CN110053650B - Automatic train operation system, automatic train operation system architecture and module management method of automatic train operation system - Google Patents
Automatic train operation system, automatic train operation system architecture and module management method of automatic train operation system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/70—Details of trackside communication
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/10—Active monitoring, e.g. heartbeat, ping or trace-route
- H04L43/106—Active monitoring, e.g. heartbeat, ping or trace-route using time related information in packets, e.g. by adding timestamps
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Abstract
An automatic train operation system and a module management method. The system comprises a main control module, other modules and a network interface coupled with an external device, wherein the main control module at least comprises: a processor, a switch module, and a digital switch. The digital switch is selectively coupled to the processor or the switch module, and the digital switch is configured to selectively couple the network interface to the processor or the switch module according to the requirements of the master control module. And the main control module and the other modules are communicated in a master-slave mode and a peak-shifting mode.
Description
Technical Field
The invention relates to the field of train operation control systems, in particular to an automatic train driving system with a system plug-in management structure.
Background
For the management aspect of a train operation control system, the following problems in the prior art are solved:
first, a network interface is generally reserved on the front panel of the current general main control plug-in unit to connect to an external device. The network interface is typically connected directly to the processor of the master plug-in or to a switch module of the master plug-in which is then connected to the processor of the master plug-in. The external device obtains some data or information of the main control device through the network interface. For example, when the external device is connected to the network interface, the debugging information of the main control device may be acquired, and meanwhile, the interactive data of the entire management network may also be acquired. Meanwhile, the external device can input some data to the main control plug-in. However, if the external device sends data to the main control plug-in at a high frequency, the data cache of the switch module in the main control plug-in overflows, the data of other devices cannot be responded, and the management network is blocked.
Secondly, the network management interaction between the existing master control plug-in and other plug-ins adopts a no-master mode. The main control plug-in can generate commands and data to other plug-ins; the other plug-ins receive the command and immediately respond. Other plug-ins can be immediately packaged and sent as long as external device data is received without authorization of the master plug-in. Although the master plug-in may selectively receive, the switch module in the master plug-in is burdened by the cabinet plug-in sending data without restriction.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention provides an automatic train operation system, which includes a main control module, other modules, and a network interface coupled to an external device, where the main control module includes: a processor, a switch module, and a digital switch.
The digital switch is selectively coupled to the processor or the switch module, and the digital switch is configured to selectively couple the network interface to the processor or the switch module according to the requirements of the master control module.
And the main control module and the other modules are communicated in a master-slave mode and a peak-shifting sending mode.
In one embodiment, when the external device sends data to the main control module at a high frequency, the digital switch disconnects the network interface from the switch module and switches the network interface to be coupled to the processor.
In one embodiment, the master control module communicates with the other modules in a master-slave manner.
In one embodiment, the master-slave approach is:
only after the main control module authorizes or sends a command to other plug-ins, the other plug-ins can actively send data to the main control module;
and after obtaining the authorization of the main control module or receiving the command of the main control module, the other modules periodically send data to the main control module, wherein the period can be adjusted by the main control module.
In one embodiment, the master-slave approach further comprises:
and when the main control module needs to reverse the big data to the standby machine, the main control module releases the authorization of the other modules for actively sending the data.
In one embodiment, the master-slave approach further comprises:
when the main control module broadcasts, the other modules adopt a random time stamp in a preset time range to answer the main control module.
In one embodiment, the other modules include one or more of the following:
the device comprises a power supply module, a digital quantity output module, a digital quantity input module and an expansion module.
The invention also provides a train automatic operation system architecture which comprises a main system and a standby system, wherein the main system and the standby system are mutually in hot standby redundancy, the main system or the standby system comprises the train automatic operation system, when the train automatic operation system architecture is powered on, the main system and the standby system are identified, a main control module in the main system and a main control module in the standby system are in time synchronization and data synchronization, the main control module of the standby system can only receive data and does not have an output function and control right, and when the main control module of the main system fails, the standby system is automatically switched into the main system.
The invention also provides a module management method of the train automatic operation system, the train automatic operation system comprises a main control module, other modules and a network interface coupled with external equipment, and the method comprises the following steps:
selectively coupling the network interface with the processor or the switch module according to the requirement of the master control module;
the master control module communicates with the other modules in a master-slave mode, wherein the master-slave mode is as follows:
only after the main control module authorizes or sends a command to other plug-ins, the other plug-ins can actively send data to the main control module;
after obtaining the authorization of the main control module or receiving the command of the main control module, the other modules periodically send data to the main control module, wherein the period can be adjusted by the main control module;
when the main control module needs to reverse big data to the standby machine, the main control module releases the authorization of the other modules for actively sending data;
when the main control module broadcasts, the other modules adopt a random time stamp in a preset time range to answer the main control module.
In one embodiment, when the external device sends data to the main control module at a high frequency, the digital switch disconnects the network interface from the switch module and switches the network interface to be coupled to the processor.
The technical scheme of the invention has the following beneficial technical effects:
when the main control module needs to communicate with the external equipment, the technical scheme of the invention can effectively prevent the external equipment from sending data to the main control module at high frequency to cause overflow of the data cache of the switch module and further cause system network blockage; in addition, the master control plug-in and other plug-ins adopt a master-slave structure mode and a peak-shifting data transmission mode, so that the system network is effectively prevented from being blocked.
Drawings
The foregoing summary, as well as the following detailed description of the invention, will be better understood when read in conjunction with the appended drawings. It is to be noted that the appended drawings are intended as examples of the claimed invention. In the drawings, like reference characters designate the same or similar elements.
Fig. 1 illustrates a schematic configuration diagram of an Automatic Train Operation (ATO) system according to an embodiment of the present invention;
FIG. 2 illustrates a schematic structural diagram of an Automatic Train Operation (ATO) system architecture, in accordance with an embodiment of the present invention;
FIG. 3 illustrates a data interaction diagram of an Automatic Train Operation (ATO) system, in accordance with an embodiment of the present invention;
fig. 4 illustrates a data transmission flowchart of an Automatic Train Operation (ATO) system according to an embodiment of the present invention;
fig. 5 illustrates a flowchart of a module management method of an Automatic Train Operation (ATO) system according to an embodiment of the present invention.
Detailed Description
The detailed features and advantages of the present invention are described in detail in the detailed description which follows, and will be sufficient for anyone skilled in the art to understand the technical content of the present invention and to implement the present invention, and the related objects and advantages of the present invention will be easily understood by those skilled in the art from the description, claims and drawings disclosed in the present specification.
The automatic driving system adopts a control cabinet to complete recording, operation and monitoring protection. The Automatic driving system mainly comprises subsystems such as an Automatic Train Operation (ATO), an Automatic driving Assistance (AOM), an Automatic Train Supervision (ATS) and the like.
The invention mainly relates to an Automatic Train Operation (ATO) system, which comprises a main control module, a digital quantity input module, a digital quantity output module, an expansion module (such as a network communication module), a network interface and the like.
Fig. 1 illustrates a schematic configuration diagram of an Automatic Train Operation (ATO) system according to an embodiment of the present invention. The system includes a master control module 101, other modules 1-n, and a network interface. In one embodiment, the host module 101 may be a host plug-in. The other modules can be a digital quantity output module, a digital quantity input module, an expansion module and/or the like. The main control module 101 includes a processor 102, a digital switch 103, and a switch module 104. The network interface is coupled to an external device. The digital switch 103 is configured to control whether the network interface of the master module is coupled to the internal switch module 104 or to the processor of the master module. That is, the digital switch 103 can switch the external device to the processor of the main control module or switch the internal switch module 104 of the main control module according to the requirement of the main control module. For example, when an external device sends data to the main control module at a high frequency, the digital switch 103 disconnects the network interface from the switch module 104 and switches the network interface to be coupled to the processor 102, so as to prevent the data cache of the switch module 104 in the main control module from overflowing when the external device sends data to the main control module 101 at a high frequency, which may not respond to data of other devices and further block the management network.
In one embodiment, the digital switch 103 may be implemented by software or hardware.
In addition, the module management method of the Automatic Train Operation (ATO) system adopts a master-slave structure mode, can perform a data transmission arbitration authorization function, can also adjust the transmission periods of other modules, so that the network data can not be blocked at a peak, and meanwhile, when the master control module broadcasts, the other modules adopt random timestamps within a certain time range to answer the master control module, so that the response interaction time of the master-slave structure is saved.
Fig. 2 illustrates a train autorun system architecture according to an embodiment of the present invention. As shown in fig. 2, the train automatic operation system architecture includes a system I and a system II, wherein the system I and the system II are redundant to each other. When I is the primary system, II is the secondary system. When I is faulty, the primary/standby switch is performed, II becomes the primary system, and I is the standby system. Each train is schematically illustrated in a schematic structure of an Automatic Train Operation (ATO) system shown in fig. 1, and for example, each train may include a power module 201, a main control module 202, a digital output module 203, a digital input module 204, and an expansion module 205.
When power is supplied, each module in an Automatic Train Operation (ATO) system architecture starts self-checking, wherein one path of Ethernet of the main control module is connected to external terminal equipment through a switch to download a configuration file, and meanwhile, a program can be updated. After the completion, the main control module switches the switch and connects the Ethernet of the main control plug-in to the internal switch module. The main control module in the I system in the whole Automatic Train Operation (ATO) system framework carries out self-checking, then carries out time synchronization and data synchronization with the main control module in the II system, and simultaneously carries out main-standby identification to determine the main standby of the I system or the II system. In one embodiment, the main control module of the main system can manage the modules in the system and is responsible for controlling and interacting with the external device, and the main control module of the backup system can only receive data, does not have an output function and does not have a control right. When the master control module of the master system fails, the backup system is automatically switched to the master system.
After the self-checking of other plug-ins in the system is finished, registration application is carried out on the main control modules of the I system and the II system at the same time. At this time, only the main control module of the master system responds and allows registration, and the registration information table is sent to the registered module. After the registration is finished, the master control module maintains the communication by using a periodic heartbeat packet, when the master control module of the master system has a fault, the master system and the slave system are switched between the I system and the II system through an independent CAN bus, one system with the fault becomes a slave system, and the other system becomes the master system to perform system management, so that the functions of hot standby redundancy and seamless connection are achieved.
Fig. 3 illustrates a data interaction diagram of an Automatic Train Operation (ATO) system according to an embodiment of the present invention. The master control module and other modules adopt a master-slave mode, that is, the master control module only authorizes or sends commands to other plug-ins, and other plug-ins can send data to the master control module. And when other modules send data to the main control module, random time stamps are adopted for sending. Therefore, when the main control module broadcasts all modules to reply, other modules cannot reply at the same time, so that the Ethernet bus is blocked, and the data of the switch is lost.
The input module in the Automatic Train Operation (ATO) system of the invention adopts a controllable periodic transmission mode to communicate with the main control module. Firstly, the main control module authorizes the input module, the input module can actively send the acquired data to the main control module, and a periodic sending mode is adopted. The period can be determined by the main control module, the main control module sends a period time parameter to the input module, and the input module sends the acquired data to the main control module periodically according to the period parameter. When the main control module needs to reverse big data to the standby machine on the network bus, the main control module can remove the authorization of the input module for actively sending data. At this time, the input module does not transmit data. When the master control module finds that the data volume on the network bus is large, the master control module can send a command parameter to change the cycle parameter of the input module, for example, to reduce the cycle sending data frequency.
Fig. 4 illustrates a data transmission flowchart of an Automatic Train Operation (ATO) system according to an embodiment of the present invention. The method comprises the following steps.
Step 401: the main control module judges whether the front panel interface is connected with the external equipment.
Step 402: and if the active module is connected with the external equipment, the active module performs data interaction with the external equipment.
Step 403: and other modules register with the main control module.
Step 404: the main control module periodically sends heartbeat packet messages to each module.
Step 405: the main control module sends authorization information to the registered module, wherein the registered module can send data to the main control module only after being authorized by the main control module.
Step 406: and the main control module receives the data sent by the registered module.
Step 407: the main control module sends a command to the registered module.
Fig. 5 illustrates a flowchart of a module management method of an Automatic Train Operation (ATO) system according to an embodiment of the present invention. The system is the automatic train operation system. The method comprises the following steps:
selectively couple the network interface with the processor or couple the network interface with the switch module according to the requirement of the master control module (for example, when the external device sends data to the master control module at a high frequency, the digital switch disconnects the network interface from the switch module and switches the network interface to be coupled with the processor);
the main control module and the other modules are communicated in the following mode:
only after the main control module authorizes or sends a command to other plug-ins, the other plug-ins can actively send data to the main control module;
after obtaining the authorization of the main control module or receiving the command of the main control module, the other modules periodically send data to the main control module, wherein the period can be adjusted by the main control module;
when the main control module needs to reverse big data to the standby machine, the main control module releases the authorization of the other modules for actively sending data;
when the main control module broadcasts, the other modules adopt a random time stamp in a preset time range to answer the main control module.
In the invention, the units in the system communicate with each other through Ethernet, and also CAN communicate through other buses (such as RS232/422/485 bus, CAN bus, Profibus bus, MVB bus, etc.), so that the other buses CAN be used as an alternative scheme for realizing interconnection and intercommunication of the redundant functional units.
In addition, in the present invention, each unit in the system may or may not be physically separated; may be located in the same unit, or may be distributed over several units; the functional unit can be a single plug-in to realize a certain function, or different plug-ins can be combined with each other to realize a certain function, and the combination and the collocation can be carried out according to actual needs, so that the purpose of realizing the technical scheme of the embodiment of the invention is achieved.
The terms and expressions which have been employed herein are used as terms of description and not of limitation. The use of such terms and expressions is not intended to exclude any equivalents of the features shown and described (or portions thereof), and it is recognized that various modifications may be made within the scope of the claims. Other modifications, variations, and alternatives are also possible. Accordingly, the claims should be looked to in order to cover all such equivalents.
Also, it should be noted that although the present invention has been described with reference to the current specific embodiments, it should be understood by those skilled in the art that the above embodiments are merely illustrative of the present invention, and various equivalent changes or substitutions may be made without departing from the spirit of the present invention, and therefore, it is intended that all changes and modifications to the above embodiments be included within the scope of the claims of the present application.
Claims (8)
1. An automatic train operation system, comprising a main control module, other modules, and a network interface coupled to an external device, the main control module comprising:
a processor;
a switch module;
a digital switch selectably coupled to the processor or the switch module, the digital switch configured to selectably couple the network interface to the processor or to the switch module according to requirements of the master module;
the main control module and the other modules are communicated in a master-slave mode and a peak-shifting sending mode;
when the external equipment sends data to the main control module at a high frequency, the digital selector switch disconnects the network interface from the switch module and switches the network interface to be coupled with the processor;
the main control module and the other modules are communicated in the following mode:
only after the main control module authorizes or sends a command to other plug-ins, the other plug-ins can actively send data to the main control module;
after obtaining the authorization of the main control module or receiving the command of the main control module, the other modules periodically send data to the main control module, wherein the period can be adjusted by the main control module;
when the main control module needs to reverse big data to the standby machine, the main control module releases the authorization of the other modules for actively sending data;
when the main control module broadcasts, the other modules adopt a random time stamp in a preset time range to answer the main control module.
2. The automatic train operation system of claim 1, wherein the master-slave mode is:
only after the main control module authorizes or sends a command to the other modules, the other modules can actively send data to the main control module.
3. The train automatic operation system according to claim 2, wherein the master-slave mode further comprises:
and after obtaining the authorization of the main control module or receiving the command of the main control module, the other modules periodically send data to the main control module, wherein the period can be adjusted by the main control module.
4. The automatic train operation system of claim 3, wherein the master-slave mode further comprises:
and when the main control module needs to reverse the big data to the standby machine, the main control module releases the authorization of the other modules for actively sending the data.
5. The automatic train operation system of claim 1, wherein the off-peak transmission mode comprises:
when the main control module broadcasts, the other modules adopt a random time stamp in a preset time range to answer the main control module.
6. The train autorun system of claim 1, wherein the other modules comprise one or more of the following:
the device comprises a power supply module, a digital quantity output module, a digital quantity input module and an expansion module.
7. An automatic train operation system architecture, characterized in that, the automatic train operation architecture comprises a main system and a backup system, wherein the main system and the backup system are mutually hot backup redundant, the main system or the backup system comprises the automatic train operation system according to any one of claims 1 to 6, when the automatic train operation system architecture is powered on, the main system and the backup system perform time synchronization and data synchronization, the main control module in the main system and the main control module in the backup system perform time synchronization and data synchronization, the main control module of the backup system can only receive data, has no output function and no control right, and when the main control module of the main system fails, the backup system automatically switches to the main system.
8. A module management method of an automatic train operation system, wherein the automatic train operation system comprises a main control module, other modules and a network interface coupled with an external device, the method comprising:
selectively coupling the network interface with a processor or a switch module according to the requirement of the master control module;
the main control module and the other modules are communicated in the following mode:
only after the main control module authorizes or sends a command to other plug-ins, the other plug-ins can actively send data to the main control module;
after obtaining the authorization of the main control module or receiving the command of the main control module, the other modules periodically send data to the main control module, wherein the period can be adjusted by the main control module;
when the main control module needs to reverse big data to the standby machine, the main control module releases the authorization of the other modules for actively sending data;
when the main control module broadcasts, the other modules adopt a random time stamp in a preset time range to answer the main control module;
when the external equipment sends data to the main control module at a high frequency, the digital selector switch disconnects the network interface from the switch module and switches the network interface to be coupled with the processor.
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| CN116055315B (en) * | 2023-03-31 | 2023-06-02 | 北京全路通信信号研究设计院集团有限公司 | MVB communication configuration method, device, equipment and storage medium |
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