CN113448300B

CN113448300B - Train door opening and closing debugging method and system and door controller

Info

Publication number: CN113448300B
Application number: CN202010224492.8A
Authority: CN
Inventors: 王建文; 龚烽; 薄云览; 吴洪文
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2020-03-26
Filing date: 2020-03-26
Publication date: 2022-09-09
Anticipated expiration: 2040-03-26
Also published as: CN113448300A

Abstract

The application discloses a debugging method and system for opening and closing a door of a train, a door controller and a storage medium. Wherein the method is applied to a door controller, the method comprising: when a debugging instruction sent by an upper computer is received, the debugging instruction is analyzed to obtain message information of the debugging instruction; judging whether the debugging instruction is complete and safe according to the message information; when the debugging instruction is judged to be complete and safe according to the message information, determining a message instruction in the debugging instruction; and executing a corresponding debugging process according to the message instruction in the debugging instruction. According to the embodiment of the application, the special test equipment does not need to be customized or the door opening and closing button is operated manually frequently, a large amount of research and development and labor input cost can be saved, the working efficiency and the safety are improved, and the application prospect is good.

Description

Train door opening and closing debugging method and system and door controller

Technical Field

The application belongs to the technical field of rail transit, and particularly relates to a train door opening and closing debugging method and system, a door controller and a computer readable storage medium.

Background

In recent years, with the rapid development of the urban rail transit industry, people have increasingly high requirements on the safety of urban rail transit vehicles. When the subway vehicle is statically debugged, the door opening and closing test of the door system needs to be performed frequently for many times. In the type test and the endurance test, the door opening and closing times of the vehicle door system can reach 150 ten thousand. The door opening and closing tests are carried out on the vehicle door for many times, so that the stability of the functions of the vehicle door system is ensured.

In the related art, a special test device is provided, which is connected to a door controller through a wire to send out a simulated door opening and closing control command, so as to control the movement of a vehicle door. However, the scheme needs research, development and development of testing tools, is high in cost and high in safety, requires engineering wiring access, is complex to operate, and is very easy to burn out the door controller when wiring is wrong.

Disclosure of Invention

The present application is directed to solving, at least to some extent, one of the technical problems in the related art.

Therefore, the first purpose of the application is to provide a train door opening and closing debugging method. According to the method, special test equipment does not need to be customized or the door opening and closing buttons are operated manually frequently, so that a large amount of research and development and labor input cost can be saved, and the working efficiency and the safety are improved.

A second object of the present application is to propose a door controller.

A third objective of the present application is to provide a train door opening and closing debugging system.

A fourth object of the present application is to provide another door controller.

A fifth object of the present application is to propose a computer-readable storage medium.

In order to achieve the above object, in an embodiment of the first aspect of the present application, a train door opening and closing debugging method is provided, where the method is applied to a door controller, and the method includes: when a debugging instruction sent by an upper computer is received, analyzing the debugging instruction to obtain message information of the debugging instruction; judging whether the debugging instruction is complete and safe according to the message information; when the debugging instruction is judged to be complete and safe according to the message information, determining a message instruction in the debugging instruction; and executing a corresponding debugging process according to the message instruction in the debugging instruction.

The door controller that this application second aspect embodiment provided includes: the debugging instruction receiving module is used for receiving a debugging instruction sent by the upper computer; the instruction analysis module is used for analyzing the received debugging instruction to obtain message information of the debugging instruction; the judging module is used for judging whether the debugging instruction is complete and safe according to the message information; the message instruction determining module is used for determining a message instruction in the debugging instruction when the message information is used for judging that the debugging instruction is complete and safe; and the execution module is used for executing a corresponding debugging process according to the message instruction in the debugging instruction.

The train switch door debugging system that third aspect embodiment provided of this application provided includes: the train door opening and closing debugging device comprises an upper computer and a door controller, wherein the upper computer is used for receiving confirmation operation aiming at train door opening and closing debugging test, generating a debugging instruction according to the received confirmation operation and sending the debugging instruction to the door controller; the door controller is used for receiving the debugging instruction sent by the upper computer, analyzing the debugging instruction to obtain message information of the debugging instruction, determining a message instruction in the debugging instruction when the debugging instruction is judged to be complete and safe according to the message information, and executing a corresponding debugging process according to the message instruction in the debugging instruction.

The door controller that this application fourth aspect embodiment provided includes: the debugging method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the debugging method for opening and closing the door of the train is realized.

The computer-readable storage medium provided in the fifth embodiment of the present application stores thereon a computer program, and the computer program, when executed by a processor, implements the train door opening and closing debugging method provided in the first embodiment of the present application.

According to the technical scheme of the embodiment of the application, the method and the device can be applied to a door controller, when the debugging instruction sent by an upper computer is received, the debugging instruction is analyzed to obtain the message information of the debugging instruction, whether the debugging instruction is complete and safe is judged according to the message information, when the debugging instruction is complete and safe is judged according to the message information, the message instruction in the debugging instruction is determined, and the corresponding debugging process is executed according to the message instruction in the debugging instruction. The door controller is an execution unit and has the functions of debugging, opening and closing a door and testing durability, so that a corresponding debugging process can be executed according to a debugging instruction command directly sent by an upper computer, namely, the door opening and closing debugging function can be realized through the upper computer, and when a vehicle is statically debugged or tested in a type mode, construction wiring is reduced, the door controller is convenient to operate, simple and practical, and a large amount of labor and time are saved. In addition, the door opening and closing debugging function can be realized only by sending a debugging instruction to the door controller through the upper computer, special test equipment and a test tool do not need to be additionally customized, the purpose of debugging the door opening and closing and the endurance test can be realized through the software and hardware of the door controller in the scheme adopted by the application, the research and development investment is basically avoided, the investment of all aspects of debugging cost is greatly reduced, and the application prospect is good.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a flow chart of a train door opening and closing debugging method according to one embodiment of the present application;

fig. 2 is an exemplary diagram of a control interface provided by a host computer for on-off door debugging and endurance testing according to an embodiment of the present application;

FIG. 3 is a flowchart of a train door opening and closing debugging method according to an embodiment of the application;

FIG. 4 is a flow chart of a train door opening and closing debugging method according to another embodiment of the present application;

FIG. 5 is a flow chart of a train door opening and closing debugging method according to yet another embodiment of the present application;

FIG. 6 is a schematic view of a door operator according to one embodiment of the present application;

FIG. 7 is a schematic view of a door check device according to one embodiment of the present application;

FIG. 8 is a schematic view of a door check device according to another embodiment of the present application;

FIG. 9 is a schematic structural diagram of a train door opening and closing debugging system according to an embodiment of the present application;

FIG. 10 is a schematic view of a door operator according to another embodiment of the present application.

Detailed Description

Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

Train door opening and closing debugging methods, systems, door controllers and computer-readable storage media according to embodiments of the present application are described below with reference to the accompanying drawings.

Fig. 1 is a flowchart of a train door opening and closing debugging method according to an embodiment of the present application. It should be noted that the train door opening and closing debugging method in the embodiment of the present application can be applied to a door controller. That is to say, the main executing body of the train door opening and closing debugging method in the embodiment of the present application is the door controller.

As shown in fig. 1, the train door opening and closing debugging method may include:

step 101, when a debugging instruction sent by an upper computer is received, the debugging instruction is analyzed to obtain message information of the debugging instruction.

It should be noted that, in an embodiment of the present application, the door Controller has a USB (Universal Serial Bus) interface, an RS232 (asynchronous transfer standard interface) interface, or a CAN (Controller Area Network) Bus interface, and the door Controller CAN communicate with the upper computer through the USB interface, the RS232 interface, or the CAN Bus interface. As an example, the upper computer may be a PC, which belongs to an external device with respect to the train, in this embodiment, the upper computer may communicate through a USB interface or an RS232 interface in the door controller, that is, the door controller may be connected to the upper computer through a USB or RS232 cable. As another example, the upper computer may be an upper computer located in a train control center (such as a train control and management system), and in this embodiment, the door controller may communicate with the upper computer located in the train control center (such as a train control and management system) through a (redundant) CAN network.

For example, as shown in fig. 2, an application program that can be used for remotely controlling train door opening and closing debugging and endurance testing is deployed on the upper computer, wherein the application program may be provided with a control interface for door opening and closing debugging and endurance testing, and a user may perform configuration of a communication interface and configuration of door opening and closing debugging and endurance testing on the control interface. When the upper computer receives a confirmation operation for the train door opening and closing debugging test, the upper computer can generate a debugging instruction according to the received confirmation operation and send the debugging instruction to the door controller, so that the door controller obtains the debugging instruction sent by the upper computer. For example, when it is determined that a user clicks the "connect" control 11 shown in fig. 2, the upper computer may establish a communication connection with the door controller through the USB interface, the RS232 interface, or the CAN bus interface, in this example, it is assumed that, taking the case that the user clicks the "open door" control 12 shown in fig. 2as an example, when the upper computer receives a click operation on the "open door" control 12, a debugging instruction for the open door test may be generated according to the click operation on the "open door" control 12, and the debugging instruction is sent to the door controller, so that the door controller obtains the debugging instruction for the open door test sent by the upper computer.

In this step, after the debug instruction sent by the upper computer is obtained, the debug instruction can be analyzed to obtain the message information of the debug instruction. It should be noted that, in an embodiment of the present application, the format of the debug instruction may be as follows: message header + message command + CRC check code + message end symbol. As an example, the header may be a character "("; the end of the message may be "\ n". wherein, the message instruction may be a door open instruction, which is represented by a character "1" in the debug instruction, the message instruction may be a door close instruction, which is represented by a character "2" in the debug instruction, and the message instruction may also be a durable start instruction and a durable end instruction, which may be represented by time, respectively.a CRC check code may be a CRC 64 check code, which is a check code obtained by calculating the header and the message instruction using two CRCs 32, as an example, two CRCs 32 may be 1) a default initial value and an exclusive or value of 0xfffffff, and a polynomial of 0x82F63B 78; 2) the default initial and exclusive OR values are 0xFFFFFFFF, and the polynomial is 0x04C11DB 7.

That is to say, when the upper computer receives the confirmation operation for the train door opening and closing debugging test and generates the debugging instruction according to the received confirmation operation, the upper computer can calculate the message header and the message instruction in the debugging instruction based on the two CRCs 32 to obtain the corresponding CRC check code, generate the debugging instruction according to the format of the debugging instruction, and send the generated debugging instruction to the door controller. When the door controller receives the debugging instruction sent by the upper computer, the door controller can analyze the debugging instruction according to the format rule of the debugging instruction which is agreed in advance so as to obtain the message information of the debugging instruction. It can be understood that if the debug instruction is complete and correct, the message information of the debug instruction should include, but is not limited to, a message header, a message end, a message length, and a CRC check code.

And 102, judging whether the debugging instruction is complete and safe according to the message information.

Optionally, whether the debugging instruction is complete and safe is judged according to the message information of the debugging instruction. For example, whether the specific content included in the message information satisfies a certain condition may be determined to determine whether the debugging instruction is complete and safe. For example, if the specific content included in the message information is judged to satisfy the judgment condition, it is determined that the debug instruction is complete and safe, otherwise, it is judged that the debug instruction is incomplete and/or unsafe. For one implementation, reference may be made to the description of the subsequent embodiments.

And 103, determining the message instruction in the debugging instruction when the debugging instruction is judged to be complete and safe according to the message information.

Optionally, when the message information is used to determine that the debug instruction is complete and safe, the message instruction may be parsed from the debug instruction. Wherein, the message instruction can be a door opening instruction or a door closing instruction; or, the message instruction may also be an endurance start instruction and an endurance end instruction; or, the message instruction may also be an interval duration of the endurance starting instruction, the endurance ending instruction and the door opening and closing time.

As an example, the message instruction may be included in the message information, that is, the debug instruction sent by the upper computer is parsed to obtain the message information of the debug instruction, where the message information includes not only a message header, a message end indicator, a message length, and a CRC check code, but also includes a message instruction, and the message instruction may be understood as a command for controlling the door controller to perform a corresponding operation. In this example, when the message information is used to determine that the debug instruction is complete and safe, the message instruction may be obtained from the message information, so as to obtain the message instruction in the debug instruction.

As another example, the message instruction is a message instruction for controlling the door controller to execute a corresponding operation, which is analyzed from the debug instruction after the message information is used to determine that the debug instruction is complete and safe.

And 104, executing a corresponding debugging process according to the message instruction in the debugging instruction.

Optionally, the current door state of the train door is determined, and a corresponding debugging process is executed according to the message instruction and the current door state in the debugging instruction. As an example of a possible implementation manner, when a message instruction in the debugging instruction is a door opening instruction, determining a current door state of the train door; when the current door state of the train door is determined to be in a complete locking state, a debugging door opening process is executed according to the door opening instruction; when the message instruction in the debugging instruction is a door closing instruction, determining the current door state of the train door; and when the current door state of the train door is determined to be in a fully opened state, debugging the door closing process according to the door closing instruction.

In an embodiment of the application, when a message instruction in the debug instruction is a door opening instruction and it is determined that the current door state of the train door is not in the fully locked state, or when the message instruction in the debug instruction is a door closing instruction and it is determined that the current door state of the train door is not in the fully opened state, it is determined that the debug instruction is invalid, and the current door state of the train door is maintained.

That is, when the message instruction in the debug instruction is obtained, it can be determined whether the message instruction is a door opening instruction or a door closing instruction. If the message instruction is judged to be a door opening instruction, the current door state needs to be judged, and if the current door state is a complete locking state, a door opening debugging process is executed according to the door opening instruction, for example, a door mode is switched to be a door opening alarm, and the door opening debugging process is executed. And if the current door state is other state and is not in a complete locking state, judging that the debugging instruction is invalid, not executing the debugging door opening process, and keeping the current door state of the train door. If the message instruction is judged to be a door closing instruction, the current door state needs to be judged, and if the current door state is a fully opened state, a door closing process is executed according to the door closing instruction, for example, a door mode is switched to be a door closing alarm, and a door closing debugging process is executed. And if the current door state is other states and is not in a fully opened state, judging that the debugging instruction is invalid, not executing a debugging door closing process, and keeping the current door state of the train door.

It should be noted that the train door in the embodiment of the present application may be a train door on a train, or may be a screen door on a train platform, and the present application mainly achieves the purpose of debugging the opening and closing of the train door and testing the durability, where the train door is a train door or a screen door, and the present application is not particularly limited to this.

In an embodiment of the present application, the door controller has an endurance test function, and the message instruction in the debug instruction includes an endurance start instruction, an endurance end instruction, and an interval duration of the door opening and closing time. In the embodiment of the present application, the specific implementation process of executing the corresponding debugging process according to the message instruction in the debugging instruction may be as follows: generating a plurality of door opening and closing endurance test instructions according to the endurance starting instruction, the endurance ending instruction and the interval duration of the door opening and closing time; each door opening and closing endurance test instruction comprises a door opening instruction, a door closing instruction, the execution time of the door opening instruction and the execution time of the door closing instruction; and performing a continuous door opening and closing endurance test function according to the door opening instruction, the door closing instruction and the respective execution time in each door opening and closing endurance test instruction.

That is to say, this application except can realize debugging the test of switch door after, can also realize the durable test of door. That is, the message instruction in the debug instruction may include an endurance start instruction, an endurance end instruction, and an interval duration of the door opening and closing time, so that when the door controller obtains the message instruction of the debug instruction, a plurality of door opening and closing endurance test instructions may be generated according to the endurance start instruction, the endurance end instruction, and the interval duration of the door opening and closing time in the message instruction, where each door opening and closing endurance test instruction includes a door opening instruction, a door closing instruction, an execution time of the door opening instruction, and an execution time of the door closing instruction, and then, a continuous door opening and closing endurance test function may be performed according to the door opening instruction, the door closing instruction, and their respective execution times in each door opening and closing endurance test instruction.

It should be noted that the duration of the opening and closing time interval may be a user-defined configuration through the software interface shown in fig. 2. As another example, the interval duration of the door opening and closing time may be a default fixed value, for example, the interval duration of the door opening and closing time may be a software default value.

Optionally, in an embodiment of the present application, when completing a door opening and closing endurance test for one time, counting the number of times of the durable door opening and closing that has been completed currently, and storing the number of times of the durable door opening and closing that has been completed currently to a storage module in the door controller. That is, when continuous door opening and closing endurance tests are performed, the number of times of opening and closing endurance tests is automatically counted every time the door opening and closing endurance tests are completed, and the counted number is stored in the storage module in the door controller. As an example, the Memory module may be an EEPROM (Electrically Erasable Programmable Read Only Memory) Memory.

The train door opening and closing debugging method can be applied to a door controller, the debugging instruction is analyzed when the debugging instruction sent by an upper computer is received, message information of the debugging instruction is obtained, whether the debugging instruction is complete and safe is judged according to the message information, when the debugging instruction is complete and safe is judged according to the message information, the message instruction in the debugging instruction is determined, and a corresponding debugging process is executed according to the message instruction in the debugging instruction. The door controller is an execution unit and has the functions of debugging, opening and closing a door and testing durability, so that the door controller can execute a corresponding debugging process according to a debugging instruction command directly sent by an upper computer, namely, the door opening and closing debugging function can be realized through the upper computer tool, and when a vehicle is statically debugged or tested in a type mode, construction wiring is reduced, the door controller is convenient to operate, simple and practical, and a large amount of labor and time are saved. In addition, this application only needs to send the debugging instruction to the door controller through the host computer and can realize the debugging function of opening and shutting, does not need special test equipment of extra customization and testing tool, and the purpose of debugging switch door and endurance test can be realized through door controller software and hardware to the scheme that this application adopted, does not basically have research and development input, greatly reduced the each aspect input of debugging cost, has fine application prospect.

It should be noted that, whether the debugging instruction is complete and safe can be determined by judging whether the specific content included in the message information satisfies a certain condition. Specifically, in an embodiment of the present application, as shown in fig. 3, the specific implementation process of determining whether the debug instruction is complete and safe according to the message information may include the following steps:

step 301, determine whether the message information includes a message end symbol.

It can be understood that the purpose of determining whether the message information includes the message end character is to determine whether the debug instruction is a complete instruction, for example, if the message information of the debug instruction includes the character "\ n", it may be determined that the debug instruction is a complete instruction.

Step 302, if the message information includes a message end sign, further determining whether a message length included in the message information satisfies a preset length.

Optionally, when the length of the message included in the message information is judged not to meet the preset length, the debugging instruction can be considered to be invalid; if the message length included in the message information is determined to satisfy the preset length, step 303 may be continuously performed.

Step 303, if the message length included in the message information satisfies a preset length, determining that the debugging instruction is complete.

That is, if it is determined that the message information of the debug instruction includes a message end indicator and the length of the message included in the message satisfies a predetermined condition, it is determined that the debug instruction is complete and has integrity.

Step 304, determining whether the header included in the message information satisfies a predetermined header format.

For example, it may be determined whether a header included in the message information is a character "(", if yes, it may be determined that the header included in the message satisfies a preset header format, otherwise, it may be determined that the header included in the message does not satisfy the preset header format.

Step 305, if the header included in the message information satisfies the preset header format, determining whether the received debugging instruction is correct according to the CRC check code included in the message information.

Optionally, when it is determined that the header included in the message information satisfies a preset header format, it may be determined whether a CRC check code included in the message information is consistent with a CRC check code stored in advance, and if so, it may be determined that the received debug instruction is correct, otherwise, it may be determined that the received debug instruction is incorrect. For example, the door controller may calculate the header of the message and the message instruction (the door opening instruction or the door closing instruction; or the interval duration of the durable start instruction, the durable end instruction and the door opening and closing time) in advance by using the two CRCs 32 to obtain a CRC check code corresponding to the debug instruction including the door opening instruction, a CRC check corresponding to the debug instruction including the door closing instruction, and a CRC check code corresponding to the debug instruction including the interval duration of the durable start instruction, the durable end instruction and the door opening and closing time, and store the obtained CRC check codes, so that the door controller checks the correctness of the received debug instruction based on the prestored CRC check codes.

As another example, the door controller may store a message header, a message command including a door opening command, a message command including a door closing command, and a message command including an interval duration of the endurance start command + the endurance end command + the door opening and closing time in advance. Thus, when the gate controller determines that the message header included in the message information meets the preset message header format, the gate controller may determine the message instruction in the message information, find out the corresponding message instruction from the prestored instructions according to the determined message instruction, calculate the message header and the found message instruction based on the two CRCs 32 to obtain the corresponding CRC check code, determine whether the calculated CRC check code is consistent with the CRC check code included in the message information, if so, determine that the received debug instruction is correct, otherwise, determine that the received debug instruction is incorrect.

Step 306, if the received debugging instruction is determined to be correct according to the CRC check code contained in the message information, the debugging instruction is determined to be safe.

That is, when the received debug instruction is determined to be correct according to the CRC check code included in the message information, it is determined that the received debug instruction is safe, that is, the debug instruction is valid.

Therefore, the integrity and the safety of the received debugging instruction can be judged through the steps 301 to 306, the safety of the communication between the upper computer and the door controller is ensured, namely, the requirements of functional safety qualitative analysis and quantitative calculation are met through the addition of the check of CRC and the message length, and the safety target can be reached, so that a safety communication protocol is used between the upper computer and the door controller, and the safety is ensured.

In order to further ensure the safety and avoid the occurrence of unexpected risks, optionally, in an embodiment of the present application, as shown in fig. 4, the train door opening and closing debugging method may include:

step 401, when a debugging instruction sent by an upper computer is received, analyzing the debugging instruction to obtain message information of the debugging instruction.

And 402, judging whether the debugging instruction is complete and safe according to the message information.

It should be noted that, the implementation manners of the step 401 to the step 402 may refer to the implementation manners of the step 101 to the step 102, and are not described herein again.

And 403, when the debugging instruction is judged to be complete and safe according to the message information, acquiring an isolation signal, an emergency unlocking signal, a zero-speed signal, a door opening signal and a door closing signal of the current train.

Step 404, determining whether the isolation signal, the emergency unlocking signal, the zero speed signal, the door opening signal and the door closing signal of the current train are valid.

Step 405, when the zero-speed signal of the current train is valid and the isolation signal, the emergency unlocking signal, the door opening signal and the door closing signal of the current train are invalid, determining a message instruction in the debugging instruction.

That is to say, when the zero speed signal of the current train is judged to be valid, and the isolation signal, the emergency unlocking signal, the door opening signal and the door closing signal of the current train are all invalid, the received debugging instruction can be considered to be valid, and the message instruction in the debugging instruction can be determined at this moment.

It should be noted that, in an embodiment of the present application, when the zero speed signal of the current train is invalid, or any one of the isolation signal, the emergency unlocking signal, the door opening signal, and the door closing signal of the current train is valid, it is determined that the debugging instruction is invalid, and the current operation is continuously executed, where the debugging instruction is not executed.

And step 406, executing a corresponding debugging process according to the message instruction in the debugging instruction.

Optionally, the implementation manner of the step 406 may refer to the implementation manner of the step 104, and is not described herein again.

According to the train door opening and closing debugging method, after a modulated door opening and closing or endurance testing instruction sent by an upper computer is received and analyzed correctly, whether an isolation signal, an emergency unlocking signal, a zero-speed signal, a door opening signal and a door closing signal of a current train are effective or not needs to be judged, and the door opening and closing debugging and the endurance testing can be responded only when the isolation signal, the emergency unlocking signal, the door opening signal and the door closing signal of the current train are invalid and the zero-speed signal of the current train is effective, so that the safety of the door opening and closing debugging and the endurance testing is further guaranteed, and accidental risks are avoided.

In order to further ensure the safety of the door opening and closing debugging and the endurance test and avoid the occurrence of unexpected risks, optionally, in an embodiment of the present application, as shown in fig. 5, the train door opening and closing debugging method may include:

step 501, when a debugging instruction sent by an upper computer is received, the debugging instruction is analyzed to obtain message information of the debugging instruction.

Step 502, judging whether the debugging instruction is complete and safe according to the message information.

It should be noted that, the implementation manners of the step 501 to the step 502 may refer to the implementation manners of the step 101 to the step 102, and are not described herein again.

Step 503, when the message information is used to judge that the debugging instruction is complete and safe, the message instruction determined from the debugging instruction is sent to the upper computer to judge whether the debugging instruction is effective.

Optionally, when the message information is used for judging that the debugging instruction is complete and safe, the message instruction determined from the debugging instruction can be sent to the upper computer. The upper computer can provide the received message instruction for a user in an interface display mode, the user judges whether the message instruction sent by the door controller is correct or not in a manual confirmation mode, if so, the user can click a confirmation button provided by the upper computer to determine that the message instruction sent by the door controller is correct, and the user can consider that the debugging instruction is valid. Therefore, the door controller sends the message instruction determined from the debugging instruction to the upper computer, on one hand, the door controller performs manual reconfirmation to judge whether the debugging instruction received by the door controller is effective, and on the other hand, the door controller performs manual authorization operation to authorize the door controller to execute the instruction message.

It should be noted that, in the embodiment of the present application, if a valid confirmation operation for the debug instruction sent by the upper computer is not received within a preset time, it may be determined that the received debug instruction is invalid, and the debug instruction is not executed.

And step 504, when effective confirmation operation aiming at the debugging instruction sent by the upper computer is received, acquiring an isolation signal, an emergency unlocking signal, a zero-speed signal, a door opening signal and a door closing signal of the current train.

And 505, judging whether the isolation signal, the emergency unlocking signal, the zero speed signal, the door opening signal and the door closing signal of the current train are effective or not.

Step 506, when the zero speed signal of the current train is valid and the isolation signal, the emergency unlocking signal, the door opening signal and the door closing signal of the current train are all invalid, determining a message instruction in the debugging instruction.

That is to say, when the zero speed signal of the current train is judged to be valid, and the isolation signal, the emergency unlocking signal, the door opening signal and the door closing signal of the current train are all invalid, the received debugging instruction can be considered to be valid, and at this moment, the message instruction in the debugging instruction can be determined.

And 507, executing a corresponding debugging process according to the message instruction in the debugging instruction.

Optionally, the implementation manner of step 507 may refer to the implementation manner of step 104, which is not described herein again.

Optionally, in an embodiment of the present application, in the process of executing corresponding debugging, it is periodically determined whether an isolation signal, an emergency unlocking signal, a stall signal, a door opening signal, and a door closing signal of the train are valid, and if it is determined that the stall signal is invalid or any one of the isolation signal, the emergency unlocking signal, the door opening signal, and the door closing signal is valid, the debugging device exits from the debugging state and enters a normal operating state. That is, in the process of debugging, opening and closing the door and performing durable debugging, whether the isolation signal, the emergency unlocking signal, the zero speed signal, the door opening signal and the door closing signal of the train are effective or not can be periodically judged, and if the zero speed signal of the train is effective and the emergency unlocking signal, the zero speed signal, the door opening signal and the door closing signal of the train are ineffective, the corresponding debugging process is continuously performed; if the zero-speed signal of the train is invalid or any other signal is valid, the train exits from the debugging switch door and the durable debugging state and enters into a normal working state, and therefore the safety of debugging the switch door and the durable test is greatly improved.

It should be noted that, in an embodiment of the present application, during the process of debugging, opening and closing the door and performing durable debugging, the door controller may perform periodic self-checking, and may continue to operate after checking that the door controller is normal. In embodiments of the present application, the processor in the door controller may employ diagnostic techniques recommended by the safety instruction manual to improve the technical diagnostic coverage, including but not limited to: an internal watchdog, a Central Processing Unit (CPU), a step comparator, an Error Correction Code (ECC), and the like, and may periodically check a temperature sensor, a door interlock safety circuit relay, a bus voltage control, and a control of a motor three-phase inverter bridge driver. The processor in the door controller is periodically self-checked to ensure the normal operation of programs and functions, and after the self-check makes mistakes, the door controller stops running when going down, leads to the safe side, and stops door opening and closing debugging and endurance testing.

The door controller provided in the embodiments of the present application corresponds to the train door opening and closing debugging methods provided in the embodiments described above, so the implementation of the train door opening and closing debugging method described above is also applicable to the door controller provided in this embodiment, and detailed description is not given in this embodiment. FIG. 6 is a schematic view of a door controller according to one embodiment of the present application. As shown in fig. 6, the door controller 600 may include: a debugging instruction receiving module 610, an instruction parsing module 620, a judging module 630, a message instruction determining module 640 and an executing module 650.

Specifically, the debugging instruction receiving module 610 is configured to receive a debugging instruction sent by an upper computer.

The instruction parsing module 620 is configured to parse the received debugging instruction to obtain message information of the debugging instruction.

The judging module 630 is configured to judge whether the debug instruction is complete and safe according to the message information. As an example, the specific implementation process of the determining module 630 determining whether the debug instruction is complete and safe according to the message information may be as follows: judging whether the message information contains a message end symbol, judging whether the message length contained in the message information meets a preset length, and if the message information contains the message end symbol and the message length contained in the message information meets the preset length, judging that the debugging instruction is complete; judging whether a message header contained in the message information meets a preset message header format or not; judging whether the received debugging instruction is correct or not according to a CRC (cyclic redundancy check) code contained in the message information; and if the message header contained in the message information meets the preset message header format and the received debugging instruction is judged to be correct according to the CRC code contained in the message information, judging that the debugging instruction is safe.

The message instruction determining module 640 is configured to determine a message instruction in the debug instruction when it is determined that the debug instruction is complete and safe according to the message information.

The execution module 650 is configured to execute a corresponding debugging process according to the message instruction in the debugging instruction. As an example, the specific implementation process of the execution module 650 executing the corresponding debugging process according to the message instruction in the debugging instruction may be as follows: when the message instruction in the debugging instruction is a door opening instruction, determining the current door state of the train door; when the current door state of the train door is determined to be in a complete locking state, executing a debugging door opening process according to the door opening instruction; when the message instruction in the debugging instruction is a door closing instruction, determining the current door state of the train door; and when the current door state of the train door is determined to be in a fully opened state, debugging the door closing process according to the door closing instruction.

In an embodiment of the application, the execution module 650 is further configured to determine that the debugging instruction is invalid and maintain the current door state of the train door when a message instruction in the debugging instruction is a door opening instruction and it is determined that the current door state of the train door is not in the fully locked state, or when the message instruction in the debugging instruction is a door closing instruction and it is determined that the current door state of the train door is not in the fully opened state.

In an embodiment of the present application, the executing module 650 is further configured to count the number of times of durable door opening and closing that has been currently completed when completing one door opening and closing endurance test, and store the number of times of durable door opening and closing that has been currently completed in the storing module in the door controller.

In one embodiment of the present application, as shown in fig. 7, the door controller 600 may further include: a signal acquisition module 660 and a signal validity determination module 670. The signal obtaining module 660 is configured to obtain an isolation signal, an emergency unlocking signal, a zero-speed signal, a door opening signal, and a door closing signal of the current train after judging that the debugging instruction is complete and safe according to the message information; the signal validity judging module 670 is configured to judge whether the isolation signal, the emergency unlocking signal, the zero speed signal, the door opening signal, and the door closing signal of the current train are valid. The message instruction determining module 640 is further configured to determine a message instruction in the debugging instruction when the zero-speed signal of the current train is valid and the isolation signal, the emergency unlocking signal, the door opening signal, and the door closing signal of the current train are all invalid.

In an embodiment of the application, the executing module 650 is further configured to determine that the debugging command is invalid and continue to execute the current operation when the zero-speed signal of the current train is invalid or any one of the isolation signal, the emergency unlocking signal, the door opening signal, and the door closing signal of the current train is valid.

In one embodiment of the present application, as shown in fig. 8, the door controller 600 may further include: instruction issue module 680. The instruction sending module 680 is configured to send the message instruction determined from the debug instruction to the upper computer to determine whether the debug instruction is valid or not, after determining that the debug instruction is complete and safe according to the message information; in an embodiment of the present application, the signal obtaining module 660 is further configured to obtain an isolation signal, an emergency unlocking signal, a zero speed signal, a door opening signal, and a door closing signal of the current train when receiving an effective confirmation operation for the debugging instruction sent by the upper computer.

In an embodiment of the present application, in the process of executing the corresponding debugging, the signal validity determining module 670 is further configured to periodically determine whether the isolation signal, the emergency unlocking signal, the zero speed signal, the door opening signal, and the door closing signal of the train are valid; in an embodiment of the application, the execution module 650 is further configured to exit the debugging state and enter a normal operating state when it is determined that the stall signal is invalid or any one of the isolation signal, the emergency unlocking signal, the door opening signal, and the door closing signal is valid.

According to the door controller provided by the embodiment of the application, when the debugging instruction sent by the upper computer is received, the debugging instruction is analyzed to obtain the message information of the debugging instruction, whether the debugging instruction is complete and safe is judged according to the message information, when the debugging instruction is complete and safe is judged according to the message information, the message instruction in the debugging instruction is determined, and the corresponding debugging process is executed according to the message instruction in the debugging instruction. The door controller is an execution unit and has the functions of debugging, opening and closing a door and testing durability, so that the door controller can execute a corresponding debugging process according to a debugging instruction command directly sent by an upper computer, namely, the door opening and closing debugging function can be realized through the upper computer tool, and when a vehicle is statically debugged or tested in a type mode, construction wiring is reduced, the door controller is convenient to operate, simple and practical, and a large amount of labor and time are saved. In addition, the door opening and closing debugging function can be realized only by sending a debugging instruction to the door controller through the upper computer, special test equipment and a test tool do not need to be additionally customized, the purpose of debugging the door opening and closing and the endurance test can be realized through the software and hardware of the door controller in the scheme adopted by the application, the research and development investment is basically avoided, the investment of all aspects of debugging cost is greatly reduced, and the application prospect is good.

Fig. 9 is a schematic structural diagram of a train door opening and closing debugging system according to an embodiment of the present application. As shown in fig. 9, the train door opening and closing debugging system 900 may include: host computer 910 and door controller 920. In an embodiment of the present application, the door controller 920 has a USB interface, an RS232 interface, or a CAN bus interface, and the door controller 920 may communicate with the upper computer 910 through the USB interface, the RS232 interface, or the CAN bus interface.

It should be noted that, in an embodiment of the present application, the upper computer 910 may be a PC, and the PC belongs to an external device with respect to the train, and in this embodiment, the upper computer 910 may communicate through a USB interface or an RS232 interface in the door controller 920, that is, the door controller 920 may be connected to the upper computer 910 through a USB or RS232 cable. In another embodiment of the present invention, the upper computer 910 may be an upper computer located in a train control center (e.g., a train control and management system), and in this embodiment, the door controller 920 may communicate with the upper computer 910 located in the train control center (e.g., a train control and management system) through a (redundant) CAN network. Therefore, the door CAN be opened and closed remotely through the CAN network, the durability test CAN be simultaneously or independently performed on the door of the whole vehicle, and the static debugging efficiency of the whole vehicle is greatly improved.

In an embodiment of the present application, the upper computer 910 may be configured to receive a confirmation operation for a train door opening and closing debugging test, generate a debugging command according to the received confirmation operation, and send the debugging command to the door controller 920.

The door controller 920 may be configured to receive the debugging instruction sent by the upper computer 910, analyze the debugging instruction to obtain message information of the debugging instruction, determine a message instruction in the debugging instruction when it is determined that the debugging instruction is complete and safe according to the message information, and execute a corresponding debugging process according to the message instruction in the debugging instruction.

In an embodiment of the present application, the specific implementation process of the door controller 920 determining, according to the message information, that the debugging instruction is complete and safe may be as follows: judging whether the message information contains a message end symbol or not; judging whether the message length contained in the message information meets a preset length or not; if the message information contains the message end symbol and the message length contained in the message information meets the preset length, judging that the debugging instruction is complete; judging whether a message header contained in the message information meets a preset message header format or not; judging whether the received debugging instruction is correct or not according to a CRC (cyclic redundancy check) code contained in the message information; and if the message header contained in the message information meets the preset message header format and the received debugging instruction is judged to be correct according to the CRC code contained in the message information, judging that the debugging instruction is safe.

In an embodiment of the present application, the door controller 920 is further configured to, after determining that the debugging command is complete and safe according to the message information, obtain an isolation signal, an emergency unlocking signal, a zero speed signal, a door opening signal, and a door closing signal of the current train, and determine whether the isolation signal, the emergency unlocking signal, the zero speed signal, the door opening signal, and the door closing signal of the current train are valid, and when the zero speed signal of the current train is valid and the isolation signal, the emergency unlocking signal, the door opening signal, and the door closing signal of the current train are all invalid, execute the step of determining the message command in the debugging command.

In an embodiment of the application, the door controller 920 is further configured to determine that the debugging command is invalid and continue to execute the current operation when the zero-speed signal of the current train is invalid or any one of the isolation signal, the emergency unlocking signal, the door opening signal, and the door closing signal of the current train is valid.

In an embodiment of the application, the door controller 920 is further configured to send the message instruction determined from the debugging instruction to the upper computer to determine whether the debugging instruction is valid after determining that the debugging instruction is complete and safe according to the message information, and execute the steps of obtaining the isolation signal, the emergency unlocking signal, the zero speed signal, the door opening signal, and the door closing signal of the current train when receiving a valid confirmation operation for the debugging instruction sent by the upper computer.

In an embodiment of the present application, the specific implementation process of the gate controller 920 executing the corresponding debugging process according to the message instruction in the debugging instruction may be as follows: when the message instruction in the debugging instruction is a door opening instruction, determining the current door state of the train door; when the current door state of the train door is determined to be in a complete locking state, executing a debugging door opening process according to the door opening instruction; when the message instruction in the debugging instruction is a door closing instruction, determining the current door state of the train door; and when the current door state of the train door is determined to be in a fully opened state, debugging the door closing process according to the door closing instruction.

In an embodiment of the application, the door controller 920 is further configured to determine that the debugging command is invalid and maintain the current door state of the train door when a message command in the debugging command is a door opening command and it is determined that the current door state of the train door is not in the fully locked state, or when the message command in the debugging command is a door closing command and it is determined that the current door state of the train door is not in the fully opened state.

In an embodiment of the present application, the gate controller 920 has an endurance test function, where the message instruction in the debug instruction includes an endurance start instruction, an endurance end instruction, and an interval duration of the gate opening and closing time; in an embodiment of the present application, a specific implementation process of the gate controller 920 executing a corresponding debugging process according to the message instruction in the debugging instruction may be as follows: generating a plurality of door opening and closing endurance test instructions according to the endurance starting instruction, the endurance ending instruction and the interval duration of the door opening and closing time; each door opening and closing endurance test instruction comprises a door opening instruction, a door closing instruction, the execution time of the door opening instruction and the execution time of the door closing instruction; and performing a continuous door opening and closing endurance test function according to the door opening instruction, the door closing instruction and the respective execution time in each door opening and closing endurance test instruction.

In an embodiment of the present application, the door controller 920 is further configured to count the currently completed durable door opening and closing times when completing one door opening and closing endurance test, and store the currently completed durable door opening and closing times into the storage module in the door controller.

In an embodiment of the present application, the door controller 920 is further configured to periodically determine whether the isolation signal, the emergency unlocking signal, the zero speed signal, the door opening signal, and the door closing signal of the train are valid during the corresponding debugging process, and exit the debugging state and enter the normal operating state when the zero speed signal is determined to be invalid or any one of the isolation signal, the emergency unlocking signal, the door opening signal, and the door closing signal is determined to be valid.

It should be noted that, in one embodiment of the present application, the processor in the door controller 920 is a secure micro control unit. For example, the safety type micro control unit can obtain ISO 26262ASIL D and IEC 61508SIL 3 certification, and is a high-performance vehicle-scale series microcontroller for a safety system. The door controller 920 performs periodic self-checking during the process of door opening and closing debugging and endurance testing, and can continue to operate after checking the door controller is normal. The processor in the door controller may employ diagnostic techniques recommended by the safety instruction manual to improve the technical diagnostic coverage, including but not limited to: internal watchdog (e.g., DWD, DWWD), CPU lock-step comparator, ECC, etc., and periodically checks the temperature sensors, door interlock safety loop relays, bus voltage control, and control of the motor three-phase inverter bridge driver. The processor in the door controller is self-checked periodically to ensure the normal operation of the program and the function, and after the self-check is wrong, the door controller stops running after being shut down, is guided to the safe side, and stops the door opening and closing debugging and the endurance test.

According to the train door opening and closing debugging system, when the debugging instruction sent by the upper computer is received through the door controller, the debugging instruction is analyzed, message information of the debugging instruction is obtained, whether the debugging instruction is complete and safe is judged according to the message information, when the debugging instruction is complete and safe is judged according to the message information, the message instruction in the debugging instruction is determined, and a corresponding debugging process is executed according to the message instruction in the debugging instruction. The door controller is an execution unit and has the functions of debugging, opening and closing a door and testing durability, so that the door controller can execute a corresponding debugging process according to a debugging instruction command directly sent by an upper computer, namely, the door opening and closing debugging function can be realized through the upper computer tool, and when a vehicle is statically debugged or tested in a type mode, construction wiring is reduced, the door controller is convenient to operate, simple and practical, and a large amount of labor and time are saved. In addition, the door opening and closing debugging function can be realized only by sending a debugging instruction to the door controller through the upper computer, special test equipment and a test tool do not need to be additionally customized, the purpose of debugging the door opening and closing and the endurance test can be realized through the software and hardware of the door controller in the scheme adopted by the application, the research and development investment is basically avoided, the investment of all aspects of debugging cost is greatly reduced, and the application prospect is good.

In order to realize the above embodiment, the present application also proposes another door controller.

FIG. 10 is a schematic view of a door operator according to another embodiment of the present application. As shown in fig. 10, the door controller 1000 may include:

memory 1001, processor 1002, and computer programs stored on memory 1001 and executable on processor 1002.

The processor 1002, when executing the computer program, implements the train door opening and closing debugging method provided in the above embodiment.

Further, the door controller 1000 further includes:

a communication interface 1003 for communicating between the memory 1001 and the processor 1002.

A memory 1001 for storing computer programs that can be run on the processor 1002.

Memory 1001 may include high-speed RAM memory and may also include non-volatile memory (e.g., at least one disk memory).

The processor 1002 is configured to implement the train door opening and closing debugging method according to the above embodiment when executing the computer program.

If the memory 1001, the processor 1002, and the communication interface 1003 are implemented independently, the communication interface 1003, the memory 1001, and the processor 1002 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 10, but this is not intended to represent only one bus or type of bus.

Optionally, in a specific implementation, if the memory 1001, the processor 1002, and the communication interface 1003 are integrated on one chip, the memory 1001, the processor 1002, and the communication interface 1003 may complete communication with each other through an internal interface.

The processor 1002 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

The present embodiment also provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the train door opening and closing debugging method according to any of the above embodiments of the present application.

In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried out in the method for implementing the above embodiment may be implemented by hardware that is related to instructions of a program, and the program may be stored in a computer readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims

1. A train door opening and closing debugging method is characterized by being applied to a door controller and comprising the following steps:

when a debugging instruction sent by an upper computer is received, analyzing the debugging instruction to obtain message information of the debugging instruction;

judging whether the debugging instruction is complete and safe according to the message information;

when the message information is used for judging that the debugging instruction is complete and safe, determining a message instruction in the debugging instruction;

executing a corresponding debugging process according to the message instruction in the debugging instruction;

the door controller has an endurance test function, and a message instruction in the debugging instruction comprises an endurance starting instruction, an endurance ending instruction and the interval duration of door opening and closing time; wherein, the executing the corresponding debugging process according to the message instruction in the debugging instruction comprises: generating a plurality of door opening and closing endurance test instructions according to the endurance starting instruction, the endurance ending instruction and the interval duration of the door opening and closing time; each door opening and closing endurance test instruction comprises a door opening instruction, a door closing instruction, the execution time of the door opening instruction and the execution time of the door closing instruction; and performing a continuous door opening and closing endurance test function according to the door opening instruction, the door closing instruction and the respective execution time in each door opening and closing endurance test instruction.

2. The method of claim 1, wherein determining whether the debug instruction is complete and secure based on the message information comprises:

judging whether the message information contains a message end symbol or not;

judging whether the message length contained in the message information meets a preset length or not;

if the message information contains the message end symbol and the message length contained in the message information meets the preset length, judging that the debugging instruction is complete;

judging whether a message header contained in the message information meets a preset message header format or not;

judging whether the received debugging instruction is correct or not according to a CRC (cyclic redundancy check) code contained in the message information;

and if the message header contained in the message information meets the preset message header format and the received debugging instruction is judged to be correct according to the CRC code contained in the message information, judging that the debugging instruction is safe.

3. The method according to claim 1 or 2, wherein after determining that the debug instruction is complete and secure according to the message information and before determining a message instruction in the debug instruction, the method further comprises:

acquiring an isolation signal, an emergency unlocking signal, a zero-speed signal, a door opening signal and a door closing signal of the current train;

judging whether the isolation signal, the emergency unlocking signal, the zero-speed signal, the door opening signal and the door closing signal of the current train are effective or not;

wherein,

when the message information is used for judging that the debugging instruction is complete and safe, determining that the message instruction in the debugging instruction comprises the following steps:

and when the debugging instruction is judged to be complete and safe according to the message information, and when the zero-speed signal of the current train is effective and the isolation signal, the emergency unlocking signal, the door opening signal and the door closing signal of the current train are all ineffective, determining the message instruction in the debugging instruction.

4. The method of claim 3, further comprising:

and when the zero-speed signal of the current train is invalid or any one of the isolation signal, the emergency unlocking signal, the door opening signal and the door closing signal of the current train is valid, judging that the debugging instruction is invalid.

5. The method of claim 3, wherein after determining that the debug command is complete and safe according to the message information and before acquiring an isolation signal, an emergency unlock signal, a stall signal, a door open signal, and a door close signal of a current train, the method further comprises:

sending the message instruction determined from the debugging instruction to the upper computer to judge whether the debugging instruction is effective or not;

and when receiving effective confirmation operation aiming at the debugging instruction and sent by the upper computer, executing the steps of acquiring the isolation signal, the emergency unlocking signal, the zero speed signal, the door opening signal and the door closing signal of the current train.

6. The method of claim 1, wherein executing the corresponding debugging process according to the message instruction in the debugging instruction comprises:

when the message instruction in the debugging instruction is a door opening instruction, determining the current door state of the train door;

when the current door state of the train door is determined to be in a complete locking state, executing a debugging door opening process according to the door opening instruction;

when a message instruction in the debugging instruction is a door closing instruction, determining the current door state of the train door;

and when the current door state of the train door is determined to be in a fully opened state, executing a debugging door closing process according to the door closing instruction.

7. The method of claim 6, further comprising:

and when the message instruction in the debugging instruction is a door opening instruction and determines that the current door state of the train door is not in the fully-locked state, or when the message instruction in the debugging instruction is a door closing instruction and determines that the current door state of the train door is not in the fully-opened state, judging that the debugging instruction is invalid, and keeping the current door state of the train door.

8. The method of claim 7, further comprising:

when one-time door opening and closing endurance test is completed, counting the number of times of the currently completed endurance door opening and closing;

and storing the current completed times of durably opening and closing the door to a storage module in the door controller.

9. The method of claim 1, wherein in performing the respective debugging process, the method further comprises:

periodically judging whether the isolation signal, the emergency unlocking signal, the zero-speed signal, the door opening signal and the door closing signal of the train are effective or not;

and if the zero-speed signal is judged to be invalid or any one of the isolation signal, the emergency unlocking signal, the door opening signal and the door closing signal is judged to be valid, the debugging state is exited and the normal working state is entered.

10. A door controller, comprising:

the debugging instruction receiving module is used for receiving a debugging instruction sent by the upper computer;

the instruction analysis module is used for analyzing the received debugging instruction to obtain message information of the debugging instruction;

the judging module is used for judging whether the debugging instruction is complete and safe according to the message information;

the message instruction determining module is used for determining a message instruction in the debugging instruction when the message information is used for judging that the debugging instruction is complete and safe;

the execution module is used for executing a corresponding debugging process according to the message instruction in the debugging instruction;

the door controller has an endurance test function, and a message instruction in the debugging instruction comprises an endurance starting instruction, an endurance ending instruction and the interval duration of door opening and closing time; the execution module is specifically configured to: generating a plurality of door opening and closing endurance test instructions according to the endurance starting instruction, the endurance ending instruction and the interval duration of the door opening and closing time; each door opening and closing endurance test instruction comprises a door opening instruction, a door closing instruction, the execution time of the door opening instruction and the execution time of the door closing instruction; and performing a continuous door opening and closing endurance test function according to the door opening instruction, the door closing instruction and the respective execution time in each door opening and closing endurance test instruction.

11. A train door opening and closing debugging system is characterized by comprising: an upper computer and a door controller, wherein,

the upper computer is used for receiving confirmation operation aiming at train door opening and closing debugging test, generating a debugging instruction according to the received confirmation operation and sending the debugging instruction to the door controller;

the door controller is used for receiving the debugging instruction sent by the upper computer, analyzing the debugging instruction to obtain message information of the debugging instruction, determining a message instruction in the debugging instruction when the debugging instruction is judged to be complete and safe according to the message information, and executing a corresponding debugging process according to the message instruction in the debugging instruction;

the door controller has an endurance test function, and a message instruction in the debugging instruction comprises an endurance starting instruction, an endurance ending instruction and the interval duration of door opening and closing time; the gate controller is specifically configured to: generating a plurality of door opening and closing endurance test instructions according to the endurance starting instruction, the endurance ending instruction and the interval duration of the door opening and closing time; each door opening and closing endurance test instruction comprises a door opening instruction, a door closing instruction, the execution time of the door opening instruction and the execution time of the door closing instruction; and performing a continuous door opening and closing endurance test function according to the door opening instruction, the door closing instruction and the respective execution time in each door opening and closing endurance test instruction.

12. The system of claim 11, wherein the door controller is specifically configured to:

judging whether the message information contains a message end symbol or not;

13. The system according to claim 11 or 12, wherein the door controller is further configured to, after determining that the debugging command is complete and safe according to the message information, obtain an isolation signal, an emergency unlock signal, a zero speed signal, a door opening signal, and a door closing signal of the current train, determine whether the isolation signal, the emergency unlock signal, the zero speed signal, the door opening signal, and the door closing signal of the current train are valid, and execute the step of determining the message command in the debugging command when the zero speed signal of the current train is valid and the isolation signal, the emergency unlock signal, the door opening signal, and the door closing signal of the current train are all invalid.

14. The system of claim 13, wherein the door controller is further configured to determine that the debugging command is invalid and continue to perform the current operation when the zero speed signal of the current train is invalid or any one of the isolation signal, the emergency unlocking signal, the door opening signal and the door closing signal of the current train is valid.

15. The system according to claim 13, wherein the door controller is further configured to send the message command determined from the debugging command to the upper computer to determine whether the debugging command is valid after determining that the debugging command is complete and safe according to the message information, and execute the step of acquiring the isolation signal, the emergency unlocking signal, the zero speed signal, the door opening signal, and the door closing signal of the current train when receiving a valid confirmation operation for the debugging command sent by the upper computer.

16. The system of claim 11, wherein the door controller is specifically configured to:

17. The system according to claim 16, wherein the door controller is further configured to determine that the commissioning instruction is invalid and maintain the current door state of the train door when a message instruction in the commissioning instruction is a door opening instruction and it is determined that the current door state of the train door is not in the fully locked state, or when a message instruction in the commissioning instruction is a door closing instruction and it is determined that the current door state of the train door is not in the fully opened state.

18. The system of claim 17, wherein the door controller is further configured to count a number of times of durable door opening and closing that has been currently completed when a door opening and closing endurance test is completed, and store the number of times of durable door opening and closing that has been currently completed in the memory module of the door controller.

19. The system of claim 11, wherein the door controller is further configured to periodically determine whether the isolation signal, the emergency unlock signal, the stall signal, the door open signal, and the door close signal of the train are valid during the corresponding debugging process, and exit the debugging state and enter the normal operating state when determining that the stall signal is invalid or any one of the isolation signal, the emergency unlock signal, the door open signal, and the door close signal is valid.

20. The system of claim 11 wherein said door controller has a USB interface or an RS232 interface or a CAN bus interface; and the door controller communicates with the upper computer through the USB interface, the RS232 interface or the CAN bus interface.

21. The system of claim 11 in which the processor in the door controller is a secure micro control unit.

22. A door controller, comprising: the train door opening and closing debugging method comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the computer program, the train door opening and closing debugging method is realized according to any one of claims 1 to 9.

23. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the train door opening and closing debugging method according to any one of claims 1 to 9.