CN114802359B - Automatic benchmarking parking method, system and device for locomotive - Google Patents
Automatic benchmarking parking method, system and device for locomotive Download PDFInfo
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- CN114802359B CN114802359B CN202110111370.2A CN202110111370A CN114802359B CN 114802359 B CN114802359 B CN 114802359B CN 202110111370 A CN202110111370 A CN 202110111370A CN 114802359 B CN114802359 B CN 114802359B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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Abstract
The invention discloses an automatic benchmarking parking method, system and device for a locomotive, which are characterized in that when the locomotive is in an automatic driving mode, whether the locomotive is about to run into a main railway or a side railway when the locomotive is in a pre-arrival state is judged; if the railway is on the main track, searching the main track parking sign data from the prestored parking sign data when the locomotive needs to stop in the station; if the side track is a railway side track, acquiring a side track station number which is about to be driven by the locomotive, and searching side track parking mark data corresponding to the side track station number from prestored parking mark data when the locomotive needs to stop at a station; and automatically controlling the locomotive to stop in a benchmarking way according to the found stop sign data. Therefore, the locomotive automatic benchmarking parking can be realized under the condition that the ground responder is not installed in the station, and the application range is wide; moreover, the method and the device can be suitable for automatic benchmarking parking of the locomotive under multiple parking lines.
Description
Technical Field
The invention relates to the field of automatic driving of railway locomotives, in particular to an automatic benchmarking parking method, system and device for locomotives.
Background
At present, a ground transponder is generally installed beside a running path of a railway locomotive. When the locomotive head runs to the position of the ground transponder, the ground transponder sends information such as lines, speed and the like stored in the ground transponder to the locomotive. The locomotive can automatically run according to the received information of lines, speed and the like, and can also realize automatic stop through interaction with a ground transponder in the station. However, the automatic parking mode for the locomotive is not suitable for a scene that a ground transponder is not installed in a station, so that the locomotive cannot be automatically parked under the condition that the ground transponder is not installed in the station.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide an automatic benchmarking parking method, system and device for a locomotive, which can realize automatic benchmarking parking of the locomotive under the condition that a ground responder is not installed in a station, and have a wide application range; moreover, the method and the device can be suitable for automatic benchmarking parking of the locomotive under multiple parking lines.
In order to solve the technical problem, the invention provides an automatic benchmarking parking method for a locomotive, which comprises the following steps:
when the locomotive is in an automatic driving mode, judging whether the locomotive is about to drive into a railway main track or a railway side track when entering a station in advance;
if the train is on the positive track, searching positive track parking mark data from prestored parking mark data when the locomotive needs to stop in the station;
if the side track is a railway side track, acquiring a side track station number which the locomotive is going to run, and searching side track parking mark data corresponding to the side track station number from the prestored parking mark data when the locomotive needs to stop at a station;
automatically controlling the locomotive to stop in a benchmarking way according to the found stop sign data; the parking target data is the front line parking target data or the side line parking target data.
Preferably, a line signal machine for sending a locomotive inbound line signal is arranged beside the running track of the locomotive;
the process of determining whether the locomotive is about to travel into the main track or the siding track when the locomotive is at the pre-stop includes:
and receiving a locomotive inbound route signal sent by the route signal machine, and determining whether the locomotive is about to travel into a main railway line or a side railway line when entering the station in advance according to the locomotive inbound route signal.
Preferably, an inbound signal machine is arranged beside the in-station track of the locomotive;
a process for obtaining a side strand lane number for the locomotive to be driven, comprising:
after determining that the locomotive is about to travel into a railroad siding, waiting for a track number input by a locomotive attendant indicating a siding track that the locomotive is about to travel;
when the locomotive is away from an incoming signal machine in front of the locomotive by a preset distance, judging whether a station number input by a locomotive attendant is received;
if not, prompting the locomotive crew member to input the station track number.
Preferably, an outbound signal machine for sending a locomotive stop signal is arranged beside the in-station track of the locomotive;
a process for determining whether the locomotive requires an in-station stop, comprising:
judging whether a locomotive stop signal sent by the outbound signal machine is received;
if yes, determining that the locomotive needs to stop in the station;
if not, determining that the locomotive does not need to stop in the station.
Preferably, the process of parking the target for the locomotive is automatically controlled according to the searched parking target data, and the process comprises the following steps:
planning a locomotive running target curve representing the corresponding relation between the running position and the running speed of the locomotive according to the current running position of the locomotive, the searched stop sign data, the speed-limiting protection curve data, the locomotive state data and the locomotive marshalling data;
and automatically controlling the locomotive to stop according to the locomotive running target curve.
Preferably, the method for automatically parking the locomotive in the benchmarks further comprises the following steps:
if the parking target data is not found, prompting the operator to take over the driving of the locomotive, and after the operator successfully takes over the driving of the locomotive, converting the automatic driving mode of the locomotive into the manual driving mode so as to manually control the locomotive to stop the target.
Preferably, the locomotive automatic benchmarking parking method further comprises:
if the locomotive driving is not successfully taken over manually, searching the minimum parking mark data from the prestored parking mark data, and taking the minimum parking mark data as the target parking mark data of the locomotive in the current parking line;
and automatically controlling the locomotive to stop at the target parking target according to the target parking target data.
Preferably, the method for automatically parking the locomotive in the benchmarks further comprises the following steps:
and if the parking target data is not found, prompting the lack of the parking target data.
In order to solve the above technical problem, the present invention further provides an automatic benchmarking parking system for a locomotive, comprising:
the route judgment module is used for judging whether the locomotive is about to travel into a railway main line or a railway side line when the locomotive is in a pre-arrival state when the locomotive is in an automatic driving mode; if the railway is on the positive line, executing a first searching module; if the railway side line exists, a second searching module is executed;
the first searching module is used for searching the main line parking mark data from the prestored parking mark data when the locomotive needs to stop in the station;
the second searching module is used for acquiring a lateral line station number which is about to travel by the locomotive, and searching lateral line parking mark data corresponding to the lateral line station number from the prestored parking mark data when the locomotive needs to stop in the station;
the benchmarking parking module is used for automatically controlling the locomotive to perform benchmarking parking according to the searched parking target data; the parking target data is the front line parking target data or the side line parking target data.
Preferably, a line signal machine for sending a locomotive inbound line signal is arranged beside the running track of the locomotive;
the process of determining whether the locomotive is about to travel into the main track or the siding track when the locomotive is at the pre-stop includes:
and receiving a locomotive arrival line signal sent by the line signal machine, and determining whether the locomotive is about to travel into a railway main line or a railway side line when the locomotive is in a pre-arrival state according to the locomotive arrival line signal.
Preferably, an inbound signal machine is arranged beside the in-station track of the locomotive;
a process for obtaining a side strand lane number for which the locomotive is to travel, comprising:
after determining that the locomotive is about to travel into a railroad siding, waiting for a track number input by a locomotive attendant indicating a siding track that the locomotive is about to travel;
when the locomotive is away from an incoming signal machine in front of the locomotive by a preset distance, judging whether a station number input by a locomotive attendant is received;
if not, prompting the locomotive crew member to input the station track number.
Preferably, an outbound signal machine for sending a locomotive stop signal is arranged beside the in-station track of the locomotive;
a process for determining whether the locomotive requires an in-station stop, comprising:
judging whether a locomotive stop signal sent by the outbound signal machine is received;
if yes, determining that the locomotive needs to stop in the station;
if not, determining that the locomotive does not need to stop in the station.
Preferably, the benchmarking parking module is specifically configured to:
planning a locomotive running target curve representing the corresponding relation between the running position and the running speed of the locomotive according to the current running position of the locomotive, the searched stop sign data, the speed-limiting protection curve data, the locomotive state data and the locomotive marshalling data;
and automatically controlling the locomotive to stop the locomotive in a benchmarking way according to the locomotive running target curve.
Preferably, the automatic benchmarking parking system for locomotives further comprises:
and the manual taking-over module is used for prompting the driver to take over the driving of the locomotive manually if the parking mark data is not found, and converting the automatic driving mode of the locomotive into the manual driving mode after the driver of the locomotive is taken over successfully manually so as to manually control the locomotive to stop the vehicle in a benchmarking manner.
Preferably, the automatic benchmarking parking system for locomotives further comprises:
and the minimum benchmarking parking module is used for searching minimum parking mark data from the prestored parking mark data if the locomotive driving is not successfully taken over manually, taking the minimum parking mark data as target parking mark data of the locomotive in a current parking line, and automatically controlling the locomotive to park benchmarks according to the target parking mark data.
In order to solve the technical problem, the invention also provides an automatic benchmarking parking device for a locomotive, which comprises:
a memory for storing a computer program;
and the processor is used for realizing the steps of any one of the automatic benchmarking parking methods for the locomotive when executing the computer program.
The invention provides an automatic benchmarking parking method for a locomotive, which is characterized in that when the locomotive is in an automatic driving mode, whether the locomotive is about to drive into a main railway or a lateral railway line when entering a station in advance is judged; if the railway is on the main track, searching the main track parking sign data from the prestored parking sign data when the locomotive needs to stop in the station; if the side track is a railway side track, acquiring a side track station number which is about to be driven by the locomotive, and searching side track parking mark data corresponding to the side track station number from prestored parking mark data when the locomotive needs to stop at a station; and automatically controlling the locomotive to stop at the target according to the searched stop sign data. Therefore, the locomotive automatic benchmarking parking can be realized under the condition that the ground responder is not installed in the station, and the application range is wide; moreover, the method and the device can be suitable for automatic benchmarking parking of the locomotive under multiple parking lines.
The invention also provides an automatic benchmarking parking system and device for the locomotive, and the system and device have the same beneficial effects as the benchmarking parking method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of an automatic benchmarking method for a locomotive according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an automatic benchmarking parking system for locomotives according to an embodiment of the present invention.
Detailed Description
The core of the invention is to provide a method, a system and a device for automatic benchmarking parking of a locomotive, which can realize automatic benchmarking parking of the locomotive under the condition that a ground responder is not installed in a station, and have wider application range; moreover, the method and the device can be suitable for automatic benchmarking parking of the locomotive under multiple parking lines.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of an automatic benchmarking parking method for a locomotive according to an embodiment of the present invention.
The automatic benchmarking parking method for the locomotive comprises the following steps:
step S1: when the locomotive is in an automatic driving mode, judging whether the locomotive is about to drive into a railway main track or a railway side track when the locomotive is in a pre-arrival state; if the railway is the positive line, executing the step S2; if the railway side line is the railway side line, step S3 is executed.
Step S2: when the locomotive needs to stop in the station, the main line parking mark data is searched from the prestored parking mark data.
And step S3: and obtaining the number of the lateral line station track to be driven by the locomotive, and searching lateral line parking mark data corresponding to the number of the lateral line station track from prestored parking mark data when the locomotive needs to stop in the station.
And step S4: and automatically controlling the locomotive to stop in a benchmarking way according to the found stop sign data.
Specifically, the locomotive has two driving modes: an autonomous driving mode and a manual driving mode. When the locomotive is in an automatic driving mode, the locomotive is automatically controlled by the system to drive in the station when the locomotive drives in the station; when the locomotive is in the manual driving mode, the locomotive is manually controlled to drive in the station when the locomotive drives in the station. Therefore, when the locomotive is in the pre-entry station, the locomotive is judged to be in the automatic driving mode or the manual driving mode, and if the locomotive is in the automatic driving mode, the locomotive in-station driving process in the automatic driving mode is executed; and if the locomotive is in the manual driving mode, executing a driving process in the locomotive station in the manual driving mode.
For the locomotive running in the locomotive station under the automatic driving mode, the technical means adopted by the application is as follows: considering that more than one railway line in a locomotive station can be divided into a railway main line and a railway lateral line, the railway main line is a line which is connected with the station and penetrates through or stretches into the station, and the railway lateral line is a lateral railway led out from a turnout connected with the main line, it can be understood that only one railway main line is provided, and more than one railway lateral line can be provided, so in order to realize automatic benchmarking parking of the locomotive under multiple parking lines, the parking mark data (the parking mark data represents the target parking position of the locomotive) corresponding to the locomotive under different railway lines in the station is stored in advance so as to provide reference for subsequent automatic control of the locomotive benchmarking parking.
More specifically, considering that each railway line in the locomotive station has its own railway stock number for distinguishing different railway lines in the station, it should be noted that although there is only one railway line, there is also its own railway stock number, so the parking mark data under different railway lines can be stored specifically in a railway stock number-parking mark data binding manner, and when the parking mark data under any railway line is searched from the prestored parking mark data, the corresponding parking mark data can be searched through the stock number of the railway line.
Based on this, when the locomotive is in an automatic driving mode, if the locomotive is in a pre-entry station, whether the locomotive is to be driven into a main track or a side track of a railway when in the pre-entry station is judged, if the locomotive is to be driven into the main track, only one main track is required, and the number of the main track of the railway (called the number of the main track) to which the locomotive is to be driven can be directly determined, so that when the locomotive needs to stop in the station, stop mark data (called the data of the main track) corresponding to the number of the main track is searched from the pre-stored stop mark data; if the locomotive is about to run into the side track of the railway, the number of the side track of the railway in which the locomotive is about to run cannot be directly determined because more than one side track of the railway is possible, and the number of the side track of the railway in which the locomotive is about to run (called as the number of the side track) needs to be obtained according to actual conditions, so that when the locomotive needs to stop in a station, stop sign data (called as side-track stop sign data) corresponding to the number of the side track of the locomotive is searched from prestored stop sign data. Then, according to the found parking target data, the locomotive can be automatically controlled to stop the target in the station.
In addition, when the stock way number and the parking mark data corresponding to the current parking route are obtained, the stock way number and the parking mark data corresponding to the current parking route are prompted through voice and/or text, and the stock way number and the parking mark data are provided for a locomotive attendant to check.
The invention provides an automatic benchmarking parking method for a locomotive, which is characterized in that when the locomotive is in an automatic driving mode, whether the locomotive is about to travel into a main railway or a side railway when entering a station in advance is judged; if the railway is on the main track, searching the main track parking sign data from the prestored parking sign data when the locomotive needs to stop in the station; if the side track is a railway side track, acquiring a side track station number which is about to be driven by the locomotive, and searching side track stop sign data corresponding to the side track station number from prestored stop sign data when the locomotive needs to stop at a station; and automatically controlling the locomotive to stop in a benchmarking way according to the found stop sign data. Therefore, the locomotive automatic benchmarking parking can be realized under the condition that the ground responder is not installed in the station, and the application range is wide; moreover, the method and the device can be suitable for automatic benchmarking parking of the locomotive under multiple parking lines.
On the basis of the above-described embodiment:
as an alternative embodiment, a line signal machine for sending a locomotive inbound line signal is arranged beside the running track of the locomotive;
the process of determining whether the locomotive is about to travel into the main track or the siding track when entering the station includes:
and receiving a locomotive arrival line signal sent by the line signal machine, and determining whether the locomotive is about to travel into the railway main line or the railway side line when the locomotive is in the pre-arrival state according to the locomotive arrival line signal.
Specifically, a line signal machine is arranged beside the running track of the locomotive and is used for sending a locomotive arrival line signal which indicates whether the locomotive is about to travel into a railway main line or a railway side line when the locomotive is pre-arrived at the station. Before the locomotive enters the station, the application acquires a locomotive entering line signal from a line signal machine, and aims to determine whether the locomotive is about to travel into a railway main line or a railway side line when entering the station according to the locomotive entering line signal.
As an alternative embodiment, an inbound signal is arranged beside an in-station track of the locomotive;
a process for obtaining a side strand lane number for an oncoming locomotive, comprising:
after determining that the locomotive is going to run into the side track of the railway, waiting for a track number which is input by a locomotive attendant and represents a side track which the locomotive is going to run;
when the locomotive is away from the station signal machine in front of the locomotive by a preset distance, judging whether a station number input by a locomotive attendant is received;
if not, prompting the locomotive crew member to input the station track number.
Specifically, after the locomotive is going to travel into the side track of the railway, the locomotive crew member needs to actively input the track number of the side track which indicates that the locomotive is going to travel.
Based on this, considering that after the locomotive is going to run into the side track of the railway, the locomotive crew possibly forgets to input the track number of the side track which indicates that the locomotive is going to run, after the locomotive is determined to be going into the side track of the railway, the method waits for the track number which indicates the side track which indicates that the locomotive is going to run and is input by the locomotive crew, acquires the current running position of the locomotive and the signal position of the incoming signal machine arranged beside the in-station track of the locomotive, judges whether the track number input by the locomotive crew is received when the locomotive is away from the incoming signal machine in front of the locomotive by a preset distance according to the current running position of the locomotive and the signal position of the incoming signal machine, and determines the side track number which is going to run according to the track number input by the locomotive crew if the track number input by the locomotive crew is received; if the station number input by the locomotive crew is not received, the locomotive crew is prompted to input the station number, and specifically, the prompting can be carried out through voice and/or text, so that the condition that the side station number which the locomotive is going to run cannot be obtained is avoided.
As an alternative embodiment, an outbound signal machine for sending a locomotive stop signal is arranged beside an in-station track of the locomotive;
a process for determining whether the locomotive requires an in-station stop, comprising:
judging whether a locomotive stop signal sent by an outbound signal machine is received;
if yes, determining that the locomotive needs to stop in the station;
if not, determining that the locomotive does not need to stop in the station.
Specifically, an out-station signal machine is arranged beside the in-station track of the locomotive and used for sending a locomotive parking signal to inform the locomotive that the in-station parking is needed. If the locomotive needs to stop in the station, before the locomotive enters the station and stops in advance, the locomotive stop signal can be obtained from the signal machine for the departure, and the purpose is to determine that the locomotive needs to stop in the station according to the locomotive stop signal. If the locomotive does not need to stop in the station, before the locomotive enters the station and stops in advance, the locomotive stop signal cannot be acquired from the signal machine of the out-station, and therefore the locomotive does not need to stop in the station.
As an alternative embodiment, the process of automatically controlling the locomotive to stop at the target according to the searched stop sign data includes:
planning a locomotive running target curve representing the corresponding relation between the running position and the running speed of the locomotive according to the current running position of the locomotive, the searched stop sign data, the speed-limiting protection curve data, the locomotive state data and the locomotive marshalling data;
and automatically controlling the locomotive to stop according to the running target curve of the locomotive.
Specifically, according to the current running position of the locomotive, the searched stop sign data (representing the target stopping position of the locomotive), the speed-limiting protection curve data (representing the maximum speed limit of a track in a railway station), the locomotive state data (representing the state data for controlling the operation of the locomotive) and the locomotive marshalling data (representing the marshalling and the total weight of a locomotive compartment), a locomotive running target curve representing the corresponding relation between the running position and the running speed of the locomotive can be planned, and the aim of automatically controlling the locomotive to stop according to the locomotive running target curve is achieved.
For example, according to the current running position of the locomotive and the found parking target data, the parking distance between the current running position of the locomotive and the target parking position of the locomotive can be determined; determining the braking distance of the locomotive according to the locomotive state data, the locomotive marshalling data and the selected parking speed data under the speed limit protection curve data; and (3) obtaining the keeping running distance of the locomotive according to the stopping distance-braking distance, and then planning a locomotive running target curve: when the locomotive runs from the current running position for a distance equal to the obtained running distance, the running speed of the locomotive is reduced to the parking speed data from the current running speed, and then the locomotive enters the brake and finally stops at the target parking position.
As an optional embodiment, the method for automatically parking the benchmarks on the locomotive further comprises:
if the parking target data is not found, prompting the operator to take over the driving of the locomotive, and after the operator successfully takes over the driving of the locomotive, converting the automatic driving mode of the locomotive into the manual driving mode so as to manually control the locomotive to stop the target.
Further, considering that the parking target data corresponding to the current parking route may not be searched from the prestored parking target data, and the automatic benchmarking parking of the locomotive fails, when the parking target data is not searched, the method prompts to take over the driving of the locomotive manually, prompts can be performed through voice and/or text, and then after the driving of the locomotive is taken over manually, the automatic driving mode of the locomotive is converted into the manual driving mode, so that the locomotive is controlled to park benchmarking manually, and the failure of the locomotive benchmarking parking caused by the fact that the parking target data corresponding to the current parking route cannot be searched is avoided.
As an optional embodiment, the method for automatically parking the benchmarks on the locomotive further comprises:
if the locomotive driving is not successfully taken over manually, searching the minimum parking mark data from the prestored parking mark data, and taking the minimum parking mark data as the target parking mark data of the locomotive in the current parking line;
and automatically controlling the locomotive to stop at the target parking target according to the target parking target data.
Further, considering that the locomotive driving cannot be successfully taken over manually, the method and the device search the minimum parking sign data from the prestored parking sign data when the locomotive driving cannot be successfully taken over manually, and aim to equivalently use the minimum parking sign data as the target parking sign data of the locomotive in the current parking line, so that the locomotive is automatically controlled to be parked in a target parking sign mode according to the target parking sign data of the locomotive in the current parking line, and the failure of locomotive parking in the target parking sign mode caused by the fact that the locomotive driving cannot be successfully taken over manually is avoided.
As an optional embodiment, the method for automatically parking the benchmarks on the locomotive further comprises:
and if the parking target data is not found, prompting the lack of the parking target data.
Further, when the parking mark data corresponding to the current parking route cannot be found from the prestored parking mark data, the absence of the parking mark data can be prompted, and specifically, the absence of the parking mark data can be prompted through voice and/or text for a locomotive attendant to check so as to remind the locomotive attendant to completely modify and supplement the prestored parking mark data.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an automatic benchmarking parking system for a locomotive according to an embodiment of the present invention.
This locomotive is from dynamic bidding parking system includes:
the route judgment module 1 is used for judging whether the locomotive is about to drive into a main railway or a side railway line when entering a station in advance when the locomotive is in an automatic driving mode; if the railway is on the positive line, executing a first searching module 2; if the side line of the railway is the side line of the railway, executing a second searching module 3;
the first searching module 2 is used for searching the main line parking mark data from the prestored parking mark data when the locomotive needs to stop in the station;
the second searching module 3 is used for acquiring a side line station number of the locomotive to be driven, and searching side line parking mark data corresponding to the side line station number from prestored parking mark data when the locomotive needs to stop at a station;
the benchmarking parking module 4 is used for automatically controlling the locomotive to perform benchmarking parking according to the searched parking target data; the parking target data is the front line parking target data or the side line parking target data.
As an alternative embodiment, a line signal machine for sending a locomotive inbound line signal is arranged beside the running track of the locomotive;
the process of determining whether the locomotive is about to travel into the main track or the siding track when entering the station includes:
and receiving a locomotive arrival line signal sent by the line signal machine, and determining whether the locomotive is about to travel into the main line or the lateral line of the railway when entering the station according to the locomotive arrival line signal.
As an alternative embodiment, an inbound signal is arranged beside an in-station track of the locomotive;
the process of acquiring the side strand lane number of the locomotive to be driven comprises the following steps:
after determining that the locomotive is going to run into the side track of the railway, waiting for a track number which is input by a locomotive attendant and represents a side track which the locomotive is going to run;
when the locomotive is away from the station signal machine in front of the locomotive by a preset distance, judging whether a station number input by a locomotive attendant is received;
if not, prompting the locomotive crew member to input the station track number.
As an alternative embodiment, an outbound signal machine for sending a locomotive stop signal is arranged beside an in-station track of the locomotive;
a process for determining whether the locomotive requires an in-station stop, comprising:
judging whether a locomotive stop signal sent by an outbound signal machine is received;
if so, determining that the locomotive needs to stop in the station;
if not, determining that the locomotive does not need to stop in the station.
As an optional embodiment, the benchmarking parking module 4 is specifically configured to:
planning a locomotive running target curve representing the corresponding relation between the running position and the running speed of the locomotive according to the current running position of the locomotive, the searched stop sign data, the speed-limiting protection curve data, the locomotive state data and the locomotive marshalling data;
and automatically controlling the locomotive to stop according to the running target curve of the locomotive.
As an alternative embodiment, the automatic benchmarking parking system for locomotives further comprises:
and the manual taking-over module is used for prompting the driver to take over the driving of the locomotive manually if the parking mark data is not found, and converting the automatic driving mode of the locomotive into the manual driving mode after the driver of the locomotive is taken over successfully manually so as to manually control the locomotive to stop the parking mark.
As an alternative embodiment, the automatic benchmarking parking system for locomotives further comprises:
and the minimum benchmarking parking module is used for searching minimum parking mark data from prestored parking mark data if the locomotive driving is not successfully taken over manually, taking the minimum parking mark data as target parking mark data of the locomotive in a current parking line, and automatically controlling the locomotive to be benchmarked for parking according to the target parking mark data.
For the introduction of the parking lot system provided in the present application, reference is made to the above embodiments of the parking lot system, and details are not repeated herein.
The application also provides an automatic benchmarking parking equipment of locomotive, include:
a memory for storing a computer program;
and the processor is used for realizing the steps of any one of the automatic benchmarking parking methods for the locomotive when executing the computer program.
For the introduction of the target parking device provided in the present application, reference is made to the above embodiments of the target parking method, and details are not repeated herein.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (14)
1. An automatic benchmarking parking method for a locomotive is characterized by comprising the following steps:
when the locomotive is in an automatic driving mode, judging whether the locomotive is about to drive into a railway main track or a railway side track when entering a station in advance;
if the train is on the positive track, searching positive track parking mark data from prestored parking mark data when the locomotive needs to stop in the station;
if the side track is a railway side track, acquiring a side track number which the locomotive is going to travel, and searching side track parking sign data corresponding to the side track number from the prestored parking sign data when the locomotive needs to stop in a station;
automatically controlling the locomotive to stop in a benchmarking way according to the found stop sign data; the parking target data is the main line parking target data or the side line parking target data; according to the found parking target data, the process of parking the target for the locomotive is automatically controlled, and the process comprises the following steps: determining a parking distance between the current running position of the locomotive and a corresponding target parking position according to the current running position of the locomotive and the searched parking target data; determining the braking distance of the locomotive according to the locomotive state data, the locomotive marshalling data and the parking speed data selected under the speed limit protection curve data; obtaining a keeping running distance of the locomotive according to the stopping distance-braking distance, and then planning a locomotive running target curve: when the locomotive runs from the current running position for a distance equal to the obtained running distance, the running speed of the locomotive is reduced to the parking speed data from the current running speed, and then the locomotive enters the brake and finally stops at the target parking position.
2. The automatic benchmarking and parking method for locomotives according to claim 1, wherein a line signal for signaling the locomotive approach is provided beside the running track of the locomotive;
the process of determining whether the locomotive is about to travel into the main track or the siding track when the locomotive is at the pre-stop includes:
and receiving a locomotive arrival line signal sent by the line signal machine, and determining whether the locomotive is about to travel into a railway main line or a railway side line when the locomotive is in a pre-arrival state according to the locomotive arrival line signal.
3. The automatic benchmarking and parking method for locomotives according to claim 1, wherein an inbound signal is provided beside the in-station track of the locomotive;
a process for obtaining a side strand lane number for which the locomotive is to travel, comprising:
after determining that the locomotive is about to travel into a railroad siding, waiting for a track number input by a locomotive attendant indicating a siding track that the locomotive is about to travel;
when the locomotive is away from an incoming signal machine in front of the locomotive by a preset distance, judging whether a station track number input by a locomotive attendant is received;
if not, prompting the locomotive crew member to input the station track number.
4. The automatic benchmarking and parking method for locomotives according to claim 1, wherein an outbound signal for sending a locomotive parking signal is arranged beside the in-station track of the locomotive;
a process for determining whether the locomotive requires an in-station stop, comprising:
judging whether a locomotive stop signal sent by the outbound signal machine is received;
if yes, determining that the locomotive needs to stop in the station;
if not, determining that the locomotive does not need to stop in the station.
5. The locomotive automatic benchmarking stop method of any one of claims 1 to 4, wherein the locomotive automatic benchmarking stop method further comprises:
if the parking target data is not found, prompting the operator to take over the driving of the locomotive, and after the operator successfully takes over the driving of the locomotive, converting the automatic driving mode of the locomotive into the manual driving mode so as to manually control the locomotive to stop the target.
6. The locomotive automatic benchmarking stop method of claim 5, wherein said locomotive automatic benchmarking stop method further comprises:
if the locomotive driving is not successfully taken over manually, searching the minimum parking mark data from the prestored parking mark data, and taking the minimum parking mark data as the target parking mark data of the locomotive in the current parking line;
and automatically controlling the locomotive to stop in a benchmarking way according to the target stop sign data.
7. The locomotive automatic benchmarking stop method of claim 5, wherein said locomotive automatic benchmarking stop method further comprises:
and if the parking target data is not found, prompting the lack of the parking target data.
8. An automatic benchmarking parking system for locomotives, comprising:
the route judgment module is used for judging whether the locomotive is about to travel into a railway main line or a railway side line when the locomotive is in a pre-arrival state when the locomotive is in an automatic driving mode; if the railway is on the positive line, executing a first searching module; if the railway side line exists, a second searching module is executed;
the first searching module is used for searching the main line parking mark data from the prestored parking mark data when the locomotive needs to stop in the station;
the second searching module is used for acquiring a lateral line station number which is about to travel by the locomotive, and searching lateral line parking mark data corresponding to the lateral line station number from the prestored parking mark data when the locomotive needs to stop in the station;
the benchmarking parking module is used for automatically controlling the locomotive to perform benchmarking parking according to the searched parking target data; the parking target data is the main line parking target data or the side line parking target data; according to the found parking target data, the process of parking the target for the locomotive is automatically controlled, and the process comprises the following steps: determining a parking distance between the current running position of the locomotive and a corresponding target parking position according to the current running position of the locomotive and the searched parking target data; determining the braking distance of the locomotive according to the locomotive state data, the locomotive marshalling data and the parking speed data selected under the speed limit protection curve data; obtaining a keeping running distance of the locomotive according to the stopping distance-braking distance, and then planning a locomotive running target curve: when the locomotive runs from the current running position for a distance equal to the obtained running distance, the running speed of the locomotive is reduced to the parking speed data from the current running speed, and then the locomotive enters the brake and finally stops at the target parking position.
9. The automatic benchmarking and parking system for locomotives according to claim 8, wherein a line signal for signaling an inbound line of the locomotive is provided beside the running track of the locomotive;
the process of determining whether the locomotive is about to travel into the main track or the siding track when the locomotive is at the pre-stop includes:
and receiving a locomotive arrival line signal sent by the line signal machine, and determining whether the locomotive is about to travel into a railway main line or a railway side line when the locomotive is in a pre-arrival state according to the locomotive arrival line signal.
10. The automatic benchmarking and parking system for locomotives according to claim 8, wherein an inbound signal is provided beside the in-station track of the locomotive;
a process for obtaining a side strand lane number for which the locomotive is to travel, comprising:
after determining that the locomotive is about to travel into the railroad siding, waiting for a track number input by a locomotive attendant indicating a siding track into which the locomotive is about to travel;
when the locomotive is away from an incoming signal machine in front of the locomotive by a preset distance, judging whether a station number input by a locomotive attendant is received;
if not, prompting the locomotive crew member to input the station track number.
11. The automatic benchmarking and parking system for locomotives according to claim 8, wherein an outbound signal for sending a locomotive parking signal is provided beside the in-station track of the locomotive;
a process for determining whether the locomotive requires an in-station stop, comprising:
judging whether a locomotive stop signal sent by the outbound signal machine is received;
if yes, determining that the locomotive needs to stop in the station;
if not, determining that the locomotive does not need to stop in the station.
12. The locomotive automatic benchmarking parking system of any one of claims 8 to 11, wherein the locomotive automatic benchmarking parking system further comprises:
and the manual taking-over module is used for prompting the driver to take over the driving of the locomotive manually if the parking mark data is not found, and converting the automatic driving mode of the locomotive into the manual driving mode after the driver of the locomotive is taken over successfully manually so as to manually control the locomotive to stop the vehicle in a benchmarking manner.
13. The locomotive automatic benchmarking parking system of claim 12, further comprising:
and the minimum target-alignment parking module is used for searching minimum parking target data from the prestored parking target data if the locomotive driving is not successfully taken over manually, taking the minimum parking target data as target parking target data of the locomotive in the current parking line, and automatically controlling the locomotive to be parked in a target-alignment manner according to the target parking target data.
14. The utility model provides an automatic mark parking equipment that aligns of locomotive which characterized in that includes:
a memory for storing a computer program;
a processor for implementing the steps of the locomotive automatic benchmarking parking method according to any one of claims 1-7 when executing said computer program.
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