CN111107572A - Redundancy backup method and device - Google Patents

Redundancy backup method and device Download PDF

Info

Publication number
CN111107572A
CN111107572A CN201911371006.9A CN201911371006A CN111107572A CN 111107572 A CN111107572 A CN 111107572A CN 201911371006 A CN201911371006 A CN 201911371006A CN 111107572 A CN111107572 A CN 111107572A
Authority
CN
China
Prior art keywords
controller
rsu
state
rsus
personal computer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911371006.9A
Other languages
Chinese (zh)
Inventor
李建民
马春香
武宏伟
李媛媛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Wanji Technology Co Ltd
Original Assignee
Beijing Wanji Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Wanji Technology Co Ltd filed Critical Beijing Wanji Technology Co Ltd
Priority to CN201911371006.9A priority Critical patent/CN111107572A/en
Publication of CN111107572A publication Critical patent/CN111107572A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/04—Arrangements for maintaining operational condition
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/06—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems
    • G07B15/063—Arrangements for road pricing or congestion charging of vehicles or vehicle users, e.g. automatic toll systems using wireless information transmission between the vehicle and a fixed station
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Hardware Redundancy (AREA)

Abstract

The invention provides a redundancy backup method and a redundancy backup device, wherein the method comprises the following steps: a first controller determines that a first path measurement unit (RSU) has a fault, wherein the first controller is respectively connected with a plurality of main RSUs and a plurality of standby RSUs, and the first RSU is one or more of the plurality of RSUs; the state of the first RSU is switched to an idle mode from a working mode, and the state of the second RSU is switched to the working mode from the idle mode, wherein the first RSU and the second RSU are mutually backup, and the second RSU is one or more of the multiple backup RSUs, so that the problems that the success rate of the radio frequency signal coverage of a lane is not complete and the transaction of the whole system is stopped during the failure period caused by the failure of the equipment in the related technology can be solved, the equipment is subjected to redundant backup, and the continuous and stable operation of the whole system is guaranteed.

Description

Redundancy backup method and device
Technical Field
The invention relates to the field of intelligent transportation, in particular to a redundancy backup method and device.
Background
The existing multilane free flow portal frame system is characterized in that an independent electronic toll collection system is arranged on a highway portal frame, and wireless data interaction is carried out on an OBU (on-board unit) communicated on a road section to complete a specific transaction process. If some equipment in the system fails, the normal transaction flow is affected, and even the transaction cannot be carried out during the failure. Therefore, higher requirements are placed on the stable operation of the equipment.
Due to the influence of the external environment and the restriction of software and hardware of the equipment, the possibility of failure of the equipment in the operation process exists for a long time. The fault of the equipment can be timely discovered through means such as remote monitoring, but the free flow charging system is usually positioned in the center of a highway section, and a transaction process is carried out under the unattended condition, so the fault recovery time of the system is usually longer. For example, if a certain RSU fails, the radio frequency signal coverage of the current lane where the RSU is located will be incomplete, and the success rate will be reduced; and if the RSU controller or the industrial personal computer has a fault, stopping the transaction of the whole system in the fault period.
Aiming at the problems that the success rate is reduced when the radio frequency signal coverage of the lane is not complete due to the equipment failure in the related technology, and even the transaction of the whole system is stopped in the failure period, no solution is provided.
Disclosure of Invention
The embodiment of the invention provides a redundancy backup method and a redundancy backup device, which are used for at least solving the problems that the success rate is reduced when the radio frequency signal coverage of a lane is not complete due to the failure of equipment in the related art, and even the transaction of the whole system is stopped in the failure period.
According to an embodiment of the present invention, there is provided a redundancy backup method including:
a first controller determines that a first routing unit RSU fails, wherein the first controller is respectively connected with a plurality of main RSUs and a plurality of standby RSUs, the main RSUs and the standby RSUs are mutually backed up in a one-to-one manner, and the first RSU is one or more of the RSUs;
the first controller switches the state of the first RSU from a working mode to an idle mode, and switches the state of the second RSU from the idle mode to the working mode, wherein the first RSU and the second RSU are backup for each other, and the second RSU is one or more of the plurality of backup RSUs.
Optionally, the first controller determining that the first RSU is malfunctioning comprises:
the first controller receives a first heartbeat message sent by the first RSU, wherein the first heartbeat message is used for indicating that the first RSU fails; or a first heartbeat message sent by the first RSU is not received within a preset time period;
the first controller determines that the first RSU is malfunctioning.
Optionally, the method further comprises:
and under the condition that the first controller is detected to have a fault, the first controller sends a second heartbeat message to the first industrial personal computer, wherein the second heartbeat message is used for indicating the first industrial personal computer to switch the state of the first controller from a working mode to an idle mode and switch the state of the second controller from the idle mode to the working mode, and the first controller and the second controller are mutually backups.
Optionally, the method further includes:
and under the condition that the first controller is detected to have a fault, the first controller sends a third heartbeat message to a second controller, wherein the third heartbeat message is used for indicating the second controller to switch the state of the first controller from a working state to an idle state and switch the state of the second controller from the idle state to the working state, and the first controller and the second controller are mutually backups.
Optionally, the method further includes:
after the first controller returns to normal, the first controller receives a fourth heartbeat message sent by the second controller, or does not receive the fourth heartbeat message sent by the second controller within a preset time period, wherein the fourth heartbeat message is used for indicating that the second controller fails;
the first controller switches the state of the first controller from an idle state to a working state, and switches the working state of the second controller from a state to an idle state.
According to another embodiment of the present invention, there is also provided a redundancy backup method including:
the method comprises the steps that a first industrial personal computer determines that a first controller fails, wherein the first industrial personal computer is respectively connected with a first controller and a second controller, the first controller and the second controller are mutually backup, the first controller and the second controller are respectively connected with a plurality of main RSUs and a plurality of standby RSUs, and the first controller and the second controller are used for completing switching between the main RSUs and the standby RSUs;
the first industrial personal computer switches the state of the first controller from a working mode to an idle mode, and switches the state of the second controller from the idle mode to the working mode.
Optionally, the determining, by the first industrial personal computer, that the first controller fails includes:
the first industrial personal computer receives a second heartbeat message sent by the first controller, wherein the second heartbeat message is used for indicating that the first controller breaks down; or a second heartbeat message sent by the first controller is not received within a preset time period;
and the first industrial personal computer determines that the first controller has a fault.
Optionally, the method further comprises:
the method comprises the steps that under the condition that the first industrial personal computer breaks down, the first industrial personal computer sends a fifth heartbeat message to the second industrial personal computer, wherein the fifth heartbeat message is used for indicating that the second industrial personal computer switches the state of the first industrial personal computer into an idle mode from a working mode, and switches the state of the second industrial personal computer into a working state from the idle mode, and the first industrial personal computer and the second industrial personal computer are mutually backed up.
According to another embodiment of the present invention, there is also provided a redundancy backup method including:
a first RSU detects that a second RSU fails, wherein the first RSU is a standby device, and the second RSU is a main device;
the first controller switches the state from the idle mode to the working mode, and switches the state of the second RSU from the working mode to the idle mode.
Optionally, the detecting, by the first RSU, that the second RSU fails includes:
the first RSU receives a sixth heartbeat message sent by the second RSU, wherein the sixth heartbeat message is used for indicating that the second RSU fails; or the sixth heartbeat message sent by the second RSU is not received within a predetermined time period;
the first RSU determines that the second RSU is malfunctioning.
According to another embodiment of the present invention, there is also provided a redundancy backup apparatus applied to a first controller, including:
the first determining module is configured to determine that a first path measurement unit RSU has a fault, where the first controller is respectively connected to a plurality of main RSUs and a plurality of standby RSUs, and the main RSUs and the standby RSUs are backed up one to one with each other, where the first RSU is one or more of the RSUs;
the first switching module is configured to switch a state of the first RSU from a working mode to an idle mode, and switch a state of the second RSU from the idle mode to the working mode, where the first RSU and the second RSU are backups of each other, and the second RSU is one or more of the multiple backup RSUs.
Optionally, the first determining module includes:
a first receiving submodule, configured to receive a first heartbeat message sent by the first RSU, where the first heartbeat message is used to indicate that the first RSU fails; or a first heartbeat message sent by the first RSU is not received within a preset time period;
a first determining submodule for determining that the first RSU is malfunctioning.
Optionally, the apparatus further comprises:
the first sending module is used for sending a second heartbeat message to the first industrial personal computer when detecting that the first controller breaks down, wherein the second heartbeat message is used for indicating the first industrial personal computer to switch the state of the first controller from a working mode to an idle mode and switch the state of the second controller from the idle mode to the working mode, and the first controller and the second controller are mutually backups.
Optionally, the apparatus further comprises:
the second sending module is configured to send a third heartbeat packet to the second controller when detecting that the first controller fails, where the third heartbeat packet is used to instruct the second controller to switch the state of the first controller from the working state to the idle state and switch the state of the second controller from the idle state to the working state, where the first controller and the second controller are backup of each other.
Optionally, the apparatus further comprises:
the receiving module is configured to receive a fourth heartbeat message sent by the second controller after the first controller returns to normal, or receive no fourth heartbeat message sent by the second controller within a predetermined time period, where the fourth heartbeat message is used to indicate that the second controller fails;
and the second switching module is used for switching the state of the first controller from an idle state to a working state and switching the working state of the second controller from the state to the idle state.
According to another embodiment of the present invention, there is also provided a redundancy backup apparatus applied to a first industrial personal computer, including:
the first industrial personal computer is respectively connected with the first controller and the second controller, the first controller and the second controller are mutually backup, the first controller and the second controller are respectively connected with a plurality of main RSUs and a plurality of standby RSUs, and the first controller and the second controller are used for completing switching between the main RSUs and the standby RSUs;
and the third switching module is used for switching the state of the first controller from the working mode to the idle mode and switching the state of the second controller from the idle mode to the working mode.
Optionally, the second determining module includes:
the second receiving submodule is used for receiving a second heartbeat message sent by the first controller, wherein the second heartbeat message is used for indicating that the first controller fails; or a second heartbeat message sent by the first controller is not received within a preset time period;
a second determination submodule for determining that the first controller is malfunctioning.
Optionally, the apparatus further comprises:
and the third sending module is used for sending a third heartbeat message to the second industrial personal computer when detecting that the first industrial personal computer fails, wherein the third heartbeat message is used for indicating that the second industrial personal computer switches the state of the first industrial personal computer into an idle mode from a working mode, and switches the state of the second industrial personal computer into a working state from the idle mode, and the first industrial personal computer and the second industrial personal computer are mutually backups.
According to another embodiment of the present invention, there is also provided a redundancy backup apparatus applied to a first test unit RSU, including:
the device comprises a detection module, a first RSU and a second RSU, wherein the detection module is used for detecting that the second RSU fails, the first RSU is a standby device, and the second RSU is a main device;
and the fourth switching module is used for switching the state from an idle mode to a working mode and switching the state of the second RSU from the working mode to the idle mode.
Optionally, the detection module is further used for
Receiving a sixth heartbeat message sent by the second RSU, wherein the sixth heartbeat message is used for indicating that the second RSU fails; or the sixth heartbeat message sent by the second RSU is not received within a predetermined time period;
determining that the second RSU is malfunctioning.
According to a further embodiment of the present invention, a computer-readable storage medium is also provided, in which a computer program is stored, wherein the computer program is configured to perform the steps of any of the above-described method embodiments when executed.
According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.
According to the invention, a first controller determines that a first routing unit RSU has a fault, wherein the first controller is respectively connected with a plurality of main RSUs and a plurality of standby RSUs, the main RSUs and the standby RSUs are mutually backed up in a one-to-one manner, and the first RSU is one or more of the RSUs; the state of the first RSU is switched to an idle mode from a working mode, and the state of the second RSU is switched to the working mode from the idle mode, wherein the first RSU and the second RSU are mutually backup, and the second RSU is one or more of the multiple backup RSUs, so that the problems that the success rate of the radio frequency signal coverage of a lane is not complete and the transaction of the whole system is stopped in a failure period is reduced due to the failure of the equipment in the related technology can be solved, the equipment is subjected to redundant backup, the state of each module is detected by the system at regular time, when a certain module is abnormal, the module can be switched to the backup module seamlessly, the failure time is greatly reduced, and the continuous and stable operation of the whole system is guaranteed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a block diagram of a hardware structure of a mobile terminal according to a redundancy backup method of an embodiment of the present invention;
FIG. 2 is a first flowchart of a redundancy backup method according to an embodiment of the present invention;
FIG. 3 is a flow chart two of a redundancy backup method according to an embodiment of the present invention;
FIG. 4 is a flow chart of a redundancy backup method according to an embodiment of the present invention;
FIG. 5 is a block diagram of a redundant backup free-flow system according to an embodiment of the present invention;
FIG. 6 is a block diagram one of a redundant backup appliance according to an embodiment of the present invention;
FIG. 7 is a block diagram two of a redundant backup appliance according to an embodiment of the present invention;
fig. 8 is a block diagram three of a redundant backup device according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Example 1
The method provided by the first embodiment of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking a mobile terminal as an example, fig. 1 is a hardware structure block diagram of a mobile terminal of a redundancy backup method according to an embodiment of the present invention, as shown in fig. 1, a mobile terminal 10 may include one or more processors 102 (only one is shown in fig. 1) (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), and a memory 104 for storing data, and optionally, the mobile terminal may further include a transmission device 106 for communication function and an input/output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to the message receiving method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
In this embodiment, a redundancy backup method operating in the mobile terminal or the network architecture is provided, and fig. 2 is a first flowchart of the redundancy backup method according to the embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:
step S202, a first controller determines that a first routing unit RSU fails, wherein the first controller is respectively connected with a plurality of main RSUs and a plurality of standby RSUs, the main RSUs and the standby RSUs are in one-to-one mutual backup, and the first RSU is one or more of the RSUs;
further, the first controller receives a first heartbeat message sent by the first RSU, where the first heartbeat message is used to indicate that the first RSU has a fault; or a first heartbeat message sent by the first RSU is not received within a preset time period; the first controller determines that the first RSU is malfunctioning.
Step S204, the first controller switches the state of the first RSU from the working mode to the idle mode, and switches the state of the second RSU from the idle mode to the working mode, where the first RSU and the second RSU are backup for each other, and the second RSU is one or more of the multiple backup RSUs.
Through the steps S202 to S204, the problems that the success rate of the incomplete coverage of the radio frequency signals of the lanes caused by the failure of the equipment in the related technology is reduced, and even the transaction of the whole system is stopped in the failure period can be solved, the equipment is subjected to redundant backup, the system detects the state of each module at regular time, when one module is abnormal, the standby module can be seamlessly switched, the failure time is greatly reduced, and the continuous and stable operation of the whole system is ensured.
Optionally, when it is detected that the first controller fails, the first controller sends a second heartbeat message to the first industrial personal computer, where the second heartbeat message is used to instruct the first industrial personal computer to switch the state of the first controller from the working mode to the idle mode, and switch the state of the second controller from the idle mode to the working mode, where the first controller and the second controller are backups of each other.
In the embodiment of the present invention, when it is detected that the first controller has a fault, the first controller sends a third heartbeat packet to the second controller, where the third heartbeat packet is used to instruct the second controller to switch the state of the first controller from the working state to the idle state, and switch the state of the second controller from the idle state to the working state, where the first controller and the second controller are backup for each other.
In the embodiment of the present invention, after the first controller returns to normal, the first controller receives a fourth heartbeat message sent by the second controller, or does not receive the fourth heartbeat message sent by the second controller within a predetermined time period, where the fourth heartbeat message is used to indicate that the second controller fails; and switching the state of the first controller from an idle state to a working state, and switching the working state of the second controller from a state to an idle state.
First controller and second controller intercommunications promptly, under the intervention that need not the industrial computer, can accomplish equipment state automatically and switch: under the condition that the first controller and the second controller are normal, the first controller is defaulted to enter a transaction mode, the second controller enters an idle mode, namely the first controller is main equipment or main equipment, and the second controller is standby equipment or standby equipment; when the first controller is abnormal, the first controller exchanges the working mode with the second controller, namely the first controller enters an idle mode, and the second controller enters a transaction mode. After the first controller is recovered to be normal, if the second controller fails, the first controller is switched to the working mode, and the second controller is switched to the idle mode.
Example 2
According to another embodiment of the present invention, there is also provided a redundancy backup method, and fig. 3 is a second flowchart of the redundancy backup method according to the embodiment of the present invention, as shown in fig. 3, the flowchart includes the following steps:
step S302, a first industrial personal computer determines that a first controller has a fault, wherein the first industrial personal computer is respectively connected with a first controller and a second controller, the first controller and the second controller are mutually backup, the first controller and the second controller are respectively connected with a plurality of main RSUs and a plurality of standby RSUs, and the first controller and the second controller are used for completing switching between the plurality of main RSUs and the plurality of standby RSUs;
further, the first industrial personal computer receives a second heartbeat message sent by the first controller, wherein the second heartbeat message is used for indicating that the first controller has a fault; or a second heartbeat message sent by the first controller is not received within a preset time period; and the first industrial personal computer determines that the first controller has a fault.
Step S304, the first industrial personal computer switches the state of the first controller from the working mode to the idle mode, and switches the state of the second controller from the idle mode to the working mode.
Through the steps S202 to S204, the problems that the success rate of the incomplete coverage of the radio frequency signals of the lanes caused by the failure of the equipment in the related technology is reduced, and even the transaction of the whole system is stopped in the failure period can be solved, the equipment is subjected to redundant backup, the system detects the state of each module at regular time, when one module is abnormal, the standby module can be seamlessly switched, the failure time is greatly reduced, and the continuous and stable operation of the whole system is ensured.
Optionally, when detecting that the first industrial computer fails, the first industrial computer sends a fifth heartbeat message to the second industrial computer, where the fifth heartbeat message is used to indicate that the second industrial computer will switch the state of the first industrial computer from the working mode to the idle mode, and will switch the state of the second industrial computer from the idle mode to the working mode, where the first industrial computer and the second industrial computer are backup each other.
Example 3
According to another embodiment of the present invention, there is also provided a redundancy backup method, and fig. 4 is a flowchart three of the redundancy backup method according to the embodiment of the present invention, as shown in fig. 4, including:
step S402, a first RSU detects that a second RSU fails, wherein the first RSU is a standby device, and the second RSU is a main device;
further, the first RSU receives a sixth heartbeat message sent by the second RSU, where the sixth heartbeat message is used to indicate that the second RSU has a fault; or the sixth heartbeat message sent by the second RSU is not received within a predetermined time period; determining that the second RSU is malfunctioning.
In step S404, the first controller switches the state from the idle mode to the working mode, and switches the state of the second RSU from the working mode to the idle mode.
If the first RSU and the second RSU are mutually communicated, the equipment state switching can be automatically completed without the intervention of an RSU controller: under the condition that the first RSU and the second RSU are normal by default, the first RSU enters a working mode, and the second RSU enters an idle mode; when the first RSU is abnormal, the working mode is exchanged with the second RSU, namely the first RSU enters an idle mode, and the second RSU enters the working mode.
The above-described embodiments are explained in detail below.
The embodiment of the invention carries out redundancy backup on the equipment on the basis of the original free flow charging system, and combines two sets of traditional free flow charging systems together to form the free flow charging system with the redundancy backup function. The system detects the state of each module at regular time, and when a certain module is abnormal, the standby module can be seamlessly switched, so that the fault time is greatly reduced, and the continuous and stable operation of the whole system is ensured. Fig. 5 is a block diagram of a redundant backup free-flow system according to an embodiment of the present invention, and as shown in fig. 5, the free-flow system with a redundant backup function is composed of an RSU, an RSU controller, and a lane industrial computer, each of which is divided into a main module and a backup module. The RSU1, the RSU2 and the RSU3 form RSU main equipment, and the RSU1 ', the RSU2 ' and the RSU3 ' form RSU backup equipment; the RSU controller 1 is an RSU main controller, and the RSU controller 2 is an RSU backup controller; the lane industrial personal computer 1 is a lane industrial personal computer main device, and the lane controller 2 is a lane industrial personal computer slave device.
The RSU is used for receiving and transmitting microwave radio frequency signals and directly completes radio frequency information interaction with the OBU. The working states of the RSU are divided into two types: an idle state and a transaction state. The RSU reports the running state of the RSU to the RSU controller at regular time, and switches the working state of the RSU controller according to the instruction of the RSU controller.
The RSU controller is used for executing a transaction process, can communicate with all RSUs, and sends a transaction result to the lane industrial personal computer. The RSU controller has two modes of operation: idle mode and transaction mode. The RSU controller detects all the RSU states, uploads the working states of the RSU controller to the lane industrial personal computer, and switches the working states of the RSU controller according to instructions of the lane industrial personal computer.
The lane industrial personal computer can control the transaction process and can communicate with all RSU controllers. The lane industrial control machine detects the state uploaded by the controllers, controls one RSU controller to enter a transaction state and controls the other RSU controller to enter an idle state at the same time; the equipment running state of timing transmission self between two lane industrial computers, when one of them industrial computer breaks down, inform another industrial computer for another industrial computer is by idle mode conversion mode. Only one lane industrial personal computer is in a transaction state at the same time, and the other lane industrial personal computer is in an idle state. When the industrial personal computer in the transaction state is abnormal, the industrial personal computer can automatically enter an idle state, and another device can enter the transaction state after detecting the change.
When all the equipment normally operates, the lane industrial personal computer 1 works in a transaction mode, informs the lane industrial personal computer 2 of operating in an idle mode, simultaneously informs the RSU1 that the controller 1 works in the transaction mode, and informs the RSU controller 2 of working in the idle mode; the RSU controller 1 learns that all RSUs work normally through the heartbeat information of all RSUs, instructs the RSUs 1, 2 and 3 to work in a normal mode, and instructs the RSUs 1 ', 2 ' and 3 ' to work in an idle mode; the heartbeat information of the RSU comprises the working mode of the RSU and the state of the RSU equipment.
When the RSU1 has a fault but can send a heartbeat, the RSU controller 1 knows that the RSU1 works abnormally according to the heartbeat information of the RSU1, switches the working mode of the RSU1 from a trading mode to a non-idle mode, and simultaneously switches the working mode of the RSU 1' from the idle mode to the trading mode; when the RSU1 fails and fails to send a heartbeat, and the RSU controller does not receive the heartbeat of the RSU1 within a certain time, the RSU1 is considered to be abnormally operated, and the operation modes of the RSU1 and the RSU 1' are switched as described above.
When the RSU controller 1 has a fault but communicates with the lane industrial personal computer normally, the lane industrial personal computer 1 learns that the RSU controller 1 works abnormally according to the heartbeat of the RSU controller, the RSU controller 2 works normally, the action mode of the RSU controller 1 is switched from a trading mode to an idle mode, and the working mode of the RSU controller 2 is switched from the idle mode to the trading mode; when the RSU controller 1 breaks down and the communication with the lane industrial personal computer is abnormal, the lane industrial personal computer cannot receive the heartbeat of the RSU controller 1 within a certain time, the RSU1 controller 1 is determined to work abnormally, and the RSU controller 1 and the RSU controller 2 are switched in the working mode; after the state switching of the RSU controller is completed, the RSU controller 2 carries out transaction on the RSU of which the controller is in the transaction mode.
When the lane industrial personal computer 1 has a fault and is normally communicated with the lane industrial personal computer 2, the lane industrial personal computer 2 learns that the lane industrial personal computer 1 works abnormally according to the heartbeat of the lane industrial personal computer 1, then the lane industrial personal computer 2 switches the working mode of the lane industrial personal computer 1 from a transaction mode to an idle mode, switches the working mode of the lane industrial personal computer 1 from the idle mode to the transaction mode, and then controls the RSU controller in the transaction mode to perform transaction.
It should be noted that the above expression does not limit the number of lanes, and the number of RSUs is six as an example, but does not limit the number of RSUs; the RSU1 is taken as an example of the RSU with the fault, the RSU controller with the fault is taken as an example of the RSU controller 1, and the lane industrial personal computer with the fault is taken as an example of the lane industrial personal computer 1.
The embodiment of the invention performs backup combination on the original free flow charging system to form the free flow charging system with the redundancy backup function, can perform seamless switching when equipment fails, reduces the failure time of the equipment and ensures the continuous and stable operation of the system. The RSU, the RSU controller and the industrial personal computer are backed up to form the free flow charging system with redundant backup, and when equipment in transaction breaks down, the backup equipment can be switched to a transaction mode in time to guarantee stable operation of the system.
Example 4
According to another embodiment of the present invention, there is also provided a redundancy backup apparatus applied to a first controller, and fig. 6 is a first block diagram of the redundancy backup apparatus according to the embodiment of the present invention, as shown in fig. 6, including:
a first determining module 62, configured to determine that a first testing unit RSU has a fault, where the first controller is connected to a plurality of main RSUs and a plurality of standby RSUs, and the main RSUs and the standby RSUs are backed up one to one with each other, where the first RSU is one or more of the RSUs;
a first switching module 64, configured to switch a state of the first RSU from an operating mode to an idle mode, and switch a state of the second RSU from the idle mode to the operating mode, where the first RSU and the second RSU are backup for each other, and the second RSU is one or more of the multiple backup RSUs.
Optionally, the first determining module 62 includes:
a first receiving submodule, configured to receive a first heartbeat message sent by the first RSU, where the first heartbeat message is used to indicate that the first RSU fails; or a first heartbeat message sent by the first RSU is not received within a preset time period;
a first determining submodule for determining that the first RSU is malfunctioning.
Optionally, the apparatus further comprises:
the first sending module is used for sending a second heartbeat message to the first industrial personal computer when detecting that the first controller breaks down, wherein the second heartbeat message is used for indicating the first industrial personal computer to switch the state of the first controller from a working mode to an idle mode and switch the state of the second controller from the idle mode to the working mode, and the first controller and the second controller are mutually backups.
Optionally, the apparatus further comprises:
the second sending module is configured to send a third heartbeat packet to the second controller when detecting that the first controller fails, where the third heartbeat packet is used to instruct the second controller to switch the state of the first controller from the working state to the idle state and switch the state of the second controller from the idle state to the working state, where the first controller and the second controller are backup of each other.
Optionally, the apparatus further comprises:
the receiving module is configured to receive a fourth heartbeat message sent by the second controller after the first controller returns to normal, or receive no fourth heartbeat message sent by the second controller within a predetermined time period, where the fourth heartbeat message is used to indicate that the second controller fails;
and the second switching module is used for switching the state of the first controller from an idle state to a working state and switching the working state of the second controller from the state to the idle state.
Example 5
According to another embodiment of the present invention, there is also provided a redundancy backup apparatus applied to a first industrial computer, and fig. 7 is a block diagram ii of the redundancy backup apparatus according to the embodiment of the present invention, as shown in fig. 7, including:
a second determining module 72, configured to determine that a first controller fails, where the first industrial personal computer is connected to the first controller and the second controller, the first controller and the second controller are backup to each other, and the first controller and the second controller are connected to a plurality of main RSUs and a plurality of standby RSUs, respectively, where the first controller and the second controller are used to complete switching between the plurality of main RSUs and the plurality of standby RSUs;
a third switching module 74, configured to switch the state of the first controller from the operating mode to the idle mode, and switch the state of the second controller from the idle mode to the operating mode.
Optionally, the second determining module 72 includes:
the second receiving submodule is used for receiving a second heartbeat message sent by the first controller, wherein the second heartbeat message is used for indicating that the first controller fails; or a second heartbeat message sent by the first controller is not received within a preset time period;
a second determination submodule for determining that the first controller is malfunctioning.
Optionally, the apparatus further comprises:
and the third sending module is used for sending a third heartbeat message to the second industrial personal computer when detecting that the first industrial personal computer fails, wherein the third heartbeat message is used for indicating that the second industrial personal computer switches the state of the first industrial personal computer into an idle mode from a working mode, and switches the state of the second industrial personal computer into a working state from the idle mode, and the first industrial personal computer and the second industrial personal computer are mutually backups.
Example 6
According to another embodiment of the present invention, there is further provided a redundant backup apparatus applied to a first test unit RSU, and fig. 8 is a block diagram of a redundant backup apparatus according to an embodiment of the present invention, as shown in fig. 8, including:
a detecting module 82, configured to detect that a second RSU fails, where the first RSU is a standby device and the second RSU is a master device;
a fourth switching module 84, configured to switch a state from an idle mode to an operating mode, and switch a state of the second RSU from the operating mode to the idle mode.
Optionally, the detection module 82 is further configured to
Receiving a sixth heartbeat message sent by the second RSU, wherein the sixth heartbeat message is used for indicating that the second RSU fails; or the sixth heartbeat message sent by the second RSU is not received within a predetermined time period;
determining that the second RSU is malfunctioning.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.
Example 7
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s11, a first controller determines that a first path measurement unit RSU has a fault, wherein the first controller is respectively connected with a plurality of main RSUs and a plurality of standby RSUs, the main RSUs and the standby RSUs are mutually backed up in a one-to-one manner, and the first RSU is one or more of the RSUs;
s12, the first controller switches the state of the first RSU from an operating mode to an idle mode, and switches the state of the second RSU from the idle mode to the operating mode, where the first RSU and the second RSU are backup of each other, and the second RSU is one or more of the multiple backup RSUs.
Optionally, in this embodiment, the storage medium may be further configured to store a computer program for executing the following steps:
s21, a first industrial personal computer determines that a first controller has a fault, wherein the first industrial personal computer is respectively connected with a first controller and a second controller, the first controller and the second controller are mutually backup, the first controller and the second controller are respectively connected with a plurality of main RSUs and a plurality of standby RSUs, and the first controller and the second controller are used for completing switching between the plurality of main RSUs and the plurality of standby RSUs;
and S22, the first industrial personal computer switches the state of the first controller from the working mode to the idle mode, and switches the state of the second controller from the idle mode to the working mode.
Optionally, in this embodiment, the storage medium may be further configured to store a computer program for executing the following steps:
s31, a first RSU detects that a second RSU fails, wherein the first RSU is a standby device, and the second RSU is a main device;
s32, the first controller switches the state from the idle mode to the working mode, and switches the state of the second RSU from the working mode to the idle mode.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Example 8
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s11, a first controller determines that a first path measurement unit RSU has a fault, wherein the first controller is respectively connected with a plurality of main RSUs and a plurality of standby RSUs, the main RSUs and the standby RSUs are mutually backed up in a one-to-one manner, and the first RSU is one or more of the RSUs;
s12, the first controller switches the state of the first RSU from an operating mode to an idle mode, and switches the state of the second RSU from the idle mode to the operating mode, where the first RSU and the second RSU are backup of each other, and the second RSU is one or more of the multiple backup RSUs.
Optionally, in this embodiment, the processor may be further configured to execute, by the computer program, the following steps:
s21, a first industrial personal computer determines that a first controller has a fault, wherein the first industrial personal computer is respectively connected with a first controller and a second controller, the first controller and the second controller are mutually backup, the first controller and the second controller are respectively connected with a plurality of main RSUs and a plurality of standby RSUs, and the first controller and the second controller are used for completing switching between the plurality of main RSUs and the plurality of standby RSUs;
and S22, the first industrial personal computer switches the state of the first controller from the working mode to the idle mode, and switches the state of the second controller from the idle mode to the working mode.
Optionally, in this embodiment, the processor may be further configured to execute, by the computer program, the following steps:
s31, a first RSU detects that a second RSU fails, wherein the first RSU is a standby device, and the second RSU is a main device;
s32, the first controller switches the state from the idle mode to the working mode, and switches the state of the second RSU from the working mode to the idle mode.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.

Claims (15)

1. A method of redundant backup, comprising:
a first controller determines that a first routing unit RSU fails, wherein the first controller is respectively connected with a plurality of main RSUs and a plurality of standby RSUs, the main RSUs and the standby RSUs are mutually backed up in a one-to-one manner, and the first RSU is one or more of the RSUs;
the first controller switches the state of the first RSU from a working mode to an idle mode, and switches the state of the second RSU from the idle mode to the working mode, wherein the first RSU and the second RSU are backup for each other, and the second RSU is one or more of the plurality of backup RSUs.
2. The method of claim 1, wherein the first controller determining that the first RSU is malfunctioning comprises:
the first controller receives a first heartbeat message sent by the first RSU, wherein the first heartbeat message is used for indicating that the first RSU fails; or a first heartbeat message sent by the first RSU is not received within a preset time period;
the first controller determines that the first RSU is malfunctioning.
3. The method according to claim 1 or 2, characterized in that the method further comprises:
and under the condition that the first controller is detected to have a fault, the first controller sends a second heartbeat message to the first industrial personal computer, wherein the second heartbeat message is used for indicating the first industrial personal computer to switch the state of the first controller from a working mode to an idle mode and switch the state of the second controller from the idle mode to the working mode, and the first controller and the second controller are mutually backups.
4. The method according to claim 1 or 2, characterized in that the method further comprises:
and under the condition that the first controller is detected to have a fault, the first controller sends a third heartbeat message to a second controller, wherein the third heartbeat message is used for indicating the second controller to switch the state of the first controller from a working state to an idle state and switch the state of the second controller from the idle state to the working state, and the first controller and the second controller are mutually backups.
5. The method of claim 4, further comprising:
after the first controller returns to normal, the first controller receives a fourth heartbeat message sent by the second controller, or does not receive the fourth heartbeat message sent by the second controller within a preset time period, wherein the fourth heartbeat message is used for indicating that the second controller fails;
the first controller switches the state of the first controller from an idle state to a working state, and switches the working state of the second controller from a state to an idle state.
6. A method of redundant backup, comprising:
the method comprises the steps that a first industrial personal computer determines that a first controller fails, wherein the first industrial personal computer is respectively connected with a first controller and a second controller, the first controller and the second controller are mutually backup, the first controller and the second controller are respectively connected with a plurality of main RSUs and a plurality of standby RSUs, and the first controller and the second controller are used for completing switching between the main RSUs and the standby RSUs;
the first industrial personal computer switches the state of the first controller from a working mode to an idle mode, and switches the state of the second controller from the idle mode to the working mode.
7. The method of claim 6, wherein the first industrial computer determining that the first controller is malfunctioning comprises:
the first industrial personal computer receives a second heartbeat message sent by the first controller, wherein the second heartbeat message is used for indicating that the first controller breaks down; or the second heartbeat message sent by the first controller is not received within a preset time period;
and the first industrial personal computer determines that the first controller has a fault.
8. The method according to claim 6 or 7, characterized in that the method further comprises:
the method comprises the steps that under the condition that the first industrial personal computer breaks down, the first industrial personal computer sends a fifth heartbeat message to the second industrial personal computer, wherein the fifth heartbeat message is used for indicating that the second industrial personal computer switches the state of the first industrial personal computer into an idle mode from a working mode, and switches the state of the second industrial personal computer into a working state from the idle mode, and the first industrial personal computer and the second industrial personal computer are mutually backed up.
9. A method of redundant backup, comprising:
a first RSU detects that a second RSU fails, wherein the first RSU is a standby device, and the second RSU is a main device;
the first controller switches the state from the idle mode to the working mode, and switches the state of the second RSU from the working mode to the idle mode.
10. The method of claim 9, wherein the first RSU detecting that the second RSU is malfunctioning comprises:
the first RSU receives a sixth heartbeat message sent by the second RSU, wherein the sixth heartbeat message is used for indicating that the second RSU fails; or the sixth heartbeat message sent by the second RSU is not received within a predetermined time period;
the first RSU determines that the second RSU is malfunctioning.
11. A redundant backup device applied to a first controller is characterized by comprising:
the first determining module is configured to determine that a first path measurement unit RSU has a fault, where the first controller is respectively connected to a plurality of main RSUs and a plurality of standby RSUs, and the main RSUs and the standby RSUs are backed up one to one with each other, where the first RSU is one or more of the RSUs;
the first switching module is configured to switch a state of the first RSU from a working mode to an idle mode, and switch a state of the second RSU from the idle mode to the working mode, where the first RSU and the second RSU are backups of each other, and the second RSU is one or more of the multiple backup RSUs.
12. The utility model provides a redundant backup device, is applied to first industrial computer, its characterized in that includes:
the first industrial personal computer is respectively connected with the first controller and the second controller, the first controller and the second controller are mutually backup, the first controller and the second controller are respectively connected with a plurality of main RSUs and a plurality of standby RSUs, and the first controller and the second controller are used for completing switching between the main RSUs and the standby RSUs;
and the third switching module is used for switching the state of the first controller from the working mode to the idle mode and switching the state of the second controller from the idle mode to the working mode.
13. A redundant backup device applied to a first path measurement unit (RSU) comprises:
the device comprises a detection module, a first RSU and a second RSU, wherein the detection module is used for detecting that the second RSU fails, the first RSU is a standby device, and the second RSU is a main device;
and the fourth switching module is used for switching the state from an idle mode to a working mode and switching the state of the second RSU from the working mode to the idle mode.
14. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to perform the method of any one of claims 1 to 5, 6 to 8, 9 to 10 when the computer program is executed.
15. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and the processor is configured to execute the computer program to perform the method of any one of claims 1 to 5, 6 to 8, 9 to 10.
CN201911371006.9A 2019-12-26 2019-12-26 Redundancy backup method and device Pending CN111107572A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911371006.9A CN111107572A (en) 2019-12-26 2019-12-26 Redundancy backup method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911371006.9A CN111107572A (en) 2019-12-26 2019-12-26 Redundancy backup method and device

Publications (1)

Publication Number Publication Date
CN111107572A true CN111107572A (en) 2020-05-05

Family

ID=70425065

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911371006.9A Pending CN111107572A (en) 2019-12-26 2019-12-26 Redundancy backup method and device

Country Status (1)

Country Link
CN (1) CN111107572A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110213781A (en) * 2019-06-21 2019-09-06 深圳成谷科技有限公司 A kind of free flow RSU system and its control method, ETC charging system
CN111737062A (en) * 2020-06-24 2020-10-02 浙江大华技术股份有限公司 Backup processing method, device and system
CN111951419A (en) * 2020-08-21 2020-11-17 四川长虹电器股份有限公司 ETC device and method for reducing fault influence and alarming problem equipment
CN114024847A (en) * 2021-09-28 2022-02-08 浙江大华技术股份有限公司 Road side unit upgrading method, vehicle wireless communication information broadcasting method and related device
CN114157528A (en) * 2021-11-28 2022-03-08 浙江中控技术股份有限公司 Redundant communication method, system, electronic device, and storage medium
CN115333926A (en) * 2021-04-21 2022-11-11 大唐高鸿智联科技(重庆)有限公司 Road side unit fault processing method, RSU and vehicle networking system
US11671857B2 (en) 2020-12-03 2023-06-06 Mitsubishi Electric Corporation Roadside communication system for monitoring and maintaining sensor data transmission

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104580345A (en) * 2014-09-09 2015-04-29 深圳市金溢科技股份有限公司 Hot backup method and system for multi-lane free flow road side units
US20180295481A1 (en) * 2015-11-12 2018-10-11 Sony Corporation Telecommunications apparatuses and methods
US20190028862A1 (en) * 2015-09-18 2019-01-24 Nec Corporation Rsu apparatus, base station apparatus, control node, and methods therein

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104580345A (en) * 2014-09-09 2015-04-29 深圳市金溢科技股份有限公司 Hot backup method and system for multi-lane free flow road side units
US20190028862A1 (en) * 2015-09-18 2019-01-24 Nec Corporation Rsu apparatus, base station apparatus, control node, and methods therein
US20180295481A1 (en) * 2015-11-12 2018-10-11 Sony Corporation Telecommunications apparatuses and methods

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110213781A (en) * 2019-06-21 2019-09-06 深圳成谷科技有限公司 A kind of free flow RSU system and its control method, ETC charging system
CN111737062A (en) * 2020-06-24 2020-10-02 浙江大华技术股份有限公司 Backup processing method, device and system
CN111951419A (en) * 2020-08-21 2020-11-17 四川长虹电器股份有限公司 ETC device and method for reducing fault influence and alarming problem equipment
US11671857B2 (en) 2020-12-03 2023-06-06 Mitsubishi Electric Corporation Roadside communication system for monitoring and maintaining sensor data transmission
CN115333926A (en) * 2021-04-21 2022-11-11 大唐高鸿智联科技(重庆)有限公司 Road side unit fault processing method, RSU and vehicle networking system
CN115333926B (en) * 2021-04-21 2024-05-03 中信科智联科技有限公司 Fault processing method of road side unit, RSU and Internet of vehicles system
CN114024847A (en) * 2021-09-28 2022-02-08 浙江大华技术股份有限公司 Road side unit upgrading method, vehicle wireless communication information broadcasting method and related device
CN114024847B (en) * 2021-09-28 2024-04-12 浙江大华技术股份有限公司 Road side unit upgrading and vehicle wireless communication information broadcasting method and related device
CN114157528A (en) * 2021-11-28 2022-03-08 浙江中控技术股份有限公司 Redundant communication method, system, electronic device, and storage medium

Similar Documents

Publication Publication Date Title
CN111107572A (en) Redundancy backup method and device
CN102707198B (en) Feeder automation failure positioning method based on failure backcasting
US10868754B2 (en) High availability input/output management nodes
CN103955188A (en) Control system and method supporting redundancy switching function
CN103647781A (en) Mixed redundancy programmable control system based on equipment redundancy and network redundancy
CN107070731B (en) Master-slave arbitration method and system
US11329866B2 (en) Battery management system and communication method thereof
CN103401696A (en) Dual-network redundant communication system in industrial equipment and communication method thereof
CN104579774A (en) Switching method and device for main control equipment
CN104580345A (en) Hot backup method and system for multi-lane free flow road side units
CN107785998B (en) Monitoring method of distribution automation equipment in distribution system
CN112004245A (en) Robot control method, robot control device, storage medium, and electronic device
CN102026042A (en) Keep-alive and self-healing method and device for advanced telecom computing architecture control surface
CN113645048B (en) Network card switching method and device and field programmable gate array FPGA
CN204406385U (en) The management devices of computer system
WO2012126219A1 (en) Roadside identifier station and method for primary/standby roadside unit switching
CN107026780A (en) A kind of distribution optical fiber ring network fault point positioning method and system based on Internet of Things
US5461609A (en) Packet data network switch having internal fault detection and correction
CN101820317A (en) Method and system for realizing protection switching (PS) of protection groups
CN108388228B (en) Synchronous debugging method and device for multi-channel embedded control system
CN115903447A (en) RSU redundancy switching test method and system
CN113438105B (en) Method, device and equipment for assisting multi-IRF (inter-range radio frequency) splitting detection by MAD (multi-object detection)
CN115987999A (en) Master-slave competition method and device for multi-machine system, ARM and storage medium
CN103472446A (en) Channel intelligent switching control management method of secondary surveillance radar test responder
CN114079322A (en) Breaker data management method and smart grid system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20200505

RJ01 Rejection of invention patent application after publication