Platform door control system

Abstract

The invention provides a platform door control system, which relates to the technical field of rail transit, and comprises two execution hosts and a plurality of platform door controllers, each execution host adopts a double two-out-of-two framework, and each platform door controller adopts a two-out-of-two framework; the execution host is used for sending target data to a target platform door controller through a CANFD bus between the execution host and the target platform door controller under the condition of receiving the target data for the target platform door controller, and the platform door controllers comprise the target platform door controller; and the platform door controller is used for responding to the target data under the condition of receiving the target data sent by the execution host. According to the platform door control system, mass data transmission between different electronic devices and the platform door controller in a rail transit system can be achieved, the data transmission efficiency between the electronic devices and the platform door controller can be remarkably improved, and the flexibility and universality of platform door control are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rail transit, and particularly to a platform screen door control system. Background Art

[0002] In a rail transit system, as a key device for ensuring passenger safety and improving operation efficiency, the transmission method of the door opening and closing commands and safety-related information of the platform screen door is crucial.

[0003] Hardwired communication refers to a method of directly transmitting electrical signals through physical lines (such as cables). In related technologies, control signals such as door opening and closing commands, obstacle detection signals, and safety interlock information are usually sent to the platform screen door controller in the form of hardwired communication, so that the platform screen door controller can control the opening and closing of the platform screen door in response to the above control signals.

[0004] However, with the rapid development of rail transit technology, especially the wide application of driverless technology, the amount of data that needs to be transmitted between the platform screen door controller and other devices has increased sharply, including not only basic door opening and closing commands, but also diverse and high-frequency data and signals such as train precise position information, speed information, obstacle detection status information, and emergency braking signals. Due to the inherent limitations of its physical connection, hardwired communication is difficult to efficiently carry such a large amount of data.

[0005] Moreover, with the diversification of train formations, the fixity of hardwired layout leads to the need for customized installation for the train formation in order to achieve flexible control of the platform screen doors corresponding to the train formation. This not only increases the construction and maintenance costs, but also limits the flexibility and generality of platform screen door control, and it is difficult to meet the needs of flexible adjustment of train formations. Summary of the Invention

[0006] A platform screen door control system provided by the present invention is used to solve the defects of limited data transmission between other electronic devices in the rail transit system and the platform screen door controller, as well as low flexibility and generality of platform screen door control in the prior art, and to improve the data transmission efficiency between the platform screen door controller, as well as the flexibility and generality of platform screen door control.

[0007] The present invention provides a platform screen door control system, comprising: two execution hosts and multiple platform screen door controllers; each of the execution hosts adopts a two-by-two redundant architecture, and each of the platform screen door controllers adopts a two-out-of-two redundant architecture; each of the platform screen door controllers is respectively connected to each of the execution hosts through a CANFD bus; the execution host is configured to, when receiving target data for a target platform screen door controller, send the target data to the target platform screen door controller through the CANFD bus between the execution host and the target platform screen door controller, and the target platform screen door controller is included in each of the platform screen door controllers; the platform screen door controller is configured to, when receiving the target data sent by the execution host, respond to the target data, and return response data including a response result of the target data to the execution host through the CANFD bus between the platform screen door controller and the execution host.

[0008] A platform door control system provided according to the present invention, wherein the execution host is configured to periodically send broadcast data carrying a host communication cycle number to each of the platform door controllers after power-on, and the execution host is further configured to, when receiving initial response data carrying the initial state information of the target platform door controller returned by the target platform door controller, if receiving the target data, add the target data to the broadcast data sent to the target platform door controller next time. The starting value of the host communication cycle number is 1. When the host communication cycle number carried in the broadcast data sent by the execution host in the previous cycle is not greater than a preset value, the host communication cycle number carried in the broadcast data sent by the execution host in the current cycle is 1 greater than the host communication cycle number carried in the broadcast data sent in the previous cycle. When the host communication cycle number carried in the broadcast data sent by the execution host last time is the preset value, the host communication cycle number carried in the broadcast data sent by the execution host this time is 1. The platform door controller is specifically configured to, when receiving the first number of consecutive broadcast data with the host communication cycle numbers for the first time after power-on, return initial response data carrying the initial state information of the platform door controller to the execution host and determine to establish a secure communication link with the execution host. The platform door controller is further configured to, when determining to establish a secure communication link with the execution host, if determining to adopt the broadcast data received this time, respond to the broadcast data received this time and return response data including a response result to the execution host. The response data also carries a slave communication cycle number and the host communication cycle number carried in the broadcast data received this time. The slave communication cycle number carried in the response data returned by the platform door controller to the execution host for the first time after determining to establish a secure communication link with the execution host is 1. When the slave communication cycle number carried in the response data returned by the platform door controller to the execution host last time is not greater than the preset value, the slave communication cycle number carried in the response data returned by the platform door controller to the execution host this time is 1 greater than the slave communication cycle number carried in the response data returned to the execution host last time. When the slave communication cycle number carried in the response data returned by the platform door controller to the execution host last time is greater than the preset value, the slave communication cycle number carried in the response data returned by the platform door controller to the execution host this time is 1.

[0009] According to a platform screen door control system provided by the present invention, when the platform screen door controller determines that a secure communication link is established with the execution host, it determines whether the host communication cycle number carried in the broadcast data received this time is continuous with the host communication cycle numbers carried in the second quantity of the most recently received broadcast data before the broadcast data received this time. When it is determined that the host communication cycle number carried in the broadcast data received this time is continuous with the host communication cycle numbers carried in the second quantity of the most recently received broadcast data before the broadcast data received this time and the broadcast data received this time passes the verification of the two-by-two architecture, it is determined to accept the broadcast data received this time.

[0010] According to a platform screen door control system provided by the present invention, when the execution host receives the response data returned by any platform screen door controller, it determines whether to accept the response data returned by any platform screen door controller received this time based on the orderliness of the slave communication cycle number and the host communication cycle number carried in the response data returned by any platform screen door controller received this time and the two-by-two architecture.

[0011] According to a platform screen door control system provided by the present invention, when the execution host is the data sender, the platform screen door controller is the data receiver, the data received by the data receiver is the broadcast data, and the communication serial number carried in the data received by the data receiver is the host communication cycle number carried in the broadcast data; When the platform screen door controller is the data sender, the execution host is the data receiver, the data received by the data receiver is the response data, and the communication serial number carried in the data received by the data receiver is the slave communication cycle number carried in the response data; the data receiver is used to determine that the data received this time is the same as the data received last time and perform a tolerance process on the data received this time when it is determined that the communication serial number carried in the data received this time is the same as the communication serial number carried in the data received last time.

[0012] According to a platform screen door control system provided by the present invention, the data receiver is used to report a first abnormal information indicating data loss when it is determined that the communication serial number carried in the data received this time is not continuous with the communication serial number carried in the data received last time, and the difference between the communication serial number carried in the data received this time and the communication serial number carried in the data received last time is greater than a numerical threshold or the difference between the sum of the communication serial number carried in the data received this time and the preset value and the communication serial number carried in the data received last time is greater than the numerical threshold.

[0013] According to a platform screen door control system provided by the present invention, the data receiver is configured to re - sort the data received this time and the third quantity of data received most recently before the data received this time according to the orderliness of the communication sequence number when it is determined that the communication sequence number carried by the data received this time is in reverse order or does not increase regularly compared with the communication sequence numbers carried by the third quantity of data received most recently before the data received this time. When the communication sequence numbers carried by the re - sorted data are continuous, the re - sorted data is adopted. When the communication sequence numbers carried by the re - sorted data are not continuous, the re - sorted data is discarded.

[0014] According to a platform screen door control system provided by the present invention, the data sender is further configured to add a source identifier for identifying the identity of the data sender to the data sent to the data receiver; the data receiver is configured to report second exception information indicating that inserted data has been received when it is determined that the data received this time is inserted data based on the source identifier carried by the data received this time.

[0015] According to a platform screen door control system provided by the present invention, the data receiver is configured to determine that the data received this time is delayed data when the time when the data is received this time exceeds a preset duration compared with the time when the data was received last time.

[0016] According to a platform screen door control system provided by the present invention, the execution host is configured to send a software upgrade instruction and the upgrade firmware package to the platform screen door controller to be upgraded through the CANFD bus between the execution host and the platform screen door controller to be upgraded when receiving an upgrade firmware package for the platform screen door controller to be upgraded, and each of the platform screen door controllers includes the platform screen door controller to be upgraded; the platform screen door controller is configured to switch to the Bootloader mode when receiving the software upgrade instruction, verify the upgrade firmware package based on a two - by - two architecture when receiving the upgrade firmware package within a preset duration after receiving the software upgrade instruction, and perform software upgrade based on the upgrade firmware package in the Bootloader mode when it is determined that the upgrade firmware package passes the verification.

[0017] A platform screen door control system provided by the present invention can utilize the CANFD bus connection between the execution host and the platform screen door controller to achieve massive data transmission between different electronic devices and the platform screen door controller in the rail transit system, significantly improving the data transmission efficiency between the platform screen door controller. Through the networked connection of the CANFD bus, flexible control of the platform controller can be achieved without re-wiring when the train formation changes, improving the flexibility and versatility of platform screen door control, supporting dynamic expansion of the number of platform screen door controllers, better adapting to the dynamic changes of train formation, significantly reducing the construction cost and maintenance cost of platform screen door control. The execution host based on the two-by-two redundant architecture and the platform screen door controller of the two-by-two architecture in the above platform screen door control system can solve the single-point failure risk in hardwired communication, improve the safety of platform screen door control, have high data transmission security, support remote diagnosis and firmware upgrade, enable rapid diagnosis and replacement of faulty components, and provide core infrastructure support for the development of intelligent rail transit. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a schematic structural diagram of a platform screen door control system provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention in conjunction with the drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In the description of this application, the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually of the same category, and the number of objects is not limited. For example, the first object can be one or more. In addition, in the description of this application, "and / or" means at least one of the connected objects, and the character " / ", generally indicates an "or" relationship between the associated objects before and after.

[0023] It should be noted that in the rail transit system, control signals such as door opening and closing instructions, obstacle detection signals, and safety interlock information are usually sent to the platform door controller by means of hardwired communication for the platform door controller to control the opening and closing of the platform door in response to the above control signals.

[0024] Communicating with the platform door controller by means of hardwired transmission has the advantages of simple structure, strong anti-interference ability, high real-time performance, etc., and can meet the requirements of early rail transit systems for basic safety control. However, with the rapid development of rail transit technology, especially the wide application of driverless technology, the rail transit system has put forward higher requirements for the bandwidth, flexibility and compatibility of data transmission.

[0025] Hardwired communication can only transmit a single command signal and cannot support high-bandwidth requirements such as real-time status monitoring, fault diagnosis, and multi-sensor data interaction required for driverless operation. Trains with different formations (such as 6-car and 8-car formations) require customized hardwired interfaces, resulting in the complication of the rail transit system and the increase of upgrade costs. The hardwired line layout is fixed, making it difficult to meet the platform door control requirements of dynamically adjustable operation scenarios (such as temporarily adding train formations or line reconstruction). Hardwired is vulnerable to environmental influences such as vibration and corrosion, and troubleshooting and replacement require interrupting operations, affecting the reliability and availability of the system.

[0026] Moreover, in terms of software upgrade of the platform door controller, the related technology usually still adopts the method of upgrading the software of each platform door controller one by one. Usually, dozens of platform door controllers are set up at each station, and it takes several hours to complete the software upgrade of all platform door controllers in a station by upgrading the software of each platform door controller one by one. During the operation of the rail transit, usually only a few hours at night are available for equipment debugging and maintenance. Therefore, the method of software upgrading the platform door controller in the related technology is difficult to meet the actual operation requirements of the rail transit.

[0027] CAN FD (Controller Area Network with Flexible Data-Rate) is an upgraded version of the traditional CAN protocol, aiming to address the limitations of the traditional CAN bus in terms of data transmission rate and bandwidth. While retaining the high reliability of the CAN protocol, CAN FD significantly improves data transmission efficiency and flexibility, and is widely used in fields such as automotive, industrial control, and rail transit.

[0028] Aiming at the defects of limited data transmission with the platform screen door controller and low flexibility and generality of platform screen door control in related technologies, this application designs a highly secure networked platform screen door control system based on CAN FD. The platform screen door control system provided by the present invention realizes high-reliability information transmission with the platform screen door controller through the redundancy of the communication link and the security design of the communication protocol, thus getting rid of the dependence on hard wires, being able to achieve the transmission of a larger amount of data with the platform screen door controller, having a higher efficiency in data transmission with the platform screen door controller, improving the flexibility and generality of platform screen door control, and being able to more efficiently and flexibly realize the parameter setting, software upgrade, status feedback, and data transmission such as log recording of all platform screen door controllers in the whole station.

[0029] The following combines Figure 1 to describe a platform screen door control system provided by the present invention.

[0030] Figure 1 is a schematic structural diagram of a platform screen door control system provided by the present invention. The following combines Figure 1 to describe a platform screen door control system provided by the present invention. As Figure 1 shown, a platform screen door control system 101 includes: two execution hosts 102 and multiple platform screen door controllers 103; each execution host 102 adopts a two-by-two redundant architecture, and each platform screen door controller 103 adopts a two-out-of-two architecture.

[0031] Each platform screen door controller 103 is respectively connected to each execution host 102 through a CAN FD bus.

[0032] The execution host 102 is configured to send target data to the target platform screen door controller through the CAN FD bus between it and the target platform screen door controller when receiving the target data for the target platform screen door controller, and the target platform screen door controller is included in the platform screen door controller 103.

[0033] The platform screen door controller 103 is configured to respond to the target data when receiving the target data sent by the execution host 102, and return response data including the response result of the target data to the execution host 102 through the CAN FD bus between it and the execution host 102.

[0034] It should be noted that the two execution hosts 102 in the embodiments of the present invention include a first execution host and a second execution host.

[0035] Figure 1 In it, PEDCA represents the first execution host, PEDCB represents the second execution host, DCU represents the platform door controller 103, and the number after DCU represents the identification information of the platform door controller 103.

[0036] It should be noted that Figure 1 The CANFD bus used to connect the platform door controller 103 and the execution host 102 consists of two traces, namely the CAN_H (CAN High) trace and the CAN_L (CAN Low) trace. The differential signal transmission can be realized by using the CAN_H trace and the CAN_L trace in the CANFD bus, so as to effectively improve the anti-interference ability of data transmission and communication reliability.

[0037] In the embodiments of the present invention, the first execution host and the second execution host adopt a two-by-two redundant architecture, and each platform door controller 103 adopts a two-by-two architecture, and the safety computer platform technology is adopted. Because the logical execution of the safety computer platform is strongly related to time, it has functions such as in-system time synchronization, microcycle time slice division, and microcycle time supervision, and can provide strict cycle control for the safety communication protocol.

[0038] The execution host 102 in the embodiments of the present invention includes two sets of independent operation units (such as CPU A and CPU B). The above two sets of independent operation units need to calculate and compare the results at the same time, and only when the results are consistent, the valid instructions are output. Relying on the calculation of the safety computer platform, the fast interaction of the data of the two operation units of the dual-channel redundant execution host 102 can be realized, and functions such as different polynomial CRC checks and two-out-of-two output voting of the two operation units can be realized. The two operation units are checked and the valid instructions are output only when the results are consistent, which can improve the security of data transmission.

[0039] The first execution host and the second execution host are completely redundant designs, running simultaneously and cross-checking. In the case of a failure of any one of the execution hosts 102 in the first execution host and the second execution host, the other execution host 102 takes over the control right.

[0040] The platform door controller 103 includes two sets of independent control modules (such as control module 1 and control module 2), which need to receive and verify the control instructions at the same time, and only when both confirm that they are valid, the corresponding platform door is controlled to execute the actions corresponding to the above control instructions (such as opening and closing the door).

[0041] It should be noted that in the embodiments of the present invention, the platform door controller 103 that needs to be controlled or the platform door controller 103 that needs to transmit data in each platform door controller 103 can be determined as the target platform door controller.

[0042] It can be understood that the target platform door controller can be determined based on actual needs, and the embodiments of the present invention do not make specific limitations on the target platform door controller.

[0043] It should be noted that the platform door controller 103 in the embodiments of the present invention can control one or more platform doors, and the number of target platform door controllers can be one or more. Each platform door controller 103 includes the target platform door controller.

[0044] It can be understood that the target data in the embodiments of the present invention can include control instructions for controlling the target platform door controller, and / or information that needs to be sent to the target platform door controller.

[0045] It should be noted that the target data in the embodiments of the present invention can be input by the user, or can also be sent by other electronic devices in the rail transit system. For example, the target data can be sent by the on-vehicle controller of the train, or the target data can be sent by the monitoring host of the monitoring center.

[0046] When the execution host 102 receives the target control instruction for the target platform door, it can, based on the two-by-two redundancy architecture, send the above-mentioned target data to the above-mentioned target platform door controller through the CANFD bus for controlling the target platform door controller.

[0047] For any platform door controller 103, if the above-mentioned platform door controller 103 receives the above-mentioned target data sent by the execution host, it can be indicated that the above-mentioned platform door controller 103 is the target platform door controller, and then it can respond to the above-mentioned target data based on the two-by-two redundancy architecture.

[0048] It should be noted that the response of the target platform door controller to the above-mentioned target data can include but is not limited to status information response, control instruction response, fault signal response, safety loop signal response, and gap detection response, etc.

[0049] Among them, the status information response may include, but is not limited to, returning the current status signal to the execution host 102. The control instruction response may include controlling the platform screen door to open, close, and isolate, as well as performing interlock or unlocking. The fault information response may include, but is not limited to, returning the detected fault information to the execution host 102. The safety loop signal response may include, but is not limited to, feeding back the status information of the safety loop to the execution host 102. The gap detection response may include, but is not limited to, returning the detection information of obstacles to the execution host 102.

[0050] It should be noted that shielded twisted pairs are provided on the CANFD bus between the platform screen door controller 103 and the first execution host, and shielded twisted pairs are also provided on the CANFD bus between the platform screen door controller 103 and the second execution host 102. The specification of the above shielded twisted pairs can be 4*0.5mm 2 +0.5mm 2 。

[0051] A platform screen door control system in an embodiment of the present invention can utilize the CANFD bus connection between the execution host and the platform screen door controller to realize the massive data transmission between different electronic devices and the platform screen door controller in the rail transit system, can significantly improve the data transmission efficiency between the platform screen door controller, through the CANFD bus network connection, can flexibly control the platform controller without re-wiring when the train formation changes, can improve the flexibility and versatility of the platform screen door control, can support the dynamic expansion of the number of platform screen door controllers, can better adapt to the dynamic changes of the train formation, can significantly reduce the construction cost and maintenance cost of a platform screen door control system. The execution host based on the two-by-two redundant architecture and the platform screen door controller of the two-by-two architecture in the above platform screen door control system can solve the single-point failure risk in hard-wired communication, improve the safety of platform screen door control, have a relatively high security for data transmission, support remote diagnosis and firmware upgrade, can realize the rapid diagnosis and replacement of faulty components, and can provide core infrastructure support for the development of intelligent rail transit.

[0052] As an optional embodiment, the execution host 102 is configured to periodically send broadcast data carrying the host communication cycle number to each platform door controller 103 after power-on. The execution host 102 is further configured to, when receiving initial response data carrying the initial state information of the target platform door controller returned by the target platform door controller, if target data is received, add the target data to the broadcast data sent to the target platform door controller next time. The starting value of the host communication cycle number is 1. When the host communication cycle number carried in the broadcast data sent by the execution host in the previous cycle is not greater than the preset value, the host communication cycle number carried in the broadcast data sent by the execution host in the current cycle is 1 greater than the host communication cycle number carried in the broadcast data sent in the previous cycle. When the host communication cycle number carried in the broadcast data sent by the execution host last time is the preset value, the host communication cycle number carried in the broadcast data sent by the execution host this time is 1.

[0053] Specifically, the platform door controller 103 is configured to, when receiving the first quantity of broadcast data with consecutive host communication cycle numbers for the first time after power-on, return initial response data carrying the initial state information of the platform door controller 103 to the execution host 102 and determine to establish a secure communication link with the execution host 102. The platform door controller 103 is further configured to, when determining to establish a secure communication link with the execution host 102, if it is determined to trust the broadcast data received this time, respond to the broadcast data received this time and return response data including the response result to the execution host 102. The response data also carries the slave communication cycle number and the host communication cycle number carried in the broadcast data received this time. The slave communication cycle number carried in the response data returned by the platform door controller 103 to the execution host 102 for the first time after determining to establish a secure communication link is 1. When the slave communication cycle number carried in the response data returned by the platform door controller 103 to the execution host last time is not greater than the preset value, the slave communication cycle number carried in the response data returned by the platform door controller 103 to the execution host this time is 1 greater than the slave communication cycle number carried in the response data returned to the execution host last time. When the slave communication cycle number carried in the response data returned by the platform door controller 103 to the execution host last time is greater than the preset value, the slave communication cycle number carried in the response data returned by the platform door controller 103 to the execution host this time is 1.

[0054] Specifically, after power-on, the execution host 102 actively sends communications to each platform door controller 103 and sends broadcast data carrying the host communication cycle number to each platform door controller 103 every preset time interval.

[0055] It should be noted that the host communication cycle number carried in the broadcast data sent by the execution host 102 to each platform door controller 103 in the embodiment of the present invention can be used to identify the sending order of the broadcast data sent by the execution host 102.

[0056] For any one of the platform door controllers 103 in each platform door controller 103, if the above platform door controller 103 is not powered on, the above platform door controller 103 will not reply to the broadcast data sent by the execution host 102.

[0057] It should be noted that after the above platform door controller 103 is powered on, the broadcast data sent by the execution host 102 is received by the above platform door controller 103. However, since the first few broadcast data received by the above platform door controller 103 cannot determine the validity of the data, that is, the first few broadcast data received by the above platform door controller 103 are not credible to the above platform door controller 103, the above platform door controller 103 does not execute the first several broadcast data received after power-on.

[0058] After the above platform door controller 103 is powered on, the above platform door controller 103 can determine whether the host communication cycle number carried in the broadcast data sent by the execution host 102 received this time is continuous with the host communication cycle number carried in the broadcast data sent by the execution host 102 received by the above platform door controller 103 last time.

[0059] It should be noted that in the embodiment of the present invention, the host communication cycle number carried in the broadcast data sent by the execution host 102 received by the platform door controller 103 this time is continuous with the host communication cycle number carried in the broadcast data sent by the execution host 102 received by the above platform door controller 103 last time, which means that the host communication cycle number carried in the broadcast data sent by the execution host 102 received by the platform door controller 103 this time is 1 greater than the host communication cycle number carried in the broadcast data sent by the execution host 102 received by the above platform door controller 103 last time, or the host communication cycle number carried in the broadcast data sent by the execution host 102 received by the above platform door controller 103 last time is a preset value, and the host communication cycle number carried in the broadcast data sent by the execution host 102 received by the above platform door controller 103 this time is 1.

[0060] It should be noted that the preset value in the embodiment of the present invention can be determined based on prior knowledge and / or actual situations. For example, the value range of the above preset value can be from 30 to 50. The specific value of the above preset value is not limited in the embodiment of the present invention.

[0061] If the above platform screen door controller 103 receives a first number of consecutive broadcast data of the host communication cycle number after power-on, it returns initial response data carrying the initial state information of the above platform screen door controller 103 to the execution host 102, and determines to establish a secure communication link with the execution host 102.

[0062] When the execution host 102 receives the response data returned by the above platform screen door controller 103 and carrying the initial state information of the above platform screen door controller 103, it determines that the above platform screen door controller 103 is online.

[0063] It should be noted that the first number in the embodiments of the present invention can be determined based on prior knowledge and / or actual situations. For example, the value range of the first number in the embodiments of the present invention can be from 2 to 4. The specific value of the first number in the embodiments of the present invention is not limited.

[0064] Optionally, the value of the first number in the embodiments of the present invention can be 3.

[0065] It should be noted that the initial state information of the platform screen door controller 103 in the embodiments of the present invention can include but is not limited to the synchronization status code of the platform screen door controller 103 and the device online identifier, etc.

[0066] It should be noted that if the host communication cycle number carried in the broadcast data sent by the execution host 102 received by the above platform screen door controller 103 this time after power-on is not consecutive with the host communication cycle number carried in the broadcast data sent by the execution host 102 received by the above platform screen door controller 103 last time, the number of illegal data receptions recorded by the above platform screen door controller 103 is incremented by 1. When the number of illegal data receptions recorded by the above platform screen door controller 103 exceeds the number threshold, the above platform screen door controller 103 determines that the establishment of a secure communication link with the execution host fails.

[0067] It should be noted that the starting value of the number of illegal data receptions recorded by the above platform screen door controller 103 is 0. The number threshold can be determined based on prior knowledge and / or actual situations. For example, the value range of the number threshold can be from 2 to 5 times. The specific value of the above number threshold in the embodiments of the present invention is not limited.

[0068] When the above platform screen door controller 103 determines that the establishment of a secure communication link with the execution host fails, it can clear the recorded number of illegal data receptions, and return to the step of determining whether the host communication cycle number carried in the broadcast data sent by the execution host 102 received this time is consecutive with the host communication cycle number carried in the broadcast data sent by the execution host 102 received by the above platform screen door controller 103 last time, until the above platform screen door controller 103 determines to establish a secure communication link with the execution host 102.

[0069] As an optional embodiment, when the platform screen door controller 103 determines that a secure communication link is established with the execution host 102, it determines whether the host communication cycle number carried in the broadcast data received this time is continuous with the host communication cycle numbers carried in the second quantity of the most recently received broadcast data before the broadcast data received this time. When it is determined that the host communication cycle number carried in the broadcast data received this time is continuous with the host communication cycle numbers carried in the second quantity of the most recently received broadcast data before the broadcast data received this time and the broadcast data received this time passes the verification of the two-by-two architecture, it is determined to accept the broadcast data received this time.

[0070] It should be noted that the second quantity in the embodiments of the present invention can be determined based on prior knowledge and / or actual situations. For example, the value range of the second quantity in the embodiments of the present invention can be from 2 to 4. The specific value of the second quantity in the embodiments of the present invention is not limited.

[0071] As an optional embodiment, when the execution host 102 receives the response data returned by any platform screen door controller 103, it determines whether to accept the response data returned by any platform screen door controller 103 received this time based on the orderliness of the slave communication cycle number and the host communication cycle number carried in the response data returned by any platform screen door controller 103 received this time and the two-out-of-two architecture.

[0072] Specifically, when the execution host 102 receives the response data returned by any platform screen door controller 103, if the slave communication cycle number carried in the response data returned by the above platform screen door controller 103 received this time is continuous with the slave communication cycle numbers carried in the second quantity of the response data returned by the above platform screen door controller 103 received most recently before the response data returned by the above platform screen door controller 103 received this time, and if the host communication cycle number carried in the response data returned by the above platform screen door controller 103 received this time is continuous with the host communication cycle numbers carried in the second quantity of the response data returned by the above platform screen door controller 103 received most recently before the response data returned by the above platform screen door controller 103 received this time, then it can be determined to accept the response data returned by the above platform screen door controller 103 received this time.

[0073] As an optional embodiment, when the execution host is the data sender, the platform screen door controller 103 is the data receiver. The data received by the data receiver is broadcast data, and the communication serial number carried in the data received by the data receiver is the host communication cycle number carried in the broadcast data.

[0074] When the platform screen door controller 103 is the data sender, the execution host is the data receiver. The data received by the data receiver is response data, and the communication serial number carried by the data received by the data receiver is the slave communication cycle number carried by the response data.

[0075] The data receiver is used to determine that the data received this time is the same as the data received last time and perform tolerance processing on the data received this time when it is determined that the communication serial number carried by the data received this time is the same as the communication serial number carried by the data received last time.

[0076] It should be noted that when the platform screen door controller 103 determines that the broadcast data received this time is the same as the broadcast data received last time, it determines not to accept the broadcast data received this time. When the platform screen door controller 103 performs tolerance processing on the broadcast data received this time, it does not respond to the broadcast data received this time.

[0077] As an optional embodiment, the data receiver is used to report a first exception message indicating data loss when it is determined that the communication serial number carried by the data received this time is not continuous with the communication serial number carried by the data received last time, and the difference between the communication serial number carried by the data received this time and the communication serial number carried by the data received last time is greater than a numerical threshold or the difference between the sum of the communication serial number carried by the data received this time and a preset value and the communication serial number carried by the data received last time is greater than the numerical threshold.

[0078] It should be noted that when the data receiver determines that the communication serial number carried by the data received this time is not continuous with the communication serial number carried by the data received last time, and the difference between the communication serial number carried by the data received this time and the communication serial number carried by the data received last time is greater than a numerical threshold or the difference between the sum of the communication serial number carried by the data received this time and a preset value and the communication serial number carried by the data received last time is greater than the numerical threshold, it can determine that data loss has occurred before the data received this time and can report a first exception message indicating that data loss has occurred before the data received this time to an electronic device such as a monitoring host.

[0079] It should be noted that the monitoring host and the execution host 102 in the embodiments of the present invention can be connected through an RS48S bus, and the monitoring host and the execution host 102 can be set in a PSC cabinet together.

[0080] It should be noted that the numerical threshold in the embodiments of the present invention can be determined based on prior knowledge and / or actual situations. For example, the value range of the above numerical threshold can include 2 to 4. The present invention does not specifically limit the value range of the above numerical threshold.

[0081] Optionally, in the embodiment of the present invention, the value of the above numerical threshold is 3.

[0082] As an optional embodiment, when it is determined that the communication sequence number carried in the data received this time is reversed or does not increase regularly compared with the communication sequence numbers carried in the third quantity of data received most recently before the data received this time, the data receiver is used to re - sort the data received this time and the third quantity of data received most recently before the data received this time according to the orderliness of the communication sequence numbers. When the communication sequence numbers carried in the re - sorted data are continuous, the re - sorted data is adopted; when the communication sequence numbers carried in the re - sorted data are not continuous, the re - sorted data is discarded.

[0083] It should be noted that the third quantity in the embodiment of the present invention can be determined based on prior knowledge and / or actual situations. For example, the value range of the above - mentioned third quantity can include 2 to 4. The embodiment of the present invention does not specifically limit the value range of the above - mentioned third quantity.

[0084] Optionally, in the embodiment of the present invention, the value of the above - mentioned third quantity is 3.

[0085] As an optional embodiment, the data sender is further used to add a source identifier for identifying the identity of the data sender to the data sent to the data receiver.

[0086] When it is determined based on the source identifier carried in the data received this time that the data received this time is inserted data, the data receiver is used to report a second abnormal message indicating that the inserted data is received.

[0087] Specifically, if the data receiver determines, based on the source identifier carried in the data received this time, that the data sender is not a device in a certain platform door control system 101, the data receiver can determine that the data received this time is inserted data and can report a second abnormal message indicating that the inserted data is received to an electronic device such as a monitoring host.

[0088] The format of the broadcast data sent by the execution host 102 to the platform door controller 103 is shown in Table 1.

[0089] Table 1 Format table of the broadcast data sent by the execution host 102 to the platform door controller 103

[0090] The format of the response data sent by the platform door controller 103 to the execution host 102 is shown in Table 2.

[0091] Table 2 Format table of the broadcast data sent by the platform door controller 103 to the execution host 102

[0092] As an optional embodiment, the data receiver is configured to determine that the data received this time is delayed data when the time when the data is received this time exceeds a preset duration compared with the time when the data was received last time.

[0093] It should be noted that the preset duration in the embodiments of the present invention can be determined based on the cycle duration of the execution host 102 sending broadcast data to the platform door controller 103. For example, the preset duration can be three times the above cycle duration. The specific value of the above preset duration is not limited in the embodiments of the present invention.

[0094] It should be noted that the execution host in the embodiments of the present invention adopts a two-by-two redundant architecture, and the platform door controller 103 adopts a two-by-two redundant architecture. During the data transmission process between the execution host and the platform door controller 103, different polynomial CRC checks are used for the two CPUs. CPU0 uses 32-bit CRC check, and CPU1 uses 16-bit CRC check. After the two CPUs exchange CRCs for verification, when the CRC verification result fails, the data is judged to be damaged.

[0095] In the embodiments of the present invention, the communication network composed of the execution host 102 and the platform door controller 103 belongs to a closed transmission system, which can protect against abnormal situations such as duplicate data, data loss, inserted data, out-of-order data, damaged data, and delayed data, and can improve the data transmission security of a platform door control system 101.

[0096] As an optional embodiment, the execution host 102 is configured to, when receiving an upgrade firmware package for the platform door controller 103 to be upgraded, send a software upgrade instruction and the upgrade firmware package to the platform door controller 103 to be upgraded through the CANFD bus between the execution host 102 and the platform door controller 103 to be upgraded, and each platform door controller 103 includes the platform door controller 103 to be upgraded.

[0097] The platform door controller 103 is configured to switch to the Bootloader mode when receiving the software upgrade instruction, verify the upgrade firmware package based on the two-by-two redundant architecture when receiving the upgrade firmware package within a preset duration after receiving the software upgrade instruction, and perform software upgrade based on the upgrade firmware package in the Bootloader mode when determining that the upgrade firmware package passes the verification.

[0098] It should be noted that the number of platform door controllers 103 to be upgraded in the embodiments of the present invention can be one or more.

[0099] When any platform door controller 103 receives the software upgrade instruction sent by the execution host 102, it can be shown that the above platform door controller 103 is the platform door controller 103 to be upgraded.

[0100] When the platform door controller 103 to be upgraded receives the software upgrade instruction sent by the execution host 102, it jumps from the application program mode to the Bootloader mode. Among them, the Bootloader mode refers to a special working state that Bootloader enters when powering on or under specific conditions, mainly used for booting the operating system or application program, and for software update.

[0101] When the platform door controller 103 to be upgraded receives the upgrade firmware package within a preset duration after receiving the software upgrade instruction sent by the execution host 102, the above upgrade firmware package can be verified based on the two-by-two architecture.

[0102] If the platform door controller 103 to be upgraded does not receive the upgrade firmware package within the preset duration after receiving the software upgrade instruction sent by the execution host 102, it jumps back to the application program mode.

[0103] It should be noted that the preset duration in the embodiments of the present invention can be determined based on prior knowledge and / or actual situations. For example, the value range of the above preset duration can be 15 to 30 seconds. The specific value of the above preset duration in the embodiments of the present invention is not limited.

[0104] Optionally, the value of the above preset duration in the embodiments of the present invention can be 20 seconds.

[0105] It should be noted that during the process of the platform door controller 103 to be upgraded receiving the upgrade firmware package, if an accident causes a communication interruption or a single-packet CRC check fails, it can automatically obtain the upgrade firmware package from another redundant link. If both communication paths fail, it automatically jumps back to the original application program mode.

[0106] When the platform door controller 103 to be upgraded determines that the upgrade firmware package passes the verification, it can perform software upgrade based on the above upgrade firmware package. When the platform door controller 103 to be upgraded determines that the upgrade firmware package does not pass the verification, it can jump back to the application program mode.

[0107] In the embodiment of the present invention, by executing the host 102 to simultaneously send software upgrade instructions and upgrade firmware packages to multiple platform door controllers 103, parallel upgrade is achieved, greatly shortening the software upgrade time of the multiple platform door controllers 103, significantly improving the software upgrade efficiency of the platform door controllers 103, enabling more platform door controllers 103 to be upgraded within a limited time. And due to the significant reduction in the upgrade time of the platform door controllers 103, the interference to the normal operation of rail transit can be significantly reduced. A verification mechanism with a two-by-two architecture is introduced during the software upgrade process to ensure the integrity and correctness of the upgrade firmware package, improving the reliability of the software upgrade and reducing the risk of equipment failure caused by upgrade failure or firmware package damage. By executing the host 102 to centrally manage and distribute the upgrade firmware package, the upgrade process of the platform door controllers 103 is simplified. Maintenance personnel do not need to operate each controller one by one, reducing the complexity and error probability of manual operation, and enhancing the convenience and efficiency of maintenance work.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A platform screen door control system, characterized in that, Including: Two execution hosts and multiple platform door controllers; each of the execution hosts adopts a two-by-two redundant architecture, and each of the platform door controllers adopts a dual-redundant architecture; Each of the platform door controllers is respectively connected to each of the execution hosts through a CANFD bus; The execution host is configured to, when receiving target data for a target platform door controller, send the target data to the target platform door controller through the CANFD bus between the execution host and the target platform door controller, and the target platform door controller is included in each of the platform door controllers; The platform door controller is configured to, when receiving the target data sent by the execution host, respond to the target data, and return response data including a response result of the target data to the execution host through the CANFD bus between the platform door controller and the execution host.

2. The platform screen door control system according to claim 1, characterized in that, The execution host is configured to periodically send broadcast data carrying a host communication cycle number to each of the platform door controllers after power-on. The execution host is further configured to, when receiving initial response data carrying initial status information of the target platform door controller returned by the target platform door controller, if receiving the target data, add the target data to the broadcast data sent to the target platform door controller next time. The starting value of the host communication cycle number is 1. When the host communication cycle number carried in the broadcast data sent by the execution host in the previous cycle is not greater than a preset value, the host communication cycle number carried in the broadcast data sent by the execution host in the current cycle is 1 greater than the host communication cycle number carried in the broadcast data sent in the previous cycle. When the host communication cycle number carried in the broadcast data sent by the execution host last time is the preset value, the host communication cycle number carried in the broadcast data sent by the execution host this time is 1. The platform door controller is specifically configured to, when receiving the broadcast data with the first number of consecutive host communication cycle numbers for the first time after power-on, return initial response data carrying the initial state information of the platform door controller to the executing host, and determine to establish a secure communication link with the executing host. The platform door controller is further configured to, when determining to establish a secure communication link with the executing host, if it determines to accept the broadcast data received this time, respond to the broadcast data received this time, and return response data including a response result to the executing host. The response data also carries a slave communication cycle number and the host communication cycle number carried by the broadcast data received this time. The slave communication cycle number carried by the response data returned by the platform door controller to the executing host for the first time after determining to establish a secure communication link with the executing host is 1. When the slave communication cycle number carried by the response data returned by the platform door controller to the executing host last time is not greater than the preset value, the slave communication cycle number carried by the response data returned by the platform door controller to the executing host this time is 1 greater than the slave communication cycle number carried by the response data returned by the platform door controller to the executing host last time. When the slave communication cycle number carried by the response data returned by the platform door controller to the executing host last time is greater than the preset value, the slave communication cycle number carried by the response data returned by the platform door controller to the executing host this time is 1.

3. The platform screen door control system according to claim 2, characterized in that, When the executing host is the data sender, the platform door controller is the data receiver. The data received by the data receiver is the broadcast data, and the communication sequence number carried by the data received by the data receiver is the host communication cycle number carried by the broadcast data. When the platform door controller is the data sender, the executing host is the data receiver. The data received by the data receiver is the response data, and the communication sequence number carried by the data received by the data receiver is the slave communication cycle number carried by the response data. The data receiver is configured to, when determining that the communication sequence number carried by the data received this time is the same as the communication sequence number carried by the data received last time, determine that the data received this time is the same as the data received last time, and perform a tolerance process on the data received this time.

4. The platform screen door control system according to claim 2, characterized in that, The platform door controller is configured to, when determining to establish a secure communication link with the executing host, determine whether the host communication cycle number carried by the broadcast data received this time is consecutive with the host communication cycle numbers carried by the second number of broadcast data received most recently before the broadcast data received this time. When it is determined that the host communication cycle number carried by the broadcast data received this time is consecutive with the host communication cycle numbers carried by the second number of broadcast data received most recently before the broadcast data received this time and the broadcast data received this time passes the verification of the two-by-two architecture, it is determined to accept the broadcast data received this time.

5. The platform screen door control system according to claim 2, characterized in that, The execution host is used to determine whether to accept the response data returned by any platform door controller received this time based on the orderliness of the slave communication cycle number and the master communication cycle number carried in the response data returned by any platform door controller received this time and the two-by-two redundancy architecture.

6. The platform screen door control system according to claim 3, characterized in that, The data receiver is used to report a first exception message indicating data loss when it is determined that the communication sequence number carried in the data received this time is not continuous with the communication sequence number carried in the data received last time, and the difference between the communication sequence number carried in the data received this time and the communication sequence number carried in the data received last time is greater than a numerical threshold, or the difference between the sum of the communication sequence number carried in the data received this time and a preset value and the communication sequence number carried in the data received last time is greater than the numerical threshold.

7. The platform screen door control system according to claim 3, characterized in that, The data receiver is used to re-sort the data received this time and the third quantity of data received most recently before the data received this time according to the orderliness of the communication sequence number when it is determined that the communication sequence number carried in the data received this time is reversed or does not increase regularly compared with the communication sequence numbers carried in the third quantity of data received most recently before the data received this time. When the communication sequence numbers carried in the re-sorted data are continuous, the re-sorted data is accepted; when the communication sequence numbers carried in the re-sorted data are not continuous, the re-sorted data is discarded.

8. The platform screen door control system according to claim 3, characterized in that, The data sender is also used to add a source identifier for identifying the identity of the data sender to the data sent to the data receiver; The data receiver is used to report a second exception message indicating that inserted data is received when it is determined that the data received this time is inserted data based on the source identifier carried in the data received this time.

9. The platform screen door control system according to claim 3, characterized in that, The data receiver is used to determine that the data received this time is delayed data when the time when the data received this time is determined exceeds a preset duration compared with the time when the data was received last time.

10. A platform screen door control system according to any one of claims 1 to 9, characterized in that, The execution host is used to send a software upgrade instruction and the upgrade firmware package to the platform door controller to be upgraded through the CANFD bus between the execution host and the platform door controller to be upgraded when the upgrade firmware package for the platform door controller to be upgraded is received, and each platform door controller includes the platform door controller to be upgraded; The platform door controller is used to switch to the Bootloader mode when the software upgrade instruction is received, verify the upgrade firmware package based on the two-by-two architecture when the upgrade firmware package is received within a preset duration after the software upgrade instruction is received, and perform software upgrade based on the upgrade firmware package in the Bootloader mode when it is determined that the upgrade firmware package passes the verification.

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