor 1120. The processor 1120 is connected to the memory 1110 via a bus 1130, and the database 1150 is used to store data.

[0126] The computing device 1100 also includes an access device 1140 that enables the computing device 1100 to communicate via one or more networks 1160. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 1140 may include one or more of any type of network interface (e.g., a network interface card (NIC)) of wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0127] In one embodiment of the present application, the above components of the computing device 1100 and Fig.11 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Fig.11The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of the present application. Those skilled in the art may add or replace other components as needed.

[0128] The computing device 1100 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 1100 may also be a mobile or stationary server.

[0129] The processor 1120 is used to execute the following computer program / instruction, which implements the steps of the above-mentioned active-standby system switching method when executed by the processor.

[0130] The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the above-mentioned active-standby system switching method belong to the same concept, and the details not described in detail in the technical scheme of the computing device can be referred to the description of the technical scheme of the above-mentioned active-standby system switching method.

[0131] An embodiment of the present specification also provides a computer-readable storage medium storing a computer program / instruction, which implements the steps of the above-mentioned active-standby system switching method when executed by a processor.

[0132] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the above-mentioned active-standby system switching method belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the above-mentioned active-standby system switching method.

[0133] An embodiment of the present specification also provides a computer program product, including a computer program / instruction, which implements the steps of the above-mentioned active-standby system switching method when executed by a processor.

[0134] The above is a schematic scheme of a computer program product of this embodiment. It should be noted that the technical scheme of the computer program product and the technical scheme of the above-mentioned active-standby system switching method belong to the same concept, and the details not described in detail in the technical scheme of the computer program product can be referred to the description of the technical scheme of the above-mentioned active-standby system switching method.

[0135] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0136] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0137] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0138] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0139] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A method for switching between a primary and a standby system, characterized in that: The method is applied to a main-standby system switching system of a target train, the system comprising a digital input-output board, a first control system and a second control system, the method comprising: Starting a first control system at a first time point, and establishing system communication between the first control system and the digital input and output board; Starting a second control system at a second time point, wherein the second time point is later than the first time point; In the case where the system communication is successfully established, the first control system is determined as the primary system, the second control system is determined as the backup system, and the service data of the primary system is synchronized in the backup system; When it is detected that the business data synchronization fails and the communication state of the system communication is disconnected, the first control system is switched to a standby system, and the second control system is switched to a main system.

2. The method according to claim 1, characterized in that The method further comprises: In the case where the system communication establishment fails, the first control system is determined as a backup system, and the second control system is determined as a primary system.

3. The method according to claim 1, characterized in that Starting a first control system at a first time point includes: Receiving a start instruction for the target train at a first time point; In response to the start-up instruction, the first control system is started.

4. The method according to claim 1, characterized in that Synchronize the business data of the primary system in the standby system, including: The main system receives the initial business logic data sent by the business logic layer, and generates business data based on the initial business logic data; The primary system sends the service data to the backup system; The standby system receives and stores the service data.

5. The method according to claim 4, characterized in that The method further comprises: The standby system receives and stores at least one piece of service data sent by the primary system; The standby system determines whether synchronization of the service data fails according to the service data identifier corresponding to each service data.

6. The method according to claim 5, characterized in that The standby system determines whether the synchronization of the service data fails according to the service data identifier corresponding to each service data, including: When the difference between the business data identifiers corresponding to the stored business data is greater than a preset identifier threshold, it is determined that the business data synchronization has failed; When the difference between the business data identifiers corresponding to the stored business data is less than or equal to a preset identifier threshold, it is determined that the business data synchronization is successful.

7. The method according to claim 4, characterized in that The method further comprises: The main system generates a control instruction according to the business data; The target train is controlled to travel according to the control instruction.

8. The method according to claim 1, characterized in that The main-standby system switching system includes a first main control board and a first digital input-output board deployed at the first end of the target train, and a second main control board and a second digital input-output board deployed at the second end of the target train, wherein the first main control board is deployed with a first control system, and the second main control board is deployed with a second control system; Establishing system communication between the first control system and the digital input and output board includes: System communication between the first control system and the first digital input-output board and system communication between the first control system and the second digital input-output board are established.

9. The method according to claim 1, characterized in that A first main control board is provided at the first end of the target train, and a second main control board is provided at the second end of the target train; The method further comprises: The first main control board receives the second communication data sent by the second digital input and output board through the second control bus; The second main control board receives the first communication data sent by the first digital input and output board through the first control bus.

10. The method according to claim 9, characterized in that The second main control board receives the second communication data sent by the second digital input and output board, and sends the second communication data to the first main control board through the second control bus, including: The first main control board receives a first input acquisition frame sent by the first digital input and output board, and sends the first input acquisition frame to a second control system in the second main control board through a first control bus; The second control system parses the first input acquisition frame to obtain communication status information of system communication between the first digital input and output board and the first control system; Determine whether the communication status of the system communication is disconnected according to the communication status information.

11. The method according to claim 1, characterized in that The first end of the target train is provided with a first main control board, a second main control board and a digital input and output board, the first main control board deploys a first control system, and the second main control board deploys a second control system; The method further comprises: The first main control board and the second main control board establish system communication with the digital input and output board respectively.

12. The method according to any one of claims 1 to 11, characterized in that: Before determining that the first control system is a standby system and determining that the second control system is a main system, the method further includes: Obtaining the number of master-slave system switching between the first control system and the second control system within a preset time interval; Accordingly, when it is detected that the business data synchronization fails and the communication state of the system communication is disconnected, the first control system is switched to the standby system and the second control system is switched to the main system, including: When it is detected that the business data synchronization fails, the number of master-slave system switching is less than a preset number threshold, and the communication status of the system communication is disconnected, the first control system is determined to be the backup system, and the second control system is determined to be the master system.

13. A master-slave switching system, characterized in that: It includes a control server, a digital input and output board, a first control system and a second control system; The first control system is configured to start at a first time point and establish system communication with the digital input and output board, and determine the first control system as the main system when it is determined that the digital input and output board communicates normally with the first control system; The second control system is configured to start at a second time point, establish communication with the digital input and output board, and determine that the second control system is a standby system when the digital input and output board communicates normally with the first control system, wherein the second time point is later than the first time point; The control server is configured to synchronize the service data of the primary system in the standby system; The control server is further configured to switch the first control system to a standby system and the second control system to a main system when detecting that the business data synchronization fails and the communication status of the system communication is disconnected.

14. A master-slave system switching device, characterized in that: The device is applied to the main and standby system switching system of the target train, the system includes a digital input and output board, a first control system and a second control system, and the device includes: A first starting module, configured to start a first control system at a first time point, and establish system communication between the first control system and the digital input and output board; A second starting module is configured to start a second control system at a second time point, wherein the second time point is later than the first time point; A master-slave system confirmation module, configured to determine the first control system as the master system and the second control system as the slave system when the system communication is successfully established, and synchronize the service data of the master system in the slave system; The active-standby system switching module is configured to switch the first control system to the standby system and the second control system to the active system when it is detected that the business data synchronization fails and the communication state of the system communication is disconnected.

15. A computing device, characterized in that: include: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions. When the computer programs / instructions are executed by the processor, the steps of the method described in any one of claims 1 to 12 are implemented.

16. A computer-readable storage medium storing a computer program / instruction, characterized in that: When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 12 are implemented.

17. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 12 are implemented.

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