Dispatching centralized control method for dynamic switching of station operation control right

Abstract

The invention discloses a centralized dispatching control method for dynamic switching of station operation control rights, which comprises the following steps of: finely managing the control right state of a station through an autonomous machine according to control command classification, station control range and station control range, empowering equipment ID of each terminal, and establishing a permission allocation corresponding relation between the station control rights and the equipment ID; broadcasting outside regularly, and immediately sending a station control right state during change; dynamic switching and forced switching can be carried out on all the terminals possibly having the authority, and seamless transfer of the control right is achieved; moreover, when the dispatching desk and the jurisdiction range are switched in the field emergency dispatching command, software does not need to be replaced, and the quick switching response capability is greatly improved; meanwhile, the requirements of dynamic merging of dispatching desks, parallel operation and the like can be met for scenes such as local railways and overseas lines.

Description

Technical Field

[0001] This invention relates to the field of train dispatching and control technology, and in particular to a centralized dispatching control method for dynamic switching of station operation control. Background Technology

[0002] Centralized Traffic Control (CTC) systems are widely used in my country's railway train dispatching and command. They are crucial systems for dispatchers at the dispatch center and station staff to centrally control signaling equipment within their jurisdiction and to direct train operations. CTC systems are essential operational equipment in railway dispatching and command, and also vital management facilities for ensuring punctual and orderly train operation. Currently, my country's CTC systems are designed, developed, and implemented according to technical standards and specifications. A station can operate under two modes of CTC: decentralized autonomous control and emergency station control. During emergency station control, the CTC system has no control. During decentralized autonomous control, the CTC system has control over the station, which is further divided into three operating modes: dispatch center operation mode, station shunting operation mode, and station control operation mode.

[0003] Specifically, when a station is under emergency control, it is no longer under the control of the CTC system and is operated on the interlocking system. Regular transport supervisors are more familiar with operating on the CTC system, and a switch to emergency control requires the approval of the station's duty officer.

[0004] In decentralized autonomous control, the CTC system has full control over the station. According to the CTC system terminal settings, the dispatch center has an assistant dispatch workstation (referred to as the assistant dispatcher station); and the station has a train operation terminal. When the control mode is "central control," the assistant dispatcher station terminal has full control over the station's signaling equipment; the station's train operation terminal has no control over the station's signaling equipment. When the control mode is "station control," the assistant dispatcher station terminal has no authority, and the train operation terminal has full control over the station. When the control mode is "station shunting," the assistant dispatcher station terminal has operational authority over train routes at the station but not over shunting routes; the train operation terminal has operational authority over shunting routes at the station but not over train routes. All three control modes—central control, station control, and station shunting—are control modes under the CTC system.

[0005] When the station is decentralized and autonomous, the CTC system will default to a certain operating mode as required, such as the "central control" operating mode. This setting is generally an initial setting made during the on-site engineering deployment according to the on-site design documents and the needs of the dispatching center.

[0006] Transportation commanders at stations and dispatch centers can manually and dynamically switch control rights. For example, if the current control is "station control", the dispatch center's auxiliary dispatch station can initiate an application to change to "central control". After receiving this application, the train operation terminal can click to agree and switch to "central control".

[0007] However, the above solutions have the following drawbacks: during normal transportation scheduling and control, the switching of control rights of the CTC system can basically meet the on-site transportation needs, but it cannot be achieved or meets the needs in special scenarios.

[0008] (1) Control cannot be switched when the network is interrupted abnormally.

[0009] The station and the dispatch center exchange information in real time via a wide area network. When a station is in "central control" mode, if the network connection between the station and the center is interrupted, the dispatch center cannot dispatch, command, or control the station. Typically, the dispatch center will notify station personnel by phone, requesting that the station's train operators take over control. However, when requesting "station control" authority on the train operator's terminal, the network interruption prevents the request from reaching the dispatch center, thus preventing a CTC (Central Traffic Control) control transfer.

[0010] Although the network between the CTC station and the center is dual-channel, a complete outage is unlikely to occur. However, if such a fault does occur, the central CTC will be unable to transfer control to the station CTC. As a result, station personnel are usually forced to switch to the interlocking emergency station control mode, thus losing control of the CTC system.

[0011] (2) The steps for switching emergency dispatch consoles are complex and difficult to implement.

[0012] When a major incident occurs on a railway line, such as a rainstorm or disaster relief operation, the railway bureau's dispatching and command center needs to issue emergency commands. In such situations, it's generally necessary to activate the emergency command center's dispatch console, temporarily deactivating the original dispatch console and relocating all personnel from that console to the emergency command center to conduct dispatching and command work alongside relevant railway bureau leaders. A key challenge in this emergency scenario is how to achieve a seamless switchover of control between two identical dispatch consoles. The typical on-site procedure is as follows: first, without network access, activate the dispatch console terminal in the emergency command center and quickly deploy the software; then, deactivate the operational dispatch console and disconnect its network cable; finally, reconnect the dispatch terminal in the emergency command center to the network. This switching method is complex and cumbersome, reducing the efficiency of already busy emergency command operations.

[0013] (3) The management of station control is not refined enough.

[0014] Currently, control of a station varies depending on its location. If the station is in the dispatch center, it belongs to the central auxiliary dispatcher; if it's at the station, it belongs to all operating terminals within that station, including train operation terminals, signalman terminals, and centralized control terminals. If a center has multiple auxiliary dispatchers, each dispatcher must manage different stations. In scenarios where a station has train operation terminals, signalman terminals, field terminals, and centralized control terminals, some stations desire more refined management of station control, such as different terminals having different control commands and station control scopes.

[0015] (4) Dynamic switching needs of multiple terminals in scenarios such as local railways and overseas.

[0016] New needs have emerged in the implementation of centralized dispatching authority (CTC) systems in some local and overseas railways, which the current methods are inadequate to meet. In less busy local and overseas railways, the following needs exist: a line with many stations may require multiple dispatching consoles for centralized control, such as two consoles. During the day, dispatching command is configured so that each console controls one station separately (e.g., console 1 controls half the stations, and console 2 controls the remaining stations); at night, control is merged and rotated. That is, depending on the date, console 1 may control all stations, while on other days console 2 may centrally control all stations. The current centralized dispatching authority (CTC) system in my country does not meet the needs of this scenario.

[0017] Overall, the current CTC system suffers from cumbersome procedures and overly simplistic logic for changing station control permissions. It cannot implement permission changes in certain special fault scenarios and is unsuitable for the needs of some special lines. Therefore, there is an urgent need for a control method that allows for dynamic and forced switching of station operation permissions.

[0018] In view of this, the present invention is hereby proposed. Summary of the Invention

[0019] The purpose of this invention is to provide a centralized dispatch control method for dynamically switching station operation control rights, which can effectively realize the functions of dynamic switching and forced switching of control rights of multiple control terminals over a station in a centralized dispatch system.

[0020] The objective of this invention is achieved through the following technical solution: A centralized dispatch control method for dynamic switching of station operation control authority includes: The station's control is managed by an autonomous machine, which periodically sends station control status information to each terminal in the station. The station control status information includes the device ID of each terminal with control authority and the corresponding control authority. When the autonomous machine receives a control request command from an unauthorized terminal, if the corresponding control right is in an unclaimed scope, it grants the corresponding control right to the unauthorized terminal and updates the station control right status information; if the corresponding control right is not in an unclaimed scope, it decides whether to grant the corresponding control right to the unauthorized terminal based on whether the terminal with the corresponding control right agrees to relinquish the right; where "in an unclaimed scope" means that the corresponding control right does not belong to the control scope of any terminal. When the autonomous machine receives a forced takeover request from an unauthorized terminal, if the unauthorized terminal has the authority to forcibly take over, it grants the unauthorized terminal the corresponding control rights, updates the station control rights status information, and notifies the terminal that previously had the corresponding control rights that the corresponding control rights have expired. When the autonomous machine receives a request for parallel permissions from an unauthorized terminal, if the unauthorized terminal has the permission for parallel permissions, the corresponding control right is granted to the unauthorized terminal, and the station control right status information is updated. At this time, both different terminals have the corresponding control right. When the autonomous machine receives control commands for the corresponding control right from two different terminals, they are executed one by one in sequence.

[0021] As can be seen from the technical solution provided by the present invention: 1) It can finely manage the control status of stations and accurately manage station control; 2) Through forced control switching, it can solve the problem that the CTC cannot switch control during current network abnormal interruptions; 3) It can quickly realize the switching of dispatching consoles for on-site emergency dispatching and command, and when switching jurisdictions, there is no need to change the software, which greatly improves the rapid switching response capability. At the same time, it can meet the needs of dynamic merging of dispatching consoles and parallel operation in scenarios such as local railways and overseas lines. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 A flowchart of a centralized scheduling control method for dynamic switching of station operation control rights provided in an embodiment of the present invention. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0025] First, the following explanations are provided for the terms that may be used in this article: The term "and / or" means that either or both can be achieved simultaneously. For example, X and / or Y means that it includes both "X" or "Y" as well as the three cases of "X and Y".

[0026] The terms "comprising," "including," "containing," "having," or other similar semantic descriptions should be interpreted as non-exclusive inclusion. For example, including a technical feature element (such as raw material, component, ingredient, carrier, dosage form, material, size, part, component, mechanism, device, step, process, method, reaction conditions, processing conditions, parameter, algorithm, signal, data, product or article of manufacture, etc.) should be interpreted as including not only the expressly listed technical feature element, but also other technical feature elements that are not expressly listed and are well-known in the art.

[0027] The term "composed of" excludes any technical features not expressly listed. When used in a claim, it closes the claim to exclude all technical features other than those expressly listed, except for associated conventional impurities. If the term appears only in a clause of a claim, it limits the claim to the elements expressly listed in that clause; elements recited in other clauses are not excluded from the overall claim.

[0028] The following is a detailed description of a centralized dispatch control method for dynamic switching of station operation control provided by the present invention. Contents not described in detail in the embodiments of the present invention are prior art known to those skilled in the art. Where specific conditions are not specified in the embodiments of the present invention, conventional conditions in the art or conditions recommended by the manufacturer shall apply. Reagents or instruments used in the embodiments of the present invention whose manufacturers are not specified are all conventional products that can be purchased commercially.

[0029] like Figure 1 As shown, a centralized dispatch control method for dynamic switching of station operation control mainly includes the following steps: Step 1: Manage the station's control rights through the autonomous machine, and periodically send station control rights status information to each terminal in the station; the station control rights status information includes the device ID of each terminal with control rights and the corresponding control rights.

[0030] In this embodiment of the invention, the control rights for managing the station through the autonomous machine include: dividing the control rights according to control commands and control scopes, with each control right including a corresponding control command type and control scope.

[0031] Step 2: Apply for and switch ordinary permissions based on the self-regulatory machine.

[0032] In this embodiment of the invention, when the autonomous machine receives a control right request command sent by an unauthorized terminal, if the corresponding control right is in an unclaimed scope, the unauthorized terminal is granted the corresponding control right, and the station control right status information is updated; if the corresponding control right is not in an unclaimed scope, the unauthorized terminal is granted the corresponding control right based on whether the terminal with the corresponding control right agrees to relinquish the right; wherein, being in an unclaimed scope means that the corresponding control right does not belong to the control right scope of a certain terminal.

[0033] In this step, if the corresponding control right is not in an unclaimed territory, then determining whether to grant the corresponding control right to the unauthorized terminal based on whether the terminal with the corresponding control right agrees to relinquish the right includes: if the corresponding control right is not in an unclaimed territory, then the autonomous machine forwards the control right application command to the terminal with the corresponding control right; if the autonomous machine receives the consent to relinquish the right information sent by the terminal with the corresponding control right, then the autonomous machine updates the station control right status information and broadcasts it externally; if the autonomous machine receives the refusal to relinquish the right information sent by the terminal with the corresponding control right, then the autonomous machine sends the corresponding prompt information to the unauthorized terminal.

[0034] In this step, when the terminal with the corresponding control agrees to hand over control, a seamless switch of control is achieved as follows: After the terminal with the corresponding control sends the consent to hand over control information, it continues to maintain its own control status until it receives the updated station control status information; after receiving the updated station control status information, the terminal without control updates its local control status and takes over control.

[0035] Step 3: Forced switching of permissions based on the self-regulatory machine.

[0036] When the autonomous machine receives a forced takeover request from an unauthorized terminal, if the unauthorized terminal has the authority to forcibly take over, it grants the unauthorized terminal the corresponding control rights, updates the station control status information, and simultaneously notifies the terminals that previously held the corresponding control rights that those rights have expired. Specifically: when the autonomous machine receives the forced takeover request from an unauthorized terminal, it determines whether the unauthorized terminal has the authority to forcibly take over based on the unauthorized terminal's device ID. If so, it updates its own control allocation logic, sets the corresponding control rights to the device ID of the corresponding unauthorized terminal, updates the station control status information, and broadcasts it externally. At the same time, it sends a notification message to the original terminals that held the corresponding control rights, informing them that their control rights have expired.

[0037] In this step, if an unauthorized terminal has the authority to forcibly seize control, then the corresponding control rights are granted to the unauthorized terminal to achieve a seamless switch of control rights. The method is as follows: after the autonomous machine updates the station control rights status information, it broadcasts it externally. After the unauthorized terminal receives the updated station control rights status information, it updates its local control rights status and takes over control rights. After the original terminal with corresponding control rights receives the updated station control rights status information, it updates its local control status and no longer has control rights.

[0038] Step 4: Parallel access control based on the self-regulatory machine.

[0039] When the autonomous machine receives a request for parallel permissions from an unauthorized terminal, if the unauthorized terminal has the permission for parallel permissions, the corresponding control right is granted to the unauthorized terminal, and the station control right status information is updated. At this time, both different terminals have the corresponding control right. When the autonomous machine receives control commands for the corresponding control right from two different terminals, they are executed one by one in sequence.

[0040] In this step, when the autonomous machine receives a request for parallel permissions from an unauthorized terminal, if the unauthorized terminal has the permission for parallel permissions, then granting the unauthorized terminal the corresponding control rights and updating the station control rights status information includes: when the autonomous machine receives a request for parallel permissions from an unauthorized terminal, it determines whether the unauthorized terminal has the permission for parallel permissions based on the device ID of the unauthorized terminal. If so, it updates its own control rights status. At this time, the corresponding control rights correspond to the device IDs of two different terminals. After updating the station control rights status information, it broadcasts it outwards.

[0041] In the above scheme of the embodiments of the present invention: each terminal receives the station control status information and determines whether it has the corresponding control right based on the device ID therein. When it does not have the corresponding control right, it cannot perform the corresponding control operation.

[0042] In the above scheme of the embodiments of the present invention: when the autonomous machine receives a control command from any terminal, it performs a matching check of device ID and control rights. If the matching check fails, it indicates that the corresponding terminal does not have the corresponding control rights, and an error receipt and reason are sent back to the corresponding terminal.

[0043] To more clearly demonstrate the technical solution and its effects provided by the present invention, the method provided by the embodiments of the present invention will be described in detail below with reference to specific examples.

[0044] I. Control Logic of the Autonomous Machine

[0045] The automated control system configures data to assign a terminal ID as the authorized terminal according to transportation requirements. Generally, for manned stations, this defaults to the device ID of the station's train operation terminal A; for unmanned stations, it defaults to the device ID of the auxiliary dispatch station belonging to the dispatch center. Simultaneously, it divides the station's control commands and control areas. Control commands are generally categorized as "interlocking control commands" and "CTC internal logic control commands," etc. The control area is usually defined based on the station's size. For example, for a typical station, the "control area" is generally the entire station; for larger stations, relevant areas such as "upstream throat" and "downstream throat" can be manually divided according to transportation organization requirements.

[0046] The autonomous machine manages the station's control status in a refined manner according to the classification of control commands and the station's control scope. It assigns permissions to each device ID, establishes a correspondence between the station's control rights and the device ID's permission allocation, and broadcasts externally at regular intervals. When there are changes, it immediately sends the station's control status information, which mainly includes the types of control commands that all authorized terminals can operate and the station's control scope.

[0047] The autonomous machine can broadcast the current station control status information at regular intervals of T seconds (configurable to 5 seconds), and simultaneously send this information immediately when control changes. This information includes the authorized control device ID, the types of control commands that the authorized device ID can perform, and the control scope. The station control status information protocol template is shown in Table 1.

[0048] Table 1: Station Control Status Information Protocol Serial Number content illustrate 1 Station Code The station code 2 Control Mode 0x55 Distributed Self-Discipline / 0xAA Extraordinary Station Control 3 Device ID1 with permissions Device ID1 4 Control rights of device ID1 The control command classification and control range that device ID1 can perform. 5 Device ID2 with authorization Device ID2 6 Control of device ID2 The control commands and control range that device ID2 can execute …

[0049] Each operating terminal receives this control status information and determines whether it has control authority and control scope based on the device ID. If it does not have the authority, the terminal cannot perform control operations at the station.

[0050] When the autonomous machine receives a control command from any terminal, it performs a matching check between the device ID and control rights. Operations that are inconsistent with the autonomous machine's internal permissions are not executed, and an error receipt and reason are sent back to the terminal.

[0051] II. Dynamic Control Transfer Scheme.

[0052] 1. Standard permission request and switching process.

[0053] (1) For terminals without authorization, the terminal software itself will first restrict control operations, and the terminal software can only apply for control authorization. The terminal software will clearly identify the current control authority and control scope in real time based on the station control authority status information sent by the current self-regulatory machine.

[0054] (2) When an unauthorized terminal (Term_noctrl) needs control, it needs to send a "control request" control command to the autonomous machine. The request includes the desired control command category and control scope.

[0055] Within 3*T seconds (can be set to 15 seconds), continuously check the application command receipt and station control status information of the autonomous machine. If the received permissions have not changed, the application for control is considered to have failed.

[0056] After receiving the permission request command from this terminal, the self-regulatory machine sends back a receipt and processes it.

[0057] If the control command requested by the unauthorized terminal is classified as "ownerless," the automated control system immediately grants the terminal the corresponding permissions and broadcasts the request. Upon receiving this "station control status" information, the requesting terminal updates its local status, and the requester successfully obtains the requested permissions and scope.

[0058] If the request from an unauthorized terminal conflicts with or overlaps with the scope of authority of an existing terminal, the autonomous machine will send the request to the currently authorized terminal (Term_ctrl).

[0059] (3) Upon receiving this request, the authorized terminal notifies the operator: "Term_noctrl device requests control of XX range." The operator determines whether to transfer control based on the actual situation. If the operator agrees to transfer control, the operator sends the message "Agreed to transfer control to Term_noctrl device ID" to the autonomous machine; if the operator disagrees, the operator sends the message "Refuse to transfer control to Term_noctrl device ID" to the autonomous machine.

[0060] After an authorized terminal sends a "agree to hand over control to Term_noctrl device ID" message, it continues to maintain its existing control status until it receives a new "station control" status from the autonomous machine (the authorized device ID has changed), at which point the control is considered to have been handed over.

[0061] (4) When the autonomous machine receives the "Refuse to transfer rights to Term_noctrl device ID" message from the authorized terminal, it does not transfer the rights and sends a notification to the applicant. After receiving the "Agree to transfer rights to Term_noctrl device ID" message from the authorized terminal, the autonomous machine updates its internal control device ID information and immediately broadcasts the new station control status information.

[0062] (5) When the original terminal receives the new station control status information, it immediately loses control according to the information content; when the applicant terminal receives the station control status information, it updates the local control status, and the applicant takes over control and has operation authority.

[0063] (6) When any terminal does not receive a new station control status from the self-regulatory machine, it shall maintain the original control and control the local operation scope and permissions according to the existing control status. When the permissions allocation between the operating terminal and the self-regulatory machine is inconsistent due to information loss or abnormal information transmission, the internal permission allocation status of the self-regulatory machine shall prevail. For each control command issued by the terminal, the self-regulatory machine shall perform permission matching checks, and inconsistent permission operations shall not be executed.

[0064] 2. Forced permission switching process.

[0065] The operating terminal can request a forced takeover, which is arbitrated by the autonomous machine. If the autonomous machine determines that the operating terminal meets the conditions, it can force a switch, granting the operating terminal the corresponding control rights, and immediately send the new control status information to the outside world. The autonomous machine will no longer execute any operations received from the terminal with the original control rights and will provide feedback. The main process is as follows: (1) In special scenarios, unauthorized terminals can send a "forced takeover" request command, which is sent to the self-regulatory machine. The forced takeover operation is quite special and requires a double verification method to make the request.

[0066] (2) After receiving this application command, the autonomous machine checks the device ID of the unauthorized terminal to determine whether the ID can be forcibly deprived. Generally, the device IDs of duty officer terminals and auxiliary dispatcher terminals in the dispatch center can be forcibly deprived, while other signalman terminals and centralized control terminals can be set to not be forcibly deprived.

[0067] (3) After the self-regulatory machine passes the inspection, it immediately updates its own control allocation logic, sets the control right to the applicant device ID, and immediately broadcasts the station control right status information; at the same time, it notifies the original terminal that its control right has expired and prompts the operator that a certain operating terminal has taken over the control right by forcibly seizing the right.

[0068] (4) After receiving the station control status information, the applicant terminal immediately updates the local control status, takes over control, and has operation permissions.

[0069] (5) The original terminal receives the new station control status, updates its local control status, and no longer has control authority.

[0070] (6) The autonomous machine performs permission matching checks on all received control commands, and uses its own internal permission allocation as the standard. If information is lost and the original authorized terminal still mistakenly believes it has the right to operate, the autonomous machine will send an alarm message to the terminal indicating "invalid permission".

[0071] 3. Parallel permission application process.

[0072] The operating terminal can request permissions in parallel. The autonomous machine arbitrates the requests, and once it agrees, it grants the operating terminal the corresponding control rights and immediately sends new control status information. At this point, both terminals have control rights simultaneously, and the autonomous machine executes the received commands one by one in the order they are received. The main process is as follows: (1) On special lines, unauthorized terminals can send a "parallel access" request command, which is sent to the autonomous machine. The parallel access operation is quite special and requires a double verification method to apply.

[0073] (2) After receiving this request command, the autonomous machine checks the device ID of the unauthorized terminal to determine whether the ID can obtain this parallel permission. Generally, the duty officer terminal of the station, the auxiliary dispatcher terminal of the dispatch center, and the signalman terminal can be set to have "parallel permission". After the autonomous machine meets the check conditions, it immediately updates its own control right matching information. At this time, the autonomous machine assigns the permission for a certain control area and control command to two different device IDs, and the two device IDs have equal rights. Generally, this scenario only allows multiple device IDs to have permissions in parallel for "a certain type of control command". The autonomous machine broadcasts the station control right status information.

[0074] (3) After receiving the station control status information, the applicant terminal shall immediately update the local control status and have the corresponding operation permissions and scope.

[0075] (4) The original terminal receives the new station control status and maintains the original control authority.

[0076] (5) The autonomous machine performs permission matching checks on all received control commands. If two terminals perform control operations simultaneously, the autonomous machine executes them one by one according to the order of the received control commands.

[0077] Through the above description of the embodiments, those skilled in the art can clearly understand that the above embodiments can be implemented by software, or by using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions of the above embodiments can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, mobile hard drive, etc.), including several instructions to cause a computer device (such as a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0078] Those skilled in the art will understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the system can be divided into different functional modules to complete all or part of the functions described above.

[0079] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims. The information disclosed in the background section is intended only to enhance the understanding of the overall background technology of the present invention and should not be construed as an admission or implication in any way that such information constitutes prior art known to those skilled in the art.

Claims

1. A centralized dispatch control method for dynamic switching of station operation control rights, characterized in that, include: The station's control is managed by an autonomous machine, which periodically sends station control status information to each terminal in the station. The station control status information includes the device ID of each terminal with control authority and the corresponding control authority. When the autonomous machine receives a control request command from an unauthorized terminal, if the corresponding control right is in an unclaimed scope, it grants the corresponding control right to the unauthorized terminal and updates the station control right status information; if the corresponding control right is not in an unclaimed scope, it decides whether to grant the corresponding control right to the unauthorized terminal based on whether the terminal with the corresponding control right agrees to relinquish the right; where "in an unclaimed scope" means that the corresponding control right does not belong to the control scope of any terminal. When the autonomous machine receives a forced takeover request from an unauthorized terminal, if the unauthorized terminal has the authority to forcibly take over, it grants the unauthorized terminal the corresponding control rights, updates the station control rights status information, and notifies the terminal that previously had the corresponding control rights that the corresponding control rights have expired. When the autonomous machine receives a request for parallel permissions from an unauthorized terminal, if the unauthorized terminal has the permission for parallel permissions, the corresponding control right is granted to the unauthorized terminal, and the station control right status information is updated. At this time, both different terminals have the corresponding control right. When the autonomous machine receives control commands for the corresponding control right from two different terminals, they are executed one by one in sequence.

2. The centralized control method for dynamic switching of station operation control rights according to claim 1, characterized in that, The control over the station managed by the autonomous machine includes: Control authority is divided according to control commands and control scope, with each control authority containing a corresponding control command type and control scope.

3. The centralized control method for dynamic switching of station operation control rights according to claim 1, characterized in that, If the corresponding control right is not in an ownerless state, then the decision on whether to grant the corresponding control right to the unauthorized terminal is based on whether the terminal possessing the corresponding control right agrees to relinquish the right, including: If the corresponding control right is not in an ownerless state, the autonomous machine will forward the control right application command to the terminal that has the corresponding control right; If the autonomous machine receives consent to hand over control information from the terminal with corresponding control rights, the autonomous machine updates the station control status information and broadcasts it externally. If the self-regulator receives a refusal to hand over control information from the terminal with the corresponding control rights, the self-regulator sends a corresponding prompt message to the terminal without the corresponding control rights.

4. The centralized control method for dynamic switching of station operation control rights according to claim 3, characterized in that, Also includes: When the terminal with the corresponding control agrees to hand over control, a seamless transfer of control is achieved in the following way: After the terminal with the corresponding control rights sends the consent to hand over the control information, it continues to maintain its control status until it receives the updated station control status information. Upon receiving the updated station control status information, the unauthorized terminal updates its local control status and takes over control.

5. The centralized control method for dynamic switching of station operation control rights according to claim 1, characterized in that, When the autonomous machine receives a forced takeover request from an unauthorized terminal, if the unauthorized terminal has the authority to forcibly take over, the machine grants the unauthorized terminal the corresponding control rights, updates the station control rights status information, and simultaneously notifies the terminal that previously held the corresponding control rights that the control rights have expired, including: When the autonomous machine receives a forced takeover request from an unauthorized terminal, it determines whether the unauthorized terminal has the authority to forcibly take over the authority based on the terminal's device ID. If so, it updates its control allocation logic, sets the corresponding control right to the corresponding unauthorized terminal's device ID, updates the station control status information, and broadcasts it externally. At the same time, it sends a notification message to the original terminal with the corresponding control right, informing it that its control right has expired.

6. The centralized control method for dynamic switching of station operation control rights according to claim 5, characterized in that, Also includes: If an unauthorized terminal has the permission to forcibly seize control, then after granting the unauthorized terminal the corresponding control rights, a seamless switch of control is achieved, as follows: After the autonomous machine updates the station control status information, it broadcasts it externally. After receiving the updated station control status information, the unauthorized terminal updates its local control status and takes over control. After receiving the updated station control status information, the original terminal with corresponding control rights updates its local control status and no longer has control authority.

7. The centralized control method for dynamic switching of station operation control authority according to claim 1, characterized in that, When the autonomous machine receives a request for parallel access from an unauthorized terminal, if the unauthorized terminal has the permission for parallel access, then the machine grants the unauthorized terminal the corresponding control rights and updates the station control status information, including: When the autonomous machine receives a request for parallel access from an unauthorized terminal, it determines whether the unauthorized terminal has the permission for parallel access based on the terminal's device ID. If so, it updates its own control status. At this time, the corresponding control rights correspond to the device IDs of two different terminals. After updating the station control status information, it broadcasts it outward.

8. A centralized dispatching control method for dynamic switching of station operation control authority according to any one of claims 1 to 7, characterized in that, Also includes: Each terminal receives the station control status information and determines whether it has the corresponding control rights based on the device ID. If it does not have the corresponding control rights, it cannot perform the corresponding control operation.

9. A centralized dispatching control method for dynamic switching of station operation control authority according to any one of claims 1 to 7, characterized in that, Also includes: When the autonomous machine receives a control command from any terminal, it performs a matching check between the device ID and the control rights. If the matching check fails, it indicates that the corresponding terminal does not have the corresponding control rights, and an error receipt and reason are sent back to the corresponding terminal.

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