Primary and standby system switching method, device and system

Abstract

The present application provides a primary / standby system switching method, apparatus, and system. The primary / standby system switching method includes: starting a first control system at a first time point and establishing system communication between the first control system and a digital input / output board; starting a second control system at a second time point, where the second time point is later than the first time point; in the case where the system communication is successfully created, determining the first control system as the primary system, determining the second control system as the standby system, and synchronizing the service data of the primary system in the standby system; in the case where it is detected that the service 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 primary system. This method introduces a digital input / output board, and determines when to perform primary / standby switching through the communication between the digital input / output board and the first control system and the second control system, ensuring the train operation safety of the target train while reducing the cost of primary / standby system switching.

Description

Technical Field

[0001] This application relates to the technical field of rail transit, and particularly to a primary and backup system switching method. This application also relates to a primary and backup system switching device, a primary and backup system switching system, a computing device, a computer-readable storage medium, and a computer program product. Background Art

[0002] Redundancy and switching technologies are commonly used in the reliability design of computer systems. In the field of rail transit, during the train operation, to prevent the vehicle operation from being affected when an abnormality occurs in one set of on-vehicle platforms (such as hardware damage, system downtime, etc.), a primary and backup dual-system on-vehicle platform is designed. The primary and backup dual-system on-vehicle platform can improve the reliability of the train system. When the primary system fails or malfunctions, the backup system can immediately take over to ensure that the train can continue to operate normally and reduce the train outage time caused by faults.

[0003] Currently, in the switching of the train's primary and backup systems, there are problems such as the switching conditions being insufficiently objective and scientific, and the judgment conditions being single. When switching between the primary and backup systems, the hardware relay circuits are interlocked. When a hardware fault occurs in the circuit, there will be phenomena such as frequent switching and failure of the system switching. During the switching process, there will be a delay problem, increasing the driving risk during the system switching process. Therefore, technicians urgently need a safer and more reliable primary and backup system switching method. Summary of the Invention

[0004] In view of this, an embodiment of this application provides a primary and backup system switching method. This application also relates to a primary and backup system switching device, a primary and backup 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 the first aspect of the embodiments of this application, a primary and backup system switching method is provided. The method is applied to the primary and backup system switching system of a target train. The system includes a digital input / output board, a first control system, and a second control system. The method includes:

[0006] Starting the first control system at a first time point and establishing system communication between the first control system and the digital input / output board;

[0007] Starting the second control system at a second time point, where the second time point is later than the first time point;

[0008] When the system communication is successfully created, determining the first control system as the primary system, determining the second control system as the backup system, and synchronizing the service data of the primary system in the backup system;

[0009] In the case where it is detected that the synchronization of the service data fails and the communication status of the system communication is disconnected, switch the first control system to the standby system and switch the second control system to the main system.

[0010] According to the second aspect of the embodiments of the present application, a main-standby system switching system is provided, including a control server, a digital input / output board, a first control system, and a second control system;

[0011] The first control system is configured to start at a first time point, establish system communication with the digital input / output board, and determine that the first control system is the main system when it is determined that the communication between the digital input / output board and the first control system is normal;

[0012] The second control system is configured to start at a second time point, establish communication with the digital input / output board, and determine that the second control system is the standby system when the communication between the digital input / output board and the first control system is normal, where the second time point is later than the first time point;

[0013] The control server is configured to synchronize the service data of the main system in the standby system;

[0014] The control server is further configured to switch the first control system to the standby system and switch the second control system to the main system when it is detected that the synchronization of the service data fails and the communication status of the system communication is disconnected.

[0015] According to the third aspect of the embodiments of the present application, a main-standby system switching device is provided. The device is applied to the main-standby system switching system of a target train. The system includes a digital input / output board, a first control system, and a second control system. The device includes:

[0016] A first startup module configured to start the first control system at a first time point and establish system communication between the first control system and the digital input / output board;

[0017] A second startup module configured to start the second control system at a second time point, where the second time point is later than the first time point;

[0018] A main-standby system confirmation module configured to determine that the first control system is the main system and the second control system is the standby system when the system communication is successfully created, and synchronize the service data of the main system in the standby system;

[0019] The primary and standby system switching module is configured to switch the first control system to the standby system and switch the second control system to the primary system when it detects that the synchronization of the service data fails and the communication state of the system communication is disconnected.

[0020] According to the fourth aspect of the embodiments of the present application, a computing device is provided, including:

[0021] A memory and a processor;

[0022] 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 primary and standby system switching method are implemented.

[0023] According to the fifth aspect of the embodiments of the present application, a computer-readable storage medium is provided, which stores computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the above-mentioned primary and standby system switching method are implemented.

[0024] According to the sixth aspect of the embodiments of the present application, a computer program product is provided, including computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the above-mentioned primary and standby system switching method are implemented.

[0025] The primary and standby system switching method provided by the present application is applied to the primary and standby system switching system of a target train. The system includes a digital input / output board, a first control system, and a second control system. The method includes: starting the first control system at a first time point and establishing system communication between the first control system and the digital input / output board; starting the second control system at a second time point, where the second time point is later than the first time point; when the system communication is successfully created, determining the first control system as the primary system and determining the second control system as the standby system, and synchronizing the service data of the primary system in the standby system; when it is detected that the synchronization of the service data 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 primary system.

[0026] The method provided by the embodiments of the present application introduces a digital input / output board, and determines when to perform primary and standby switching through the communication between the digital input / output board and the first control system and the second control system, which ensures the driving safety of the target train while reducing the cost of primary and standby system switching. It realizes seamless switching of the primary and standby systems during the driving process of the target train. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a flowchart of a primary and standby system switching method provided by an embodiment of the present application;

[0028] Figure 2 It is a schematic diagram of a train communication architecture provided by an embodiment of the present application;

[0029] Figure 3 It is a schematic diagram of a train communication architecture provided by another embodiment of the present application;

[0030] Figure 4 It is a system block diagram of the main control board cards at the same end provided by an embodiment of the present application;

[0031] Figure 5 It is a system block diagram of the main control board cards at different ends provided by an embodiment of the present application;

[0032] Figure 6 It is a schematic diagram of each state of the control system provided by an embodiment of the present application;

[0033] Figure 7 It is a processing flow chart of a main - standby system switching method applied to the main control board cards set at both ends of the train provided by an embodiment of the present application;

[0034] Figure 8 It is a processing flow chart of a main - standby system switching method applied to the main control board cards set at one end of the train provided by an embodiment of the present application;

[0035] Figure 9 It is a structural schematic diagram of a main - standby system switching device provided by an embodiment of the present application;

[0036] Figure 10 It is a structural schematic diagram of a main - standby system switching system provided by an embodiment of the present application;

[0037] Figure 11 It is a structural block diagram of a computing device provided by an embodiment of the present application. Specific embodiments

[0038] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0039] The terms used in one or more embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit one or more embodiments of the present application. The singular forms "a", "the", and "said" used in one or more embodiments of the present application and the appended claims are also intended to include the plural forms unless the context clearly dictates otherwise. 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 and all possible combinations of one or more of the associated listed items.

[0040] It should be understood that although the terms first, second, etc. may be used in one or more embodiments of the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type 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 "when" or "while" or "in response to a determination".

[0041] 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 for analysis, stored data, displayed data, etc.) involved in the present application are all information and data that have been authorized by the user or fully authorized by all parties. And the collection, use, and processing of relevant data need to comply with relevant laws, regulations, and standards in the relevant regions, and corresponding operation entrances are provided for users to choose to authorize or refuse.

[0042] First, the noun terms involved in one or more embodiments of the present application are explained.

[0043] Activation end: When the train driver starts the operation key at one end of the vehicle, it is regarded as activating that end, and the activation end signal is obtained through the DIO board.

[0044] DIO board: Digital Input / Output board, which has an isolation function and is suitable for application scenarios that require isolation. The application scope of the DIO board is extensive, including but not limited to traffic signal control (such as traffic lights), camera control, etc.

[0045] Dual-system communication and IO arbitration: The main and standby systems communicate with the IO board through the can bus, and the main and standby systems communicate through the UPD network. Specific communication protocols need to be applied here. The main and standby systems are jointly arbitrated based on the communication status with the IO board and the dual-system communication status.

[0046] Head and tail redundancy: One set of on-vehicle systems is placed at each of the head end and the tail end of the train, and they are started simultaneously for redundant operation.

[0047] Dual-system switching: During operation, there is a main system and a standby system. When the main system fails, the standby system is upgraded to the main system. There can only be one main system at the same time, and only the main system outputs service data to the application layer.

[0048] In the field of rail transit, two sets of control systems are usually set during the train operation, one main system and one backup system. When the main system fails, the backup system can immediately take over the work, thus avoiding single-point system failures and improving the reliability and stability of train operation. Currently, before the main and backup systems are switched, the judgment condition is that the working state of this system is worse than that of the other system. Among them, the poor working state is a subjective concept, and there is no scientific index to indicate the quality of the judgment state, which is not objective and scientific enough. During the switching process of the main and backup systems, a hardware relay circuit is used to achieve interlocking. When the hardware circuit fails, there may be situations of frequent switching and switching failure.

[0049] Based on this, in this application, a method for switching between the main and backup systems is provided. This application also relates to a device for switching between the main and backup systems, a system for switching between the main and backup systems, a computing device, a computer-readable storage medium, and a computer program product, which will be described in detail one by one in the following embodiments.

[0050] Figure 1 The flowchart of a method for switching between the main and backup systems provided by an embodiment of this application is shown. This method is applied to the main and backup system switching system of a target train, and this system includes a Digital Input / Output board (DIO board), a first control system, and a second control system. Specifically, it includes the following steps:

[0051] Step 102: Start the first control system at the first time point and establish system communication between the first control system and the digital input / output board.

[0052] In the method provided by the embodiment of this application, the train on-vehicle main control board needs to be installed in the slot of the chassis of the target train. The target train includes a first main control board card and a second main control board card. The first control system is deployed in the first main control board card, and the second control system is deployed in the second main control board card. After the target train is powered on, the first control system and the second control system are confirmed through the slot number.

[0053] The DIO board (Digital Input / Output board) is a circuit board applied 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 by this 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.

[0054] In the method provided by this application, the first control system and the second control system can be determined through the slot number in the chassis. After the first control system and the second control system are determined, the first control system is preferentially started through system settings. After the first control system is started, it first establishes communication with the digital input / output board.

[0055] In a specific embodiment provided by the present application, the first control system is started at the first time point, including:

[0056] Receiving a start instruction for the target train at the first time point;

[0057] Responding to the start instruction, starting the first control system.

[0058] 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 the first time point and sends a start instruction to the target train. The first control system and the second control system are powered on simultaneously. According to the system settings, when the first control system receives the start instruction at the first time point, it starts immediately. That is, when the target train receives the start instruction at the first time point, the first control system starts immediately.

[0059] In practical applications, the first control system is deployed on the first main control board, and the second control system is deployed on the second main control board. The first main control board and the second main control board are arranged in the chassis of the target train, and the chassis of the target train are 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 chassis at both ends of the target train, or can be simultaneously arranged in the chassis at one end of the target train. The following will further explain these two situations respectively.

[0060] In a specific embodiment provided by 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, a second main control board and a second digital input / output board deployed at the second end of the target train. The first main control board deploys the first control system, and the second main control board deploys the second control system;

[0061] Establishing the system communication between the first control system and the digital input / output board includes:

[0062] Establishing the system communication between the first control system and the first digital input / output board and the system communication between the first control system and the second digital input / output board.

[0063] In this embodiment, taking the case where the first main control board and the second main control board are respectively arranged in the chassis at both ends of the target train as an example 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 respectively belong to the head or the tail of the target train.

[0064] In this embodiment, there are two digital input / output boards, namely the first digital input / output board disposed at the first end and the second digital input / output board disposed at the second end. A first control system is deployed in the first main control board, and a second control system is deployed in the second control board.

[0065] After the first control system is started, it communicates with the first digital input / output board to establish system communication between the first control system and the first digital input / output board.

[0066] See Figure 2 , Figure 2 shows a schematic diagram of a train communication architecture provided by an embodiment of the present application. As Figure 2 shown, the first main control board and the second main control board are respectively disposed at both ends of the target train. A first control system is deployed on the first main control board, and a second control system is deployed on the second main control board. 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 / output board communicate through a 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 / 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 / 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. External devices perform data interaction 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 the main system, and the other is the standby system.

[0067] After the driver powers on the target train, the first control system in the first main control board is determined to be started first according to the slot numbers of the control boards. That is, the first control system is started at the first time point. At the same time, the first control system starts to establish system communication with the first digital input / output board.

[0068] In another specific embodiment provided by the present application, a first main control board, a second main control board, and a digital input / output board are disposed at the first 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.

[0069] In this embodiment, taking the first main control board and the second main control board being disposed in the chassis 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 / output board are simultaneously disposed in the chassis at the first end of the target train.

[0070] See Figure 3 , Figure 3The figure shows a schematic diagram of a train communication architecture provided by another embodiment of the present application. As Figure 3 shown, the first main control board and the second main control board are arranged in the chassis at the same end of the target train. At the same time, a digital input / output board is also arranged in this chassis. The digital input / output board communicates with the first main control board and the second main control board respectively through CAN communication. External devices communicate and synchronize 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.

[0071] In this embodiment, after the driver powers on the target train, the first control system in the first main control board is determined to be started first according to the slot numbers of the main control boards. That is, the first control system starts at the first time point. At the same time, a system communication is established between the first control system and the digital input / output board.

[0072] Step 104: Start the second control system at the second time point, where the second time point is later than the first time point.

[0073] 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, the second time point can be 7:01:51. The second control system and the first control system are powered on at the same time point, but the second control system starts with a delay compared to the first control system. In the method provided by the present application, the delay time can be 1 second, 2 seconds, etc. The specific delay start time can be set according to the actual situation.

[0074] In the method provided by the embodiment of the present application, the first control system and the second control system are powered on at the same time. By the slot numbers corresponding to the main control boards where the control systems are located, it can be determined that the first control system is started first and then the second control system. The start time of the second control system is slightly later than that of the first control system.

[0075] After the second control system is started, it is also necessary to further communicate with the digital input / output board to determine whether the first control system has established a system communication with the digital input / output board. As described in the above steps, in the method provided by the present application, it is applicable to the scenarios where the first main control board and the second main control board are arranged in the same chassis and two different chassis. These two scenarios will be explained respectively below.

[0076] In a specific embodiment provided by 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 / output board. The first main control board deploys the first control system, and the second main control board deploys the second control system;

[0077] The method further includes:

[0078] The first main control board and the second main control board are respectively in system communication with the digital input / output board.

[0079] In this embodiment, taking the first main control board and the second main control board being arranged in the chassis at the same end of the target train as an example for explanation, the first end of the target train can be the head or the tail of the train. The first main control board, the second main control board and the digital input / output board are simultaneously arranged in the chassis at the first end of the target train.

[0080] In this embodiment, the first main control board and the second main control board are arranged in the chassis at the same end of the target train. At the same time, a digital input / output board is also arranged in the chassis on this side. Refer to Figure 4 , Figure 4 shows the system block diagram of the main control board at the same end provided by an embodiment of the present application. As Figure 4 shown, a first control system is arranged in the first main control board. The first main control board is in system communication with the digital input / output board through the CAN bus. The second main control board is in system communication with the digital input / output board through the CAN bus. The start time of the second control system is later than that of the first control system. After the first control system is started, it establishes a communication connection with the digital input / output board through the CAN bus. Then the second control system is started, and it also establishes a communication connection with the digital input / output board through the CAN bus, and obtains from the digital input / output board whether it has already established a communication connection with the first control system, so as to further perform subsequent processing to determine which of the first control system and the second control system is the main system and which is the standby 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, and 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.

[0081] In another specific embodiment provided by the present application, a first main control board is arranged at the first end of the target train, and a second main control board is arranged at the second end of the target train;

[0082] The method further includes:

[0083] The first main control board receives second communication data sent by the second digital input / output board through the second control bus;

[0084] The second main control board receives first communication data sent by the first digital input / output board through the first control bus.

[0085] In this embodiment, the first main control board and the second main control board are respectively arranged in the chassis 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, a first digital input / output board is also arranged at the first end of the target train, and a second digital input / output board is also arranged at the second end of the target train.

[0086] See Figure 5 , Figure 5 shows the system block diagram of the main control board at different ends provided by an embodiment of the present application. As Figure 5 shown, after the first main control board establishes system communication with the first digital input / output board, it will receive the first communication data sent by the first digital input / output board. At the same time, it will also receive the second communication data sent by the second digital input / output board through the second control bus. After the second control system is started, it can determine whether the first control system has established system communication with the first digital input / output board based on the first communication data received by the second main control board, and then further perform subsequent processing to determine which of the first control system and the second control system is the main system and which is the standby 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.

[0087] In this embodiment, the second main control board can also receive the second communication data sent by the second digital input / output board, and at the same time receive the first communication data sent by the first digital input / output board through the first control bus.

[0088] In practical applications, the second main control board receives the second communication data sent by the second digital input / output board and sends the second communication data to the first main control board through the second control bus, including:

[0089] The first main control board receives the first input acquisition frame sent by the first digital input / output board and sends the first input acquisition frame to the second control system in the second main control board through the first control bus;

[0090] The second control system analyzes the first input acquisition frame to obtain the communication status information of the system communication between the first digital input / output board and the first control system;

[0091] Determine whether the communication status of the system communication is disconnected according to the communication status information.

[0092] It should be noted that when only the main control board at one end is started, the main control board communicates with the digital input / output board at this end to determine the communication status between the main control board and the digital input / output board at this 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 / output board at the opposite end.

[0093] In the embodiment where the main control board provided in this application is at both ends of the target train, within each period, the main control board sends an output control frame to the digital input / output board, and the digital input / output board returns an input acquisition frame to the main control board according to the output control frame. The communication status information in the input acquisition frame is used to further determine whether the system communication is normal.

[0094] Specifically, within each communication period, the first main control board sends an output control frame to the first digital input / output board, and the output control frame carries an SYS ID flag (0x00: the first control system, 0x01: the second control system). After receiving the output control frame, the first digital input / output board sends a 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 with each main control board (0x00: communication disconnection, 0x01: normal communication with the I system, 0x02: normal communication with the II system).

[0095] After receiving the first input acquisition frame, the first main control board sends 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 to obtain the communication status between the first digital input / output board and the first control system, and the communication status between the first digital input / output board and the second control system. The communication status information is used to determine which main control board the digital input / output board is communicating with.

[0096] Refer to Table 1 and Table 2 below. Table 1 shows the message format of the output control frame provided in an embodiment of this application. Table 2 shows the message format of the input acquisition frame provided in an embodiment of this application.

[0097] Table 1

[0098]

[0099] Table 2

[0100]

[0101] Step 106: When the system communication is successfully created, determine the first control system as the main system, determine the second control system as the standby system, and synchronize the service data of the main system in the standby system.

[0102] After being processed through the above steps, after the second control system is started, it will receive an input acquisition frame sent by the digital input / output board, and the input acquisition frame includes communication status information. By parsing the input acquisition frame, the second control system can obtain the communication status between the first control system and the digital input / output board. Through the communication status, it can be determined whether the first control system has established system communication with the digital input / output board.

[0103] If the system communication between the first control system and the digital input / output board has been successfully created, then determine the first control system as the main system and the second control system as the standby system. At the same time, data synchronization of the service data in the main system is performed in the standby system.

[0104] In another specific implementation manner provided by the present application, the method further includes:

[0105] In the case where the creation of the system communication fails, determine the first control system as the standby system and the second control system as the main system.

[0106] In another specific implementation manner provided by the present application, in the case where the creation of the system communication between the first control system and the digital input / output board fails, then determine the second control system as the main system and the first control system as the standby system. Similarly, after determining the main system and the standby system, data synchronization of the service data in the main system needs to be performed in the standby system.

[0107] In a specific implementation manner provided by the present application, synchronizing the service data of the main system in the standby system includes:

[0108] The main system receives the initial service logic data sent by the service logic layer and generates service data based on the initial service logic data;

[0109] The main system sends the service data to the standby system;

[0110] The standby system receives and stores the service data.

[0111] In this implementation manner, the service data is generated from the initial service logic data sent by the service logic layer. In practical applications, the service logic layer can be understood as collecting the initial service logic data collected and sent by external devices. The initial service logic data can be understood as the basic input for performing service processing. For example, information such as the position information of the train, the train speed, the train acceleration, and the train running duration.

[0112] After receiving the initial service logic data sent by each external device, the service logic layer will send each piece of initial service logic data to the main system, where the initial service logic data will be aggregated and processed accordingly to generate corresponding service data. Then, the service data will be sent to the data switch and further sent to the standby system through the data switch for data synchronization and backup.

[0113] Refer to Table 3 below. Table 3 shows the message format of the service data provided in an embodiment of the present application.

[0114] Table 3

[0115]

[0116] The service data is packaged and transmitted according to the message format in Table 3 above. After receiving the service data for each period, the standby system saves it and determines 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:

[0117] The standby system receives and saves at least one piece of service data sent by the main system;

[0118] The standby system determines whether the service data synchronization fails according to the service data identifier corresponding to each piece of service data.

[0119] In this implementation, the standby system receives and saves the service data sent by the main system, and the format of the service data is the message format in Table 3 above. Whether there is a failure in the service data synchronization of the standby system is further determined through the service data identifier (synchronization sequence number) in each piece of service data.

[0120] Specifically, the standby system determines whether the service data synchronization fails according to the service data identifier corresponding to each piece of service data, including:

[0121] If the difference between the service data identifiers corresponding to the saved service data is greater than the preset identifier threshold, it is determined that the service data synchronization fails;

[0122] If the difference between the service data identifiers corresponding to the saved service data is less than or equal to the preset identifier threshold, it is determined that the service data synchronization is successful.

[0123] Furthermore, after receiving the service data, the standby system sorts and saves the service data according to the service data identifier. If the difference between the service data identifiers corresponding to two adjacent pieces of saved service data is greater than the preset identifier threshold, it indicates that there is a failure in the synchronization of the service data from the main system to the standby system. Otherwise, it can be determined that the service data synchronization is successful.

[0124] For example, taking the preset identification threshold as 3 for explanation, if the data identifiers of consecutive n packets of service data received by the standby system are "...5, 6, 7, 9", at this time, the difference between the service data identifier 7 and the service data identifier 9 is 2, which is less than the preset identification threshold 3. Then, it can be considered that the service data synchronization is successful in this case. If the data identifiers of consecutive n packets of service data received by the standby system are "...5, 6, 7, 13", at this time, the difference between the service data identifier 7 and the service data identifier 13 is 6, which is greater than the preset identification threshold 3. Then, it is determined that the service data synchronization fails in this case.

[0125] In a specific implementation manner provided by the present application, the method further includes:

[0126] The main system generates a control instruction according to the service data;

[0127] Controls the target train to run according to the control instruction.

[0128] In the method provided by the present application, after generating the service data, the main system will further generate a corresponding control instruction according to the service data, and control the target train to run based on the control instruction.

[0129] Step 108: When it is detected that the service data synchronization fails and the communication state of the system communication is disconnected, switch the first control system to the standby system and switch the second control system to the main system.

[0130] For the method provided by the present application, according to the above method for detecting whether the service data synchronization fails, the synchronization state of the standby system can be detected. When it is detected that the service data synchronization fails, it is also necessary to simultaneously judge the communication state of the communication system. Thus, it is determined whether the main and standby systems need to be switched according to the synchronization situation of the service data and the communication state of the communication system.

[0131] Specifically, only when it is detected that the service data synchronization fails and the communication state of the system communication is disconnected, will it be considered that the main system has an abnormality. In this case, the main and standby systems are switched, that is, the first control system is switched to the standby system and the second control system is switched to the main system.

[0132] For another example, when it is detected that the service data synchronization fails, but the communication state of the system communication remains connected, it can be considered that the standby system has an abnormality while the main system is normal. In this case, there is no need to switch the main and standby systems.

[0133] For another example, when the business data synchronization failure is not detected, but the communication status of the system communication is disconnected, it can be confirmed that the primary system is still working properly through the situation where the business data synchronization is not failed, and the communication status of the system communication is determined to be disconnected through the information of the digital input / output board. It can be considered that there is an abnormality in the system communication between the primary system and the digital input / output board. At this time, it does not affect the normal use of the primary system, and there is no need to perform the primary / backup system switch.

[0134] In a specific embodiment provided by the present application, before determining that the first control system is the backup system and the second control system is the primary system, the method further includes:

[0135] Obtaining the number of primary / backup system switches between the first control system and the second control system within a preset time interval;

[0136] Correspondingly, when the business data synchronization failure is detected and the communication status of the system communication is disconnected, switching the first control system to the backup system and the second control system to the primary system includes:

[0137] When the business data synchronization failure is detected, the number of primary / backup system switches is less than the preset number threshold, and the communication status of the system communication is disconnected, determining that the first control system is the backup system and the second control system is the primary system.

[0138] In this embodiment, before performing the primary / backup system switch, it is also necessary to further determine the number of primary / backup system switches between the primary and backup systems within a preset time interval. To prevent frequent switching between the primary and backup systems and affect the normal operation of the target train, in this embodiment, by counting the number of primary / backup system switches within a preset time interval, the switching frequency between the primary and backup systems can be effectively controlled. When the business data synchronization fails, the communication status of the system communication is disconnected, and the number of primary / backup system switches is less than the preset number threshold, the primary / backup system switch will be performed, that is, the first control system is switched from the primary system to the backup system, and the second control system is switched from the backup system to the primary system.

[0139] The method provided by the embodiments of the present application can summarize four states in the control system, namely the system initial state, the primary system state, the backup system unsynchronized state, and the backup system synchronized state. Refer to Figure 6 , Figure 6 shows a schematic diagram of the states of the control system provided by an embodiment of the present application. As Figure 6 shown. The system is initially in the system initial state. In this case, the target train is powered on. By judging the slot identifiers of the first main control board card and the second main control board card, it is determined that the first control system in the first main control board card starts first, and after a delay for a period of time, the second control system in the second main control board card starts later.

[0140] After the first control system is started, it first establishes communication with the digital input / output board (DIO board). At this time, it can be determined that the first control system is the main system, and then the first control system enters the main system state. When the second control system is started, by communicating with the digital input / output board, it is determined that the first control system has already established communication with the DIO board first. Then the second control system serves as the standby system. At this time, the second control system has not started to synchronize the service data of the main system. Then the second control system enters the standby system unsynchronized state.

[0141] When the second control system performs dual-system synchronization in the case of being the standby system, and the dual-system synchronization is successful, the second control system enters the standby system synchronized state. When the second control system is in the standby system unsynchronized state, if the number of times of service data synchronization failure exceeds 3 times, and the standby system has not upgraded the main system within the preset time interval, and the communication status flag between the DIO board and the main system is communication disconnection, then the main-standby system switch is performed, the first control system is switched to the standby system, and the second control system is switched to the main system.

[0142] When the second control system serves as the standby system and enters the standby system synchronized state, the synchronization situation of the service data is also detected. When the number of times of service data synchronization failure exceeds three times, and the standby system has not upgraded the main system within the preset time interval, and the communication status flag between the DIO board and the main system is communication disconnection, then the main-standby system switch is performed, the first control system is switched to the standby system, and the second control system is switched to the main system.

[0143] Through the method provided by the embodiments of the present application, the problem of seamless switching between the main and standby systems of the target train is solved. By introducing the digital input / output board and combining the data synchronization conditions between the main and standby systems to jointly judge the main-standby system switching method, while ensuring the safety of the switch, the switching cost is reduced. During the main-standby system switching process, the situation of simultaneous existence of two main systems is avoided. In the process of judging the switching conditions, through the combination of multiple conditions for judgment, there is no need for manual intervention or manual operation, and the main-standby system switching action is automatically judged and executed, with a fast processing speed and high efficiency.

[0144] The following combines Figure 7 , taking the main-standby system switching method provided by the present application in the scenario where the main control board cards are set at both ends of the train as an example, to further explain the main-standby system switching method. Among them, Figure 7The figure shows a processing flow chart of a primary / backup system switching method provided by an embodiment of the present application and applied to a main control board card disposed at both ends of a train. In this embodiment, the primary / backup system switching method is applied to a primary / backup system switching system, which includes a first main control board card and a first digital input / output board deployed at the first end of the target train, a second main control board card and a second digital input / output board deployed at the second end of the target train, the first main control board card deploys a first control system, and the second main control board card deploys a second control system; specifically, it includes the following steps:

[0145] Step 702: Receive a start instruction for the target train at a first time point, and in response to the start instruction, start the first control system.

[0146] Step 704: Establish system communication between the first control system and the first digital input / output board and between the first control system and the second digital input / output board, and at the same time obtain the communication status between the first control system and the second digital input / output board, and determine that the first control system is the primary system.

[0147] Step 706: Start the second control system at a second time point, where the second time point is later than the first time point.

[0148] Step 708: The second control system communicates with the first digital input / output board and the second digital input / output board, and at the same time obtains the communication status between the first control system and the first digital input / output board.

[0149] Step 710: In the case where the first control system successfully establishes communication with the first digital input / output board, determine that the second control system is the backup system.

[0150] Step 712: The primary system receives the initial service logic data sent by the service logic layer and generates service data based on the initial service logic data.

[0151] Step 714: The primary system generates a control instruction according to the service data, so that the control instruction controls the target train to travel, and sends the service data to the backup system.

[0152] Step 716: The backup system receives and saves at least one service data sent by the primary system, and determines whether the service data synchronization fails according to the service data identifier corresponding to each service data.

[0153] Step 718: The input acquisition frame of the first digital input / output board is sent to the second main control board card through a cross-connected can bus, so that the backup system determines the communication status between the primary system and the first digital input / output board according to the communication status information in the input acquisition frame.

[0154] Step 720: When the number of times of business data synchronization failure of the standby system is greater than 3, the communication status is disconnected, and the standby system has not upgraded the primary system within 24 hours, switch the first control system to the standby system and switch the second control system to the primary system.

[0155] The following combines Figure 8 , taking the master-slave system switching method provided in this application in the scenario where the master control board is set at one end of the train as an example, to further explain the master-slave system switching method. Among them, Figure 8 FIG. shows the processing flow chart of a master-slave system switching method provided in an embodiment of the present application, which is applied to the master-slave system switching method when the master control board is set at one end of the train. In this embodiment, the master-slave system switching method is applied to the master-slave system switching system, which includes a first master control board, a second master control board and a digital input / output board deployed at the same end of the target train. The first master control board deploys the first control system, and the second master control board deploys the second control system. The specific steps are as follows:

[0156] Step 802: Receive a start instruction for the target train at the first time point, and in response to the start instruction, start the first control system.

[0157] Step 804: Establish system communication between the first control system and the digital input / output board, obtain the communication status between the first control system and the digital input / output board, and determine that the first control system is the primary system.

[0158] Step 806: Start the second control system at the second time point, where the second time point is later than the first time point.

[0159] Step 808: The second control system communicates with the digital input / output board to obtain the communication status between the first control system and the digital input / output board.

[0160] Step 810: When the first control system successfully establishes communication with the digital input / output board, determine that the second control system is the standby system.

[0161] Step 812: The primary system receives the initial service logic data sent by the service logic layer and generates service data based on the initial service logic data.

[0162] Step 814: The primary system generates a control instruction according to the service data, so that the control instruction controls the target train to travel, and sends the service data to the standby system.

[0163] Step 816: The standby system receives and saves at least one service data sent by the primary system, and determines whether the service data synchronization fails according to the service data identifier corresponding to each service data.

[0164] Step 818: The second main control board obtains the input acquisition frame of the digital input / output board, and determines the communication status between the main system and the digital input / output board according to the communication status information in the input acquisition frame.

[0165] Step 820: When the number of times of business data synchronization failure of the standby system is greater than 3, the communication status is disconnected, and the main system has not been upgraded by the standby system within 24 hours, the first control system is switched to the standby system, and the second control system is switched to the main system.

[0166] Corresponding to the above method embodiments, the present application also provides embodiments of a main / standby system switching device. Figure 9 The structural schematic diagram 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 a target train. The system includes a digital input / output board, a first control system, and a second control system. As Figure 9 shown, the device includes:

[0167] A first startup module 902, configured to startup the first control system at a first time point, and establish system communication between the first control system and the digital input / output board;

[0168] A second startup module 904, configured to startup the second control system at a second time point, where the second time point is later than the first time point;

[0169] A main / standby system confirmation module 906, configured to determine that the first control system is the main system and the second control system is the standby system when the system communication is successfully created, and synchronize the business data of the main system in the standby system;

[0170] A main / standby system switching module 908, configured to switch the first control system to the standby system and the second control system to the main system when it is detected that the business data synchronization fails and the communication status of the system communication is disconnected.

[0171] Optionally, the main / standby system confirmation module 906 is configured to determine that the first control system is the standby system and the second control system is the main system when the system communication creation fails.

[0172] Optionally, the first startup module 902 is further configured to:

[0173] Receive a startup instruction for the target train at a first time point;

[0174] In response to the startup instruction, startup the first control system.

[0175] Optionally, the main / standby system confirmation module 906 is further configured to:

[0176] The main system receives the initial service logic data sent by the service logic layer and generates service data based on the initial service logic data;

[0177] The main system sends the service data to the standby system;

[0178] The standby system receives and stores the service data.

[0179] Optionally, the device further includes a judgment module configured to:

[0180] The standby system receives and stores at least one service data sent by the main system;

[0181] The standby system determines whether the service data synchronization fails according to the service data identifier corresponding to each service data.

[0182] Optionally, the judgment module is further configured to:

[0183] When the difference between the service data identifiers corresponding to the stored service data is greater than a preset identifier threshold, it is determined that the service data synchronization fails;

[0184] When the difference between the service data identifiers corresponding to the stored service data is less than or equal to the preset identifier threshold, it is determined that the service data synchronization is successful.

[0185] Optionally, the device further includes a control module configured to:

[0186] The main system generates a control instruction according to the service data;

[0187] Controls the target train to run according to the control instruction.

[0188] 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, a second main control board and a second digital input / 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;

[0189] The first startup module 902 is further configured to:

[0190] Establish 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.

[0191] 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;

[0192] The device further includes a data transmission module, which is configured to:

[0193] The first main control board card receives second communication data sent by the second digital input / output board through the second control bus;

[0194] The second main control board card receives first communication data sent by the first digital input / output board through the first control bus.

[0195] Optionally, the data transmission module is further configured to:

[0196] The first main control board card receives a first input acquisition frame sent by the first digital input / output board, and sends the first input acquisition frame to the second control system in the second main control board card through the first control bus;

[0197] The second control system analyzes the first input acquisition frame to obtain communication status information of system communication between the first digital input / output board and the first control system;

[0198] Determine whether the communication status of the system communication is disconnected according to the communication status information.

[0199] Optionally, a first main control board card, a second main control board card and a digital input / output board are arranged at the first end of the target train. The first main control board card deploys a first control system, and the second main control board card deploys a second control system;

[0200] The device further includes a communication connection module, which is configured to:

[0201] The first main control board card and the second main control board card respectively establish system communication with the digital input / output board.

[0202] Through the device provided by the embodiment of the present application, the problem of seamless switching between the main and standby systems of the target train is solved. By introducing a digital input / output board and combining the data synchronization conditions between the main and standby systems to jointly adjudicate the main and standby system switching method, while ensuring the switching safety, the switching cost is reduced. During the switching process between the main and standby systems, the situation of simultaneous existence of two main systems is avoided. During the judgment process of the switching conditions, through the combination of multiple conditions for judgment, there is no need for manual intervention or manual operation, and the main and standby system switching actions are automatically judged and executed, with a fast processing speed and high efficiency.

[0203] The above is a schematic solution of a main and standby system switching device in this embodiment. It should be noted that the technical solution of the main and standby system switching device belongs to the same concept as the technical solution of the above main and standby system switching method. For the details not described in the technical solution of the main and standby system switching device, reference can be made to the description of the technical solution of the above main and standby system switching method.

[0204] Figure 10 The structural schematic diagram of the primary and standby system switching system provided by an embodiment of the present application is shown. The system includes a control server 1002, a digital input / output board 1004, a first control system 1006, and a second control system 1008;

[0205] The first control system 1006 is configured to be started at a first time point, establish system communication with the digital input / output board 1004, and determine that the first control system 1006 is the primary system when it is determined that the communication between the digital input / output board 1004 and the first control system 1006 is normal;

[0206] The second control system 1008 is configured to be started at a second time point, establish communication with the digital input / output board 1004, and determine that the second control system 1008 is the standby system when the communication between the digital input / output board 1004 and the first control system 1006 is normal, where the second time point is later than the first time point;

[0207] The control server 1002 is configured to synchronize the service data of the primary system in the standby system;

[0208] The control server 1002 is further configured to switch the first control system 1006 to the standby system and switch the second control system 1008 to the primary system when it is detected that the synchronization of the service data fails and the communication state of the system communication is disconnected.

[0209] Through the system provided by the embodiment of the present application, the problem of seamless switching between the primary and standby systems of the target train is solved. By introducing a digital input / output board and combining the data synchronization conditions between the primary and standby systems to jointly determine the primary and standby system switching method, the switching cost is reduced on the premise of ensuring switching safety. During the primary and standby system switching process, the situation of simultaneous existence of two primary systems is avoided. In the process of judging the switching conditions, through the combination of multiple conditions for judgment, there is no need for manual intervention or manual operation, and the primary and standby system switching actions are automatically judged and executed, with fast processing speed and high efficiency.

[0210] Figure 11 The structural block diagram of a computing device 1100 provided by 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 through a bus 1130, and a database 1150 is used to store data.

[0211] The computing device 1100 also includes an access device 1140, which enables the computing device 1100 to communicate via one or more networks 1160. Examples of such networks include the Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), 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 wired or wireless network interfaces (e.g., a network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Worldwide 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 so on.

[0212] In one embodiment of the present application, the above components of the computing device 1100 and Figure 11 other components not shown may also be connected to each other, for example, via a bus. It should be understood that Figure 11 the block diagram of the computing device shown is for illustrative purposes only and is not a limitation on the scope of the present application. Those skilled in the art may add or replace other components as needed.

[0213] The computing device 1100 can 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 smartphone), a wearable computing device (e.g., a smartwatch, 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 can also be a mobile or stationary server.

[0214] Wherein, the processor 1120 is configured to execute the following computer program / instructions, and when the computer program / instructions are executed by the processor, the steps of the above main-backup system switching method are implemented.

[0215] The above is a schematic solution of a computing device according to this embodiment. It should be noted that the technical solution of this computing device and the technical solution of the above main-standby system switching method belong to the same concept. For the details not described in detail in the technical solution of the computing device, reference can be made to the description of the technical solution of the above main-standby system switching method.

[0216] An embodiment of this specification also provides a computer-readable storage medium, which stores computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the above main-standby system switching method are implemented.

[0217] The above is a schematic solution of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium and the technical solution of the above main-standby system switching method belong to the same concept. For the details not described in detail in the technical solution of the storage medium, reference can be made to the description of the technical solution of the above main-standby system switching method.

[0218] An embodiment of this specification also provides a computer program product, including computer programs / instructions. When the computer programs / instructions are executed by a processor, the steps of the above main-standby system switching method are implemented.

[0219] The above is a schematic solution of a computer program product according to this embodiment. It should be noted that the technical solution of this computer program product and the technical solution of the above main-standby system switching method belong to the same concept. For the details not described in detail in the technical solution of the computer program product, reference can be made to the description of the technical solution of the above main-standby system switching method.

[0220] 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 recited in the claims may be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0221] The computer instructions include computer program code, which may be in the form of source code, object code, 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), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of patent practice. For example, in some regions, according to patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0222] It should be noted that for the foregoing method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should know that this application is not limited by the described action sequence, because according to this application, some steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily all essential to this application.

[0223] In the above embodiments, the descriptions of the various embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0224] 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 embodiments described. Obviously, many modifications and changes can be made according to the content of this application. The present application selects and specifically describes these embodiments to better explain the principle and practical application of the present application, so that those skilled in the art can understand and utilize 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 The first end of the target train is provided with a first main control board and a first digital input and output board, and the second end of the target train is provided with a second main control board and a second digital input and output board; 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 first communication data sent by the first digital input and output board through the first 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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