Locomotive double heading method

Abstract

The invention discloses a locomotive reconnection method which is applied to the field of locomotive communication. The method comprises the steps that first reconnection equipment configures first reconnection equipment information based on second node information so as to simulate a second node in a second locomotive; the second reconnection equipment configures second reconnection equipment information based on the first node information so as to simulate a first node in the first locomotive; the second node simulated by the first reconnection equipment transmits data messages with the first node and the second reconnection equipment in the first locomotive according to the first reconnection equipment information and the first node information; and the first node simulated by the second reconnection equipment transmits data messages with a second node in the second locomotive and the first reconnection equipment according to the first reconnection equipment information and the second node information, so that reconnection communication between the first locomotive and the second locomotive is realized. According to the embodiment of the invention, wireless communication between the first locomotive and the second locomotive can be realized, and the reliability of reconnection communication is improved.

Description

Technical Field

[0001] The present application relates to the field of locomotive communications, and in particular to a locomotive reconnection method. Background Art

[0002] During the locomotive reconnection communication process, the main locomotive and the reconnected locomotive are connected via a reconnection cable. On one hand, since the reconnection cable is a consumable item and easily damaged, damage will cause communication problems between the main locomotive and the reconnected locomotive, reducing the reliability of the reconnection communication between the locomotives. Replacing the cable will also increase the reconnection cost. On the other hand, since the main locomotive and the reconnected locomotive need to be present on site at the same time, their parking locations are often restricted by the environment and cannot be flexibly moved. As a result, the main locomotive and the reconnected locomotive can only be connected via a long reconnection cable. The reconnection cable is long and difficult to organize, further increasing the reconnection cost. On the other hand, the current locomotive reconnection communication process cannot achieve information sharing and intelligent management. Anomalies in the reconnection communication are difficult to detect, which is not conducive to fault location and analysis. Especially during the reconnection test, if an anomaly occurs and the test personnel fail to detect it, it will pose a huge safety hazard to production. Summary of the Invention

[0003] An embodiment of the present application provides a locomotive reconnection method, which can realize wireless communication between a first locomotive and a second locomotive. Compared with the communication method realized by reconnection cables, the wireless communication between locomotives realized by reconnection equipment can avoid various adverse effects caused by damage to the reconnection cables, improve the reliability and safety of the reconnection communication, and save the cost of reconnection communication.

[0004] On the one hand, an embodiment of the present application provides a locomotive reconnection method, which uses a locomotive reconnection system, wherein the locomotive reconnection system includes a first locomotive, a first reconnection device, a second locomotive, and a second reconnection device, wherein the first locomotive is connected to the first reconnection device via a locomotive bus, the second locomotive is connected to the second reconnection device via a locomotive bus, and the first reconnection device and the second reconnection device are connected via a network, wherein the first locomotive includes at least one first node, the second locomotive includes at least one second node, the first reconnection device is used to simulate at least one second node in the second locomotive, and the second reconnection device is used to simulate at least one first node in the first locomotive, and the method includes: the first reconnection device is based on The second node information configures the first reconnection device information to simulate the second node in the second locomotive; the second reconnection device configures the second reconnection device information based on the first node information to simulate the first node in the first locomotive; in the reconnection communication stage, the second node simulated by the first reconnection device transmits data messages with the first node and the second reconnection device in the first locomotive according to the first reconnection device information and the first node information; the first node simulated by the second reconnection device transmits data messages with the second node and the first reconnection device in the second locomotive according to the first reconnection device information and the second node information, thereby realizing reconnection communication between the first locomotive and the second locomotive.

[0005] In some embodiments, the first node information includes a master-slave mode of the first node, and the second node information includes a master-slave mode of the second node; the method further includes: in the initial operation stage, the second node simulated by the first reconnection device transmits an initial operation data message with the first node in the first locomotive according to the first reconnection device information and the master-slave mode of the first node, thereby establishing a first node topology; the first node simulated by the second reconnection device transmits an initial operation data message with the second node in the second locomotive according to the second reconnection device information and the master-slave mode of the second node, thereby establishing a second node topology; the second node simulated by the first reconnection device transmits an initial operation data message with the second node in the second locomotive according to the second reconnection device information and the master-slave mode of the second node, thereby establishing a second node topology; The first node simulated by the second reconnection device transmits data messages with the first node and the second reconnection device in the first locomotive according to the first reconnection device information; the first node simulated by the second reconnection device transmits data messages with the second node and the first reconnection device in the second locomotive according to the first reconnection device information, including: in the reconnection communication stage, the second node simulated by the first reconnection device transmits data messages with the first node and the second reconnection device in the first locomotive according to the first node topology and the first reconnection device information; the first node simulated by the second reconnection device transmits data messages with the second node and the first reconnection device in the second locomotive according to the second node topology and the first reconnection device information. In some embodiments, the master-slave mode of the second node simulated by the first reconnection device is the master mode; the master-slave mode of the first node simulated by the second reconnection device is both the slave mode;

[0006] The second node simulated by the first reconnection device transmits data messages with the first node and the second reconnection device in the first locomotive according to the first node topology and the first reconnection device information, including:

[0007] The second node in the master mode simulated by the first reconnection device sends a first request message to the first node in the first locomotive and the second node in the slave mode simulated by the first reconnection device according to the first node topology, wherein the request message includes: a process data request message or an existence request message;

[0008] The second node in the master mode simulated by the first reconnection device receives the response message returned by the first node in the first locomotive and the response message returned by the second node in the slave mode simulated by the first reconnection device;

[0009] The second node in the master mode simulated by the first reconnection device sends the response message received from the first node to the first node simulated by the corresponding second reconnection device;

[0010] The first node simulated by the second reconnection device transmits data messages with the second node in the second locomotive and the first reconnection device according to the second node topology and the first reconnection device information, including:

[0011] The first node simulated by the second reconnection device receives the second request message sent by the second node in master mode in the second locomotive, and sends a second response message to the second node in master mode in the second locomotive based on the response message sent by the first reconnection device.

[0012] In some embodiments, the master-slave mode of the first node in the first locomotive is the slave mode; the master-slave mode of the second node in the second locomotive is the master mode;

[0013] The second node simulated by the first reconnection device transmits data messages with the first node and the second reconnection device in the first locomotive according to the first node topology and the first reconnection device information, including:

[0014] The first node in the first locomotive receives the first request message sent by the second node in the master mode simulated by the first reconnection device, and returns a response message to the second node in the master mode simulated by the first reconnection device;

[0015] The first node simulated by the second reconnection device transmits data messages with the second node in the second locomotive and the first reconnection device according to the second node topology and the first reconnection device information, including:

[0016] The second node in the master mode of the second locomotive sends a second request message to the second node in the slave mode of the second locomotive and the first node simulated by the second reconnection device according to the second node topology;

[0017] The second node in the master mode in the second locomotive receives the response message returned by the first node simulated by the second reconnection device and the response message returned by the second node in the slave mode in the second locomotive.

[0018] In some embodiments, the master-slave mode of the first node in the first locomotive is a master mode; the master-slave mode of the second node in the second locomotive is a slave mode;

[0019] The second node simulated by the first reconnection device transmits data messages with the first node and the second reconnection device in the first locomotive according to the first node topology and the first reconnection device information, including:

[0020] The first node in the master mode of the first locomotive sends a third request message to the first node in the slave mode of the first locomotive and the second node simulated by the first reconnection device according to the first node topology;

[0021] The first node in the master mode of the first locomotive receives the response message returned by the second node simulated by the first reconnection device and the response message returned by the first node in the slave mode of the first locomotive;

[0022] The first node simulated by the second reconnection device transmits data messages with the second node in the second locomotive and the first reconnection device according to the second node topology and the first reconnection device information, including:

[0023] The second node in the second locomotive receives the fourth request message sent by the second node in the master mode simulated by the second reconnection device, and returns a corresponding response message to the first node in the master mode simulated by the second reconnection device.

[0024] In some embodiments, the master-slave mode of the second node simulated by the first reconnection device is the master mode; the master-slave mode of the first node simulated by the second reconnection device is both the slave mode;

[0025] The second node simulated by the first reconnection device transmits the initial operation data message with the first node in the first locomotive according to the first reconnection device information and the master-slave mode of the first node, including:

[0026] The second node in the master mode simulated by the first reconnection device sends a first initial operation request message to the second node in the slave mode simulated by the first reconnection device and the first node in the first locomotive;

[0027] The second node in the master mode simulated by the first reconnection device receives the first initial operation response message returned by the first node and the second initial operation response message returned by the second node in the slave mode simulated by the first reconnection device, and establishes a first node topology according to the first initial operation response message and the second initial operation response message;

[0028] The first node simulated by the second coupling device transmits the initial operation data message with the second node in the second locomotive according to the second coupling device information and the master-slave mode of the second node, including:

[0029] The first node simulated by the second reconnection device receives the second initial operation request message sent by the second node of the second locomotive in the master mode, and returns a third initial operation response message to the second node of the second locomotive in the master mode.

[0030] In some embodiments, the second node simulated by the first reconnection device transmits the initial operation data message to the first node in the first locomotive according to the first reconnection device information and the master-slave mode of the first node, including:

[0031] When the master-slave mode of the first node in the first locomotive is the master mode, the first node in the master mode of the first locomotive sends a third initial operation request message to the first node in the slave mode of the first locomotive and the second node simulated by the first reconnection device, and receives a third initial operation response message returned by the second node simulated by the first reconnection device and a fourth initial operation response message returned by the first node in the slave mode of the first locomotive;

[0032] When the master and slave modes of the first node in the first locomotive are both slave modes, the first node in the first locomotive receives the fourth initial operation request message sent by the second node in the master mode simulated by the first reconnection device, and sends the corresponding fifth initial operation response message to the second node in the master mode simulated by the first reconnection device.

[0033] In some embodiments, after the initial operation phase, the method further comprises:

[0034] The second node simulated by the first reconnection device or the first node in the first locomotive generates a first locomotive bus polling cycle by using the master-slave mode as the node in the master mode;

[0035] The first node simulated by the second reconnection device or the second node in the second locomotive generates a second locomotive bus polling cycle by using the master-slave mode as the node in the master mode;

[0036] During the reconnection communication phase, the method further includes:

[0037] The second node simulated by the first reconnection device and the first node in the first locomotive transmit data messages according to the first locomotive bus polling cycle;

[0038] Data messages are transmitted between the first node simulated by the second reconnection device and the second node in the second locomotive according to the second locomotive bus polling cycle.

[0039] In some implementations, generating a first locomotive bus polling cycle includes:

[0040] Generate a locomotive bus polling basic cycle, the locomotive bus polling basic cycle at least including: a cycle phase and a monitoring phase;

[0041] The time of the cycle phase and the monitoring phase is determined according to the locomotive bus protocol.

[0042] In some embodiments, transmitting data messages between the second node simulated by the first reconnection device and the first node in the first locomotive according to the first locomotive bus polling period includes:

[0043] In each first locomotive bus polling cycle, the second node simulated by the first reconnection device and the first node in the first locomotive transmit process data messages in the cycle phase and transmit existence data messages in the monitoring phase.

[0044] The embodiment of the present application realizes data transmission between the first node in the first locomotive and the second node in the second locomotive through mutual communication between the first reconnection device and the first locomotive and the second reconnection device, as well as mutual communication between the second reconnection device and the second locomotive, thereby realizing a wireless communication method between the first locomotive and the second locomotive. Compared with the method of realizing communication by directly connecting the first locomotive and the second locomotive through a reconnection cable, the reconnection communication method of the embodiment of the present application is more reliable and can be flexibly applied to various reconnection communication scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0046] Figure 1 is an exemplary locomotive reconnection system;

[0047] Figure 2 This is a structural diagram of a locomotive reconnection system provided in an embodiment of the present application;

[0048] Figure 3 This is a structural diagram of a reconnection device provided in an embodiment of the present application;

[0049] Figure 4 This is a flow chart of a locomotive reconnection method provided in an embodiment of the present application;

[0050] Figure 5 A schematic flow chart of a locomotive reconnection method provided in an embodiment of the present application is shown;

[0051] Figure 6 This is a flow chart of another locomotive reconnection method provided in an embodiment of the present application;

[0052] Figure 7 This is a flow chart of another locomotive reconnection method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0054] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0055] Figure 1 is an exemplary locomotive reconnection system. Figure 1 As shown, the locomotive coupling system includes a first locomotive 10 and a second locomotive 20, which are communicatively connected via a coupling cable 30. The first locomotive 10 and the second locomotive 20 perform coupling communication via the coupling cable 30. During coupling communication, either locomotive 10 or locomotive 20 can function as the master locomotive, sending and receiving communication messages to the other locomotive (also referred to as the coupled locomotive).

[0056] In this solution, on the one hand, the reconnection cable is a consumable item and is easily damaged. Once damaged, it will cause communication problems between the main locomotive and the reconnected locomotive, reducing the reliability of the reconnected communication between the locomotives, and replacing new cables will also increase the reconnection cost; on the other hand, since the main locomotive and the reconnected locomotive need to be present on site at the same time, the parking positions of the main locomotive and the reconnected locomotive are often restricted by the environment and cannot be moved flexibly. As a result, the main locomotive and the reconnected locomotive can only be connected through a long reconnection cable. The reconnection cable is long and difficult to organize, and further increases the reconnection cost; on the other hand, this locomotive reconnection solution cannot realize information sharing and intelligent management. Abnormalities in the reconnection communication are difficult to detect, which is not conducive to fault location and analysis. Especially during the reconnection test, once an abnormal situation occurs and the test personnel are not aware of it, it will bring great safety hazards to production.

[0057] In order to solve at least one of the above technical problems, the embodiment of the present application provides a locomotive reconnection method. The following first introduces the locomotive reconnection system provided by the embodiment of the present application.

[0058] Figure 2 FIG. 1 shows a schematic structural diagram of a locomotive reconnection system provided in an embodiment of the present application. Figure 2 As shown, the locomotive coupling system 100 includes: a first locomotive 101, a first coupling device 102, a second coupling device 103, and a second locomotive 104. The first locomotive 101 and the first coupling device 102 are connected via a locomotive bus, the second locomotive 104 and the second coupling device 103 are connected via a locomotive bus, and the first coupling device 102 and the second coupling device 103 are connected via a network. The first locomotive 101 includes at least one first node 1011, and the second locomotive 104 includes at least one second node 1041. The first coupling device 102 is used to simulate the at least one second node 1041 in the second locomotive 104, and the second coupling device 103 is used to simulate the at least one first node 1011 in the first locomotive 101.

[0059] In the embodiment of the present application, a node can be understood as various locomotive components connected together by a locomotive bus on a locomotive and having a locomotive bus communication function, such as windows, doors, air conditioners, power supplies, transmitters, etc. A locomotive usually has multiple nodes. A node with a locomotive bus scheduling function can be used as a master node. The master node is generally located at the front or rear of the locomotive. The master node controls other nodes by transmitting messages to other nodes. Other nodes can respond to messages transmitted by the master node and actively transmit messages to the master node. When the locomotive is operating normally, the master-slave mode of each node can be set. The master-slave mode includes master mode and slave mode. If the active mode of a node is set to master mode, the node is a master node; if the active mode of a node is set to slave mode, the node is a slave node.

[0060] In some examples, the locomotive bus may be a WTB bus, an MVB bus, or the like.

[0061] In some examples, locomotive reconnection interfaces are provided on both the first locomotive 101 and the second locomotive 104. The first reconnection device 102 can be connected to the first locomotive 101 via a switching cable or a switching interface, thereby enabling communication between the first reconnection device 102 and the first locomotive 101. The second reconnection device 103 can be connected to the second locomotive 104 via a switching cable or a switching interface, thereby enabling communication between the second reconnection device 103 and the second locomotive 104.

[0062] The first reconnection device 102 and the second reconnection device 103 are devices capable of realizing gateway functions, such as CPU boards, ZYNQ processor boards, etc. The communication between the locomotive and the reconnection devices is realized by carrying corresponding logic modules on the boards.

[0063] In some examples, to enable communication between the reconnection device and the locomotive, the reconnection device can be implemented by installing a corresponding logic module on the board. The following uses the example of implementing the reconnection device by installing a logic module on a ZYNQ processor board to specifically describe the first reconnection device 102 of the embodiment of the present application.

[0064] Figure 3 FIG. 1 shows a schematic diagram of the structure of a reconnection device provided in an embodiment of the present application. Figure 3 As shown, the first reconnection device 102 includes a transceiver module 1021. The transceiver module 1021 has receiving and transmitting functions and an interface that supports the locomotive bus protocol. The transceiver module 1021 is connected to the locomotive bus of the first locomotive 101 through the interface to achieve connection with the first locomotive 101. When communicating with the first locomotive 101, the transceiver module 1021 sends and receives locomotive bus data to the first locomotive 101 via the locomotive bus.

[0065] In some examples, the first reconnection device 102 and the second reconnection device 103 are connected via a network, so the first reconnection device 102 and the second reconnection device 103 are also devices with wireless communication functions, and can send and receive messages in network data format to other devices with wireless communication functions (hereinafter referred to as external communication devices) through the wireless network. When the first reconnection device 102 sends a data message in a network format to the external communication device, the first reconnection device 102 can package the locomotive bus signal into a data message in the network format and send it to the external communication device. When the first reconnection device 102 receives a data message in a network format sent by the external communication device, the first reconnection device 102 parses the received data message into a locomotive bus data message. Among them, the external communication device can be another reconnection device, or it can be a device such as a computer with wireless communication functions.

[0066] In some examples, to achieve wireless communication between the first reconnection device 102 and the second reconnection device 103, communication between the reconnection devices can be achieved by installing a corresponding logic module on the board. The following uses the example of implementing a reconnection device with a logic module on a ZYNQ processor board as an example to specifically describe the first reconnection device 102 with wireless communication capabilities in an embodiment of the present application.

[0067] Continue to refer Figure 3 In addition to the transceiver module 1021, the first reconnection device 102 also includes a codec module 1022, a processor module 1023, and a radio frequency module 1024. In this example, the locomotive bus is a WTB bus, and the process of transmitting network format data messages between the first reconnection device 102 and the external communication device is described.

[0068] When the first reconnection device 102 sends a data message in a network format to an external communication device, the first reconnection device 102 can package the locomotive bus signal into a data message in the network format and send it to the external communication device. Specifically, the transceiver module 1021 receives the WTB bus data message and sends the WTB bus data message to the codec module 1022 for encoding, obtaining the encoded WTB bus data message. The encoded WTB bus data message is then sent to the radio frequency module 1024 via the processor module 1023. The radio frequency module 1024 packages the WTB bus data message into a data message in the network format and sends it out. In this example, the WTB bus data message is in the form of an analog signal and cannot be recognized by the external communication device. Therefore, it is necessary to encode it into a WTB bus data message in the form of a digital signal by the codec module 1022. The radio frequency module 1024 then converts the WTB bus data message in the form of a digital signal into an Ethernet format data message and sends it out. The radio frequency module 1024 implements the wireless transmission function of the reconnection device, connecting the AP points between devices through a wireless network, thereby realizing wireless upload of information.

[0069] When the first reconnection device 102 receives a data packet sent by an external communication device, the first reconnection device 102 parses the received data packet into a WTB bus signal. In some examples, the RF module 1024 receives a data packet in a network format sent by the external communication device, parses the Ethernet format data packet into a WTB bus signal, and transmits it to the codec module 1022. The codec module 1022 decodes the WTB bus data packet into a WTB bus signal and transmits it to the transceiver module 1021. In this example, the RF module 1024 implements the wireless receiving function of the reconnection device, connecting the AP points between the devices through the wireless network to achieve information reception.

[0070] In some examples, such as Figure 3 As shown, in addition to a transceiver module 1021, a codec module 1022, a processor module 1023, and a radio frequency module 1024, the first reconnection device 102 also includes a simulated node configuration module 1025 and a memory 1026. The memory stores a configuration file containing information about the second node in the second locomotive 104. The simulated node configuration module configures the first reconnection device information by reading the information about the second node in the second locomotive 104 from the configuration file. By using the transceiver module 1021, codec module 1022, processor module 1023, radio frequency module 1024, configuration module 1025, and memory 1026, the first reconnection device 102 can simulate the functions of the second node in the second locomotive 104 and perform reconnection communication with the first locomotive.

[0071] In some examples, the information of the second node in the second locomotive 104 may include characteristic information of the second node and a master-slave mode of the second node.

[0072] In some examples, in addition to the information about the second nodes in the second locomotive 104, the configuration file may also include second locomotive information. For example, the second locomotive information may include information such as the number of second nodes in the second locomotive.

[0073] In some examples, the reconnection device may also be provided with a network interface, through which it is connected to a computer, so that the reconnection device information can be monitored, modified, and other operations performed on the computer.

[0074] In the embodiment of the present application, the implementation method of the second reconnection device 103 is basically the same as the implementation method of the first reconnection device 102, and will not be described here in detail.

[0075] In the embodiment of the present application, data transmission between a node in the first locomotive and a node in the second locomotive is achieved through the connection between the first reconnection device 102 and the first locomotive 101 and the second reconnection device 103, as well as the connection relationship between the second reconnection device 103 and the second locomotive 104, thereby realizing a wireless communication method between the first locomotive and the second locomotive. Compared with the method of realizing communication by directly connecting the first locomotive and the second locomotive through a reconnection cable, the reconnection device is not easily damaged, thereby improving the reliability of the reconnection communication, and the reconnection device can flexibly simulate locomotive nodes of different models and be applied to various reconnection communication scenarios.

[0076] This application also provides a locomotive reconnection method, which is applied to the implementation of this application, for example Figure 3 The locomotive reconnection system is shown.

[0077] Figure 4 FIG1 shows a flow chart of a locomotive reconnection method provided by an embodiment of the present application. Figure 4 As shown, the locomotive reconnection method provided in this application specifically includes the following steps:

[0078] S401. The first reconnection device configures first reconnection device information based on the second node information to simulate the second node in the second locomotive; the second reconnection device configures second reconnection device information based on the first node information to simulate the first node in the first locomotive.

[0079] By configuring the first reconnection device information and the second reconnection device information before the initial operation stage, the first node information in the first locomotive and the second node information in the second locomotive are simulated, so that during the initial operation stage and the reconnection communication stage, the first reconnection device has the function of the corresponding second node in the second locomotive, and the second reconnection device has the function of the corresponding first node in the first locomotive.

[0080] S402. In the reconnection communication stage, the second node simulated by the first reconnection device transmits data messages with the first node in the first locomotive and the second reconnection device according to the first reconnection device information and the first node information; the first node simulated by the second reconnection device transmits data messages with the second node in the second locomotive and the first reconnection device according to the first reconnection device information and the second node information, thereby realizing reconnection communication between the first locomotive and the second locomotive.

[0081] The first and second reconnected devices can exchange information through interaction, wherein the first reconnected device can synchronize the second node information to the second reconnected device through information interaction, and the second reconnected device can synchronize the first node information to the first reconnected device through information interaction.

[0082] When the first reconnected device communicates with the first locomotive, the first node in the first locomotive and the second node simulated by the first reconnected device, which is in master mode, take the lead in sending data packets to other nodes. When the second reconnected device communicates with the second locomotive, the second node in the second locomotive and the first node simulated by the second reconnected device, which is in master mode, take the lead in sending data packets to other nodes. Furthermore, the first and second reconnected devices also exchange information with each other, thereby passing on information obtained from each locomotive's communication to the other.

[0083] In the embodiment of the present application, data transmission between the first node in the first locomotive and the second node in the second locomotive is achieved through mutual communication between the first reconnection device and the first locomotive and the second reconnection device, as well as mutual communication between the second reconnection device and the second locomotive, thereby realizing a wireless communication method between the first locomotive and the second locomotive. Compared with the method of realizing communication by directly connecting the first locomotive and the second locomotive through a reconnection cable, the reconnection communication method of the embodiment of the present application is more reliable and can be flexibly applied to various reconnection communication scenarios.

[0084] Furthermore, the first node information includes the master-slave mode of the first node, and the second node information includes the master-slave mode of the second node. In order to better achieve communication, as an implementation method in the embodiment of the present application, the present application also provides another implementation method of the locomotive reconnection method, which is specifically referred to in the following embodiment.

[0085] Figure 5 FIG1 shows a flow chart of a locomotive reconnection method provided by an embodiment of the present application. Figure 5 As shown, the locomotive reconnection method provided in this application specifically includes the following steps:

[0086] S501. The first reconnection device configures first reconnection device information based on the second node information to simulate the second node in the second locomotive; the second reconnection device configures second reconnection device information based on the first node information to simulate the first node in the first locomotive.

[0087] Step S501 is the same as step S401 and will not be described again here.

[0088] S502. In the initial operation stage, the second node simulated by the first reconnection device transmits the initial operation data message with the first node in the first locomotive according to the first reconnection device information and the master-slave mode of the first node, thereby establishing a first node topology; the first node simulated by the second reconnection device transmits the initial operation data message with the second node in the second locomotive according to the second reconnection device information and the master-slave mode of the second node, thereby establishing a second node topology.

[0089] During the initial operation phase, since the first reconnection device has already simulated the second node in the second locomotive, and the second reconnection device has already simulated the first node in the first locomotive, communication between the first node in the first locomotive and the second node simulated by the first reconnection device is equivalent to communication between the first node in the first locomotive and the second node in the second locomotive, and communication between the second node in the second locomotive and the first node simulated by the second reconnection device is equivalent to communication between the first node in the first locomotive and the second node in the second locomotive. The first node in the first locomotive and the second node in the second locomotive each have their own master-slave mode. The initial operation between the nodes is led by the first node in the first locomotive and the second node simulated by the first reconnection device, whichever is in master mode. The first locomotive and the first reconnection device communicate through initial operation, and the second locomotive and the second reconnection device communicate through initial operation, forming a first node topology and a second node topology, respectively. Subsequent reconnection communications are based on these first and second node topologies.

[0090] S503. In the reconnection communication phase, the second node simulated by the first reconnection device transmits data messages with the first node and the second reconnection device in the first locomotive according to the first node topology and the first reconnection device information; the first node simulated by the second reconnection device transmits data messages with the second node and the first reconnection device in the second locomotive according to the second node topology and the first reconnection device information.

[0091] During reconnected communication, the first reconnected device and the first locomotive are led by the first node in the first locomotive and the node in master mode among the second nodes simulated by the first reconnected device, sending data packets to the first node in the first locomotive and the second reconnected device. The relevant information of the first node contained in the first locomotive can be determined by the first node topology. The second reconnected device and the second locomotive are also led by the second node in the second locomotive and the node in master mode among the first nodes simulated by the second reconnected device, sending data packets to the second node in the second locomotive and the first reconnected device. The second reconnected device can determine the relevant information of the second node contained in the second locomotive by the second node topology.

[0092] In the embodiment of the present application, during the initial operation, a first topological relationship of the first node in the first locomotive and a second topological relationship of the second node in the second locomotive are constructed, so that the first reconnection device and the second reconnection device can respectively obtain the connection relationship of each node in the second locomotive and the first locomotive, thereby ensuring the accurate identification of the nodes in the reconnection stage.

[0093] Figure 6 A flow chart of another locomotive reconnection method provided in an embodiment of the present application is shown.

[0094] The following combination Figure 6 , for this application Figure 4 The locomotive reconnection communication method of the locomotive reconnection system shown in FIG. Figure 6 In the example shown, a locomotive includes two nodes. The second locomotive has a second node in master mode, and the first locomotive has a first node in slave mode.

[0095] When the second locomotive includes a second node in master mode, the master-slave mode of all first nodes in the first locomotive is slave mode, the master-slave mode of the second nodes simulated by the second reconnection device is slave mode, and the master-slave mode of the second nodes simulated by the first reconnection device corresponds to the master-slave mode of the first nodes in the second locomotive. In this embodiment, for ease of description, the first node in master mode in the first locomotive is referred to as the first master node, the first node in slave mode in the first locomotive is referred to as the first slave node, the second node in master mode in the second locomotive is referred to as the second master node, and the second node in slave mode in the second locomotive is referred to as the second slave node.

[0096] The initial operation between the first locomotive and the first reconnecting device and the initial operation between the second locomotive and the second reconnecting device can be carried out simultaneously. When the first locomotive and the first reconnecting device are in the initial operation, if Figure 6 As shown, the locomotive reconnection method includes the following steps:

[0097] S60. The second master node simulated by the first reconnection device sends a first initial operation request message to the second slave node simulated by the first reconnection device and the first slave node in the first locomotive.

[0098] S61. The second slave node simulated by the first reconnection device receives a first initial operation request message and returns a second initial operation response message to the second master node simulated by the first reconnection device.

[0099] S62. The first slave node in the first locomotive receives the first initial operation request message, and returns a first initial operation response message to the second master node simulated by the first reconnection device.

[0100] S63. The second master node simulated by the first reconnection device receives the second initial operation response message returned by the second slave node simulated by the first reconnection device and the first initial operation response message returned by the first slave node in the first locomotive, and establishes a first node topology based on the first initial operation response message and the second initial operation response message.

[0101] Before the initial operation, although the first reconnection device simulates the second node in the second locomotive, the first reconnection device and the first locomotive do not know each other's number of nodes, the status of each node, and other information. Therefore, an initial operation is required for the first reconnection device and the first locomotive. The initial operation is led by the master node. Therefore, the second master node simulated by the first reconnection device sends a first initial operation request message to the second slave node simulated by the first reconnection device and the first slave node in the first locomotive, and receives a second initial operation response message returned by the second slave node simulated by the first reconnection device and a first initial operation response message returned by the first slave node in the first locomotive.

[0102] In some examples, the initial operation request message may include: a detection request message, a naming request message, a status request message, an existence request message, and a topology request message. The detection request message can be understood as detecting whether a node exists, the naming request message can be understood as naming the node if the node exists, the status request message can be understood as performing a status detection on the named node, the existence request message can be understood as asking the node whether there are any nodes behind it, and the topology request message can be understood as connecting the node with the next node if there are any nodes behind the node, so as to pass the data message to the next node. The second master node simulated by the first reconnection device sends a detection request message, a naming request message, a status request message, an existence request message, and a topology request message to the second slave node simulated by the first reconnection device and the first slave node in the first locomotive in sequence, and receives the second initial operation response message returned by the second slave node simulated by the first reconnection device and the first initial operation response message returned by the first slave node in the first locomotive. After the initial operation is completed, a node topology will be formed in the second main node simulated by the first reconnection device. From this node topology, it can be seen how many nodes there are in the first reconnection device and the first machine room, and how the nodes are connected.

[0103] During the initial operation of the second reconnecting device and the second locomotive, if Figure 6 As shown, the locomotive reconnection method includes the following steps:

[0104] S70: The second master node in the second locomotive sends a third initial operation request message to the second slave node in the second locomotive and the first slave node simulated by the second reconnection device.

[0105] S71. The second slave node in the second locomotive receives a third initial operation request message sent by the second master node in the second locomotive, and returns a fourth initial operation response message to the second master node in the second locomotive.

[0106] S72. The first slave node simulated by the second reconnection device receives the third initial operation request message sent by the second master node in the second locomotive, and returns a third initial operation response message to the second master node in the second locomotive.

[0107] S73. The second master node in the second locomotive receives the fourth initial operation response message returned by the second slave node in the second locomotive and the third initial operation response message returned by the first slave node simulated by the second reconnection device, and establishes a second node topology according to the first initial operation response message and the second initial operation response message.

[0108] The initial operation method between the second reconnecting device and the second locomotive is basically the same as the initial operation method between the first locomotive and the first reconnecting device, and will not be described in detail here.

[0109] In some embodiments, in order to facilitate the control of the slave nodes, the master node generates a locomotive bus polling cycle on the master node after the initial operation is completed. Figure 6 As shown, the locomotive reconnection method provided in the embodiment of the present application further includes the following steps after the initial operation is completed:

[0110] S64. The second master node simulated by the first reconnection device generates a first locomotive bus polling cycle according to the first node topology.

[0111] The time of the first locomotive bus polling cycle can be determined according to the number of nodes included in the first reconnection device and the first locomotive, for example, it can be 25ms, 35ms, 40ms, etc.

[0112] When the first reconnection device is communicating with the first locomotive through reconnection, the node in the master mode sends a request data message to other nodes according to the first locomotive bus polling period.

[0113] In some examples, generating a first locomotive bus polling cycle based on a first node topology includes: generating a locomotive bus polling basic cycle based on the first node topology, wherein the locomotive bus polling basic cycle includes at least: a cycle phase and a monitoring phase; determining a ratio of the cycle phase and the monitoring phase to the locomotive bus polling basic cycle based on a locomotive bus protocol; and defining cycle phase information and monitoring phase information based on the first node topology and the locomotive bus protocol. In some examples, the locomotive bus polling basic cycle may include the cycle phase and the monitoring phase. In some examples, the locomotive bus polling basic cycle may further include the cycle phase, the monitoring phase, and the message phase.

[0114] In some examples, the embodiments of the present application are described using a basic cycle of 25ms as an example. According to the locomotive bus protocol, the cycle phase occupies 60% of the basic cycle, i.e. 15ms; the monitoring phase occupies a time temporarily defaulted to 5ms; and the message phase occupies a time temporarily defaulted to 5ms.

[0115] In some examples, the definitions of the cycle phase, monitoring phase, and message phase information are as follows:

[0116] The periodic phase information includes: process data requests of all nodes.

[0117] The monitoring phase information includes: an existence message request of an end node, where the end node is the node farthest from the main node in the node topology.

[0118] Message information includes: each node supports one message data.

[0119] S74. The second master node in the second locomotive generates a first locomotive bus polling cycle according to the first node topology.

[0120] In the second master node in the second locomotive, the method for generating the first locomotive bus polling cycle according to the first node topology is basically the same as the method for generating the first locomotive bus polling cycle according to the first node topology of the second master node simulated by the first reconnection device, and will not be repeated here.

[0121] Figure 7 A flow chart of another locomotive reconnection method provided in an embodiment of the present application is shown.

[0122] The following combination Figure 7 , for this application Figure 5 The locomotive reconnection communication method of the locomotive reconnection system shown in FIG. Figure 7 In the example shown, a locomotive includes two nodes. The second locomotive has a second node in master mode, and the first locomotive has a first node in slave mode.

[0123] When the second locomotive includes a second node in master mode, the master-slave mode of all first nodes in the first locomotive is slave mode, the master-slave mode of the second nodes simulated by the second reconnection device is slave mode, and the master-slave mode of the second nodes simulated by the first reconnection device corresponds to the master-slave mode of the first nodes in the second locomotive. In this embodiment, for ease of description, the first node in master mode in the first locomotive is referred to as the first master node, the first node in slave mode in the first locomotive is referred to as the first slave node, the second node in master mode in the second locomotive is referred to as the second master node, and the second node in slave mode in the second locomotive is referred to as the second slave node.

[0124] The communication between the first locomotive and the first reconnection device and the communication between the second locomotive and the second reconnection device can be carried out simultaneously. When the first locomotive is communicating with the first reconnection device, Figure 7 As shown, the locomotive reconnection method includes the following steps:

[0125] S10. The second master node simulated by the first reconnection device sends a first request message to the first node in the first locomotive and the second slave node simulated by the first reconnection device according to the first node topology. The request message includes: a process data request message or an existence request message.

[0126] S11. The second slave node simulated by the first reconnection device receives the first request message and returns a corresponding response message to the second master node simulated by the first reconnection device.

[0127] S12. The first slave node in the first locomotive receives the first request message sent by the second master node simulated by the first reconnection device, and returns a corresponding response message to the second master node simulated by the first reconnection device.

[0128] S13. The second master node simulated by the first reconnection device receives a response message returned by the second slave node simulated by the first reconnection device and a response message returned by the first slave node in the first locomotive.

[0129] S14. The second master node simulated by the first reconnection device sends the response message received from the first node to the first slave node simulated by the corresponding second reconnection device.

[0130] The second master node simulated by the first reconnection device sends a first request message to the first node in the first locomotive and the second slave node simulated by the first reconnection device according to the first node topology and the first locomotive bus polling cycle, and receives a response message returned by the first node in the first locomotive and the response message returned by the second slave node simulated by the first reconnection device.

[0131] The request message includes a process data request message or a presence request message. In some examples, the second master node simulated by the first reconnection device sends a process data message request to the remaining nodes in the periodic phase to obtain characteristic information of the remaining nodes, and sends a presence data message request to the end node in the monitoring phase to detect whether there is a new node. If there is a new node, the initial operation is restarted to correct the node information.

[0132] After each polling cycle ends, the first reconnection device sends the received information about the first node in the first locomotive to the second reconnection device for storage, so as to update the information of the first node simulated by the second reconnection device.

[0133] When the second reconnection device communicates with the second locomotive, Figure 6 As shown, the locomotive reconnection method includes the following steps:

[0134] S20. The second master node in the second locomotive sends a second request message to the second slave node in the second locomotive and the first node simulated by the second reconnection device according to the second node topology;

[0135] S21. The second master node in the second locomotive receives a response message returned by the first slave node simulated by the second reconnection device and a response message returned by the second slave node in the second locomotive.

[0136] The second master node in the second locomotive sends a second request message to the second slave node in the second locomotive and the first node simulated by the second reconnection device according to the second node topology and in accordance with the first locomotive bus polling cycle, and receives a response message returned by the first slave node simulated by the second reconnection device and a response message returned by the second slave node in the second locomotive.

[0137] In the message phase of each polling cycle, the second reconnection device sends message data to the second master node of the second locomotive to obtain the second node information of the second locomotive, and sends the information to the first reconnection device for storage to update the information of the second node simulated by the first reconnection device.

[0138] In some examples, during the reconnection communication process, reconnection tests can also be carried out in the locomotive workshop, such as communication and control tests such as pantograph raising or lowering control, main breaker control, sand spreading test, simulated fault information, and display function tests such as traction, electric braking, brake cylinder pressure, and fault diagnosis information.

[0139] The reconnection method of the present application eliminates the influence of the distance between the main locomotive and the reconnected locomotive, while improving the convenience of reconnection tests for locomotives of different models, greatly improving the flexibility of reconnection between locomotives. In addition, in the embodiments of the present application, reconnection data can be uploaded wirelessly, realizing information sharing and intelligent management, enabling multi-faceted supervision, and improving operational safety. Once an abnormality in the reconnection communication occurs, it can be immediately discovered, which is conducive to the location and analysis of the fault. In particular, during the reconnection test, once an abnormality occurs, it can be immediately discovered, which is conducive to the location and analysis of the fault.

[0140] In addition, in conjunction with the locomotive reconnection method in the above embodiments, embodiments of the present application may provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the locomotive reconnection methods in the above embodiments is implemented.

[0141] In addition, in combination with the locomotive reconnection method in the above embodiment, the present application embodiment can provide a computer program product for implementation. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes any of the locomotive reconnection methods in the above embodiment.

[0142] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0143] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0144] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0145] Aspects of the present disclosure have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or flowchart and the combination of the boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0146] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A locomotive reconnection method, characterized in that: A locomotive coupling system is used, the locomotive coupling system comprising a first locomotive, a first coupling device, a second locomotive, and the second coupling device, the first locomotive and the first coupling device being connected via a locomotive bus, the second locomotive and the second coupling device being connected via a locomotive bus, the first coupling device and the second coupling device being connected via a network, wherein the first locomotive comprises at least one first node, the second locomotive comprises at least one second node, the first coupling device is used to simulate at least one second node in the second locomotive, and the second coupling device is used to simulate at least one first node in the first locomotive, and the method comprises: The first reconnection device configures first reconnection device information based on the second node information to simulate the second node in the second locomotive; The second reconnection device configures second reconnection device information based on the first node information to simulate the first node in the first locomotive; During the reconnection communication stage, the second node simulated by the first reconnection device transmits data messages with the first node in the first locomotive and the second reconnection device according to the first reconnection device information and the first node information; the first node simulated by the second reconnection device transmits data messages with the second node in the second locomotive and the first reconnection device according to the first reconnection device information and the second node information, thereby realizing the reconnection communication between the first locomotive and the second locomotive.

2. The method according to claim 1, characterized in that The first node information includes a master-slave mode of the first node, and the second node information includes a master-slave mode of the second node; The method further comprises: In the initial operation stage, the second node simulated by the first reconnection device transmits initial operation data messages with the first node in the first locomotive according to the first reconnection device information and the master-slave mode of the first node, thereby establishing a first node topology; the first node simulated by the second reconnection device transmits initial operation data messages with the second node in the second locomotive according to the second reconnection device information and the master-slave mode of the second node, thereby establishing a second node topology; The second node simulated by the first reconnection device transmits data messages with the first node in the first locomotive and the second reconnection device according to the first reconnection device information; the first node simulated by the second reconnection device transmits data messages with the second node in the second locomotive and the first reconnection device according to the first reconnection device information, including: During the reconnection communication stage, the second node simulated by the first reconnection device transmits data messages with the first node and the second reconnection device in the first locomotive according to the first node topology and the first reconnection device information; the first node simulated by the second reconnection device transmits data messages with the second node and the first reconnection device in the second locomotive according to the second node topology and the first reconnection device information.

3. The method according to claim 2, characterized in that The master-slave mode of the second node simulated by the first reconnection device is a master mode; the master-slave mode of the first node simulated by the second reconnection device is both a slave mode; The second node simulated by the first reconnection device transmits data messages with the first node in the first locomotive and the second reconnection device according to the first node topology and the first reconnection device information, including: The second node in the master mode simulated by the first reconnection device sends a first request message to the first node in the first locomotive and the second node in the slave mode simulated by the first reconnection device according to the first node topology, wherein the request message includes: a process data request message or an existence request message; The second node in the master mode simulated by the first reconnection device receives the response message returned by the first node in the first locomotive and the response message returned by the second node in the slave mode simulated by the first reconnection device; The second node in the master mode simulated by the first reconnection device sends the received response message returned by the first node to the first node simulated by the corresponding second reconnection device; The first node simulated by the second reconnection device transmits data messages with the second node in the second locomotive and the first reconnection device according to the second node topology and the first reconnection device information, including: The first node simulated by the second reconnection device receives a second request message sent by the second node in the master mode in the second locomotive, and sends a second response message to the second node in the master mode in the second locomotive based on the response message sent by the first reconnection device.

4. The method according to claim 3, characterized in that The master-slave mode of the first node in the first locomotive is the slave mode; the master-slave mode of the second node in the second locomotive is the master mode; The second node simulated by the first reconnection device transmits data messages with the first node in the first locomotive and the second reconnection device according to the first node topology and the first reconnection device information, including: The first node in the first locomotive receives a first request message sent by the second node in the master mode simulated by the first reconnection device, and returns a response message to the second node in the master mode simulated by the first reconnection device; The first node simulated by the second reconnection device transmits data messages with the second node in the second locomotive and the first reconnection device according to the second node topology and the first reconnection device information, including: The second node in the master mode in the second locomotive sends a second request message to the second node in the slave mode in the second locomotive and the first node simulated by the second reconnection device according to the second node topology; The second node in the master mode in the second locomotive receives the response message returned by the first node simulated by the second reconnection device and the response message returned by the second node in the slave mode in the second locomotive.

5. The method according to claim 2, characterized in that The master-slave mode of the first node in the first locomotive is a master mode; the master-slave mode of the second node in the second locomotive is a slave mode; The second node simulated by the first reconnection device transmits data messages with the first node in the first locomotive and the second reconnection device according to the first node topology and the first reconnection device information, including: The first node in the master mode in the first locomotive sends a third request message to the first node in the slave mode in the first locomotive and the second node simulated by the first reconnection device according to the first node topology; The first node in the master mode in the first locomotive receives a response message returned by the second node simulated by the first reconnection device and a response message returned by the first node in the slave mode in the first locomotive; The first node simulated by the second reconnection device transmits data messages with the second node in the second locomotive and the first reconnection device according to the second node topology and the first reconnection device information, including: The second node in the second locomotive receives the fourth request message sent by the second node in the master mode simulated by the second reconnection device, and returns a corresponding response message to the first node in the master mode simulated by the second reconnection device.

6. The method according to claim 2, characterized in that The master-slave mode of the second node simulated by the first reconnection device is a master mode; the master-slave mode of the first node simulated by the second reconnection device is both a slave mode; The second node simulated by the first reconnection device transmits an initial operation data message with the first node in the first locomotive according to the first reconnection device information and the master-slave mode of the first node, including: The second node in the master mode simulated by the first reconnection device sends a first initial operation request message to the second node in the slave mode simulated by the first reconnection device and the first node in the first locomotive; The second node in the master mode simulated by the first reconnection device receives a first initial operation response message returned by the first node and a second initial operation response message returned by the second node in the slave mode simulated by the first reconnection device, and establishes the first node topology according to the first initial operation response message and the second initial operation response message; The first node simulated by the second reconnection device transmits an initial operation data message with the second node in the second locomotive according to the second reconnection device information and the master-slave mode of the second node, including: The first node simulated by the second reconnection device receives a second initial operation request message sent by the second node when the second locomotive is in the master mode, and returns a third initial operation response message to the second node when the second locomotive is in the master mode.

7. The method according to claim 2, characterized in that The second node simulated by the first reconnection device transmits an initial operation data message with the first node in the first locomotive according to the first reconnection device information and the master-slave mode of the first node, including: When the master-slave mode of the first node in the first locomotive is a master mode, the first node in the master mode in the first locomotive sends a third initial operation request message to the first node in the slave mode in the first locomotive and the second node simulated by the first reconnection device, and receives a third initial operation response message returned by the second node simulated by the first reconnection device and a fourth initial operation response message returned by the first node in the slave mode in the first locomotive; When the master-slave modes of the first node in the first locomotive are both the slave mode, the first node in the first locomotive receives the fourth initial operation request message sent by the second node in the master mode simulated by the first reconnection device, and sends the corresponding fifth initial operation response message to the second node in the master mode simulated by the first reconnection device.

8. The method according to claim 2, characterized in that After the initial operation phase, the method further comprises: The second node simulated by the first reconnection device or the first node in the first locomotive generates a first locomotive bus polling cycle as a node in master mode through the master-slave mode; The first node simulated by the second reconnection device or the second node in the second locomotive generates a second locomotive bus polling cycle through the master-slave mode as a node in the master mode; During the reconnection communication phase, the method further includes: The second node simulated by the first reconnection device transmits data messages to the first node in the first locomotive according to the first locomotive bus polling cycle; Data messages are transmitted between the first node simulated by the second reconnection device and the second node in the second locomotive according to a second locomotive bus polling cycle.

9. The method according to claim 8, characterized in that Generate a first locomotive bus polling cycle, including: Generate a locomotive bus polling basic cycle, wherein the locomotive bus polling basic cycle includes at least: a cycle phase and a monitoring phase; The times of the cycle phase and the monitoring phase are determined according to a locomotive bus protocol.

10. The method according to claim 9, characterized in that The data message is transmitted between the second node simulated by the first reconnection device and the first node in the first locomotive according to the first locomotive bus polling cycle, including: In each first locomotive bus polling cycle, the second node simulated by the first reconnection device and the first node in the first locomotive transmit process data messages in the cycle phase and transmit existence data messages in the monitoring phase.

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