CN102343923A - Automatic train supervision system and train tracking method - Google Patents
Automatic train supervision system and train tracking method Download PDFInfo
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Abstract
The invention relates to an automatic train supervision system and a train tracking method and belongs to an automatic train supervision technique. The train tracking method disclosed by the invention comprises the following steps: receiving data sent from an automatic train protector (ATP) and an interlock system by an automatic train supervision (ATS) system in real time, and performing stepping calculation according to the received data when the data is received each time, thereby realizing train tracking. By adopting the technical scheme of the invention, the train can be continuously tracked during a switching process in a tracking mode and under the conditions of a train communication fault and a non-communication train driving into a monitored scope.
Description
Technical field
The invention belongs to the train automatic monitoring technology, particularly a kind of train automatic monitoring system and train tracing method.
Background technology
It is train automatic controlling system (ATC that train is followed the tracks of; Automatic Train Control) important component part; And be train automatic monitoring system (ATS to the accurate tracking of train; Automatic Train Supervision) basis and the guarantee of carrying out train scheduling and train adjustment that can be correct; We can say the quality that strategy that train is followed the tracks of and algorithm directly have influence on train automatic monitoring (ATS) system.At present, it is the continuous status information of equipment that collects according to from interlock system that train is followed the tracks of, and confirms what train position and train moved.Wherein, train is called stepping from the process that a position runs to the adjacent position, and the process that train is followed the tracks of is exactly the process of train effective stepping.
Usually under the normal situation of movable block equipment; Train is followed the tracks of and is adopted the movable block tracing mode; ATS receives train automatic safety device (ATP from the other real-time continuous of rail; Automatic Train Protection) train status of Fa Songing, position message; These information are used to determine the stepping of train to move, and the position actual according to original train position message correction train.
If ATP system et out of order then can adopt degraded mode.For example, the fixed blocking tracing mode is followed the tracks of train, and ATS is from the status information message of CI (Computer Interlock, interlocking) real-time continuous acception station field signal equipment, and these information are used to determine the stepping of train to move.
In the universal train tracking mode process of stating in the use, because the fault judgement of ATP system is needed the regular hour, therefore can cause in the handoff procedure of tracing mode train to follow the tracks of and stop.In addition, run into the train communication fault, when perhaps the communication car sailed monitoring range into, above-mentioned tracking scheme can not be followed the tracks of train in time.
Summary of the invention
Technical matters to be solved by this invention is, how to realize continuing unbroken train and follows the tracks of, and therefore, a kind of train automatic monitoring system and train tracing method is provided.
In order to address the above problem, the invention discloses a kind of train tracing method, comprising:
Train automatic monitoring (ATS) system receives the data of train automatic safety device (ATP) and interlock system transmission in real time, when receiving data, carries out stepping according to current received data and calculates, and realizes the train tracking.
Preferably; Said method also comprises: said ATS system is designed with to electronic chart according to the topological structure of train operation circuit in advance; When said ATS system receives data; Search the train driving path from said oriented electronic chart; Carry out stepping calculating according to lookup result and current received data, realize the train tracking.
Preferably, in the said method, when said ATS system confirms that according to the data of current reception the signalling set state takes place to upgrade, according to the said oriented electronic chart of signalling set state information updating that has upgraded.
Preferably, in the said method, the process that said ATS searches the train driving path from said oriented electronic chart is following:
When said ATS carries out stepping calculating according to the current data judgement needs that receive, directly search in the enterprising walking along the street of electronic chart according to the search condition of this locality.
Preferably, in the said method, the time gap that receives data for twice when said ATS system is adjacent surpasses sets duration, then upgrades local search condition.
The invention also discloses a kind of train automatic monitoring system, comprising:
Collecting unit receives the data that train automatic safety device and interlock system send in real time;
Processing unit when said receiving element receives data, carries out train tracking and stepping calculating according to current received data.
Preferably, said system also comprises: the electronic chart unit, and the topological structure according to the train operation circuit is designed with to electronic chart in advance;
Said processing unit when receiving data, is searched the train driving path from said oriented electronic chart, carries out stepping calculating according to lookup result and current received data, realizes the train tracking.
Preferably, in the said system, said electronic chart unit is when confirming that according to the data of the current reception of said collecting unit the signalling set state take place to upgrade, according to the said oriented electronic chart of signalling set state information updating that has upgraded.
Preferably, in the said system, said processing unit comprises:
Search condition is provided with module, and local search condition is set;
Search module when needs carry out stepping calculating, is searched the train driving path according to the search condition of this locality on electronic chart;
The stepping processing module; When receiving data; Judge whether that according to the current data that receive needs carry out stepping and calculate; And when needs carry out stepping calculating; Result and current received data according to the train driving path that finds from said oriented electronic chart are carried out stepping calculating, realize the train tracking.
Preferably, in the said system, said search condition is provided with module, when the time gap of the adjacent twice reception data of said ATS system surpasses the setting duration, upgrades local search condition.
The present techniques scheme can be in the handoff procedure of tracing mode, train communication fault and communication car sail under the situation of monitoring range, all can continue to carry out train and follow the tracks of.
Description of drawings
Topological layer network and electrical layer network that Fig. 1 is contained for circuit electronic chart in the present embodiment;
Fig. 2 is the model scheme drawing based on the oriented electronic chart of Fig. 1 institute's design-calculated;
Fig. 3 is the structural representation of the train automatic monitoring system that proposes in the present embodiment;
Fig. 4 is the workflow scheme drawing of system shown in Figure 3.
The specific embodiment
In order to make the object of the invention, technical scheme and advantage clearer, will combine accompanying drawing that technical scheme of the present invention is done further explain below.Need to prove, under the situation of not conflicting, the combination each other arbitrarily of the application's embodiment and the characteristic among the embodiment.
This case applicant finds that present movable block and these two kinds of train tracing modes of fixed blocking work alone; Promptly when the ATS system works; Only adopt wherein a kind of tracing mode; Like this; Switch in these two kinds of tracing modes; And when unusual (sailing monitoring range etc. into like train communication fault, communication car) took place, the train that carries out that all can not continue was followed the tracks of.Therefore, this case applicant proposes a kind of mixed race train tracking mode first, and the two kinds of patterns (movable block and fixed blocking tracing mode) that are about to the universal train tracking are applied to the ATS system simultaneously.Like this, ATS receives ATP data (data of being gathered under the existing movable block tracing mode) and CI data (data of being sampled under the existing fixed blocking tracing mode) in real time, receives which data earlier, just uses these data to carry out train and follows the tracks of.This shows that this scheme has had the advantage of existing two kinds of tracing modes concurrently, and solved the above-mentioned problem that train is followed the tracks of that can't continue to carry out.Based on above-mentioned thought, present embodiment provides a kind of train tracing method, and its implementation procedure is following:
The ATS system receives the data of ATP and interlock system transmission in real time, when receiving data, carries out train tracking and stepping calculating according to current received data.
And in order to make train tracking accuracy higher, some preferred versions are the basis with the said method, also with train operation circuit figure electronization, to reflect the circuit situation of train travel more real-time and accurately, improve the accuracy that train is followed the tracks of.Be that the ATS system is designed with to electronic chart according to the topological structure of train operation circuit in advance; When the ATS system receives data; Can search the train driving path from this oriented electronic chart, carry out stepping calculating according to lookup result and current received data.
Particularly, be designed with in the process of background map, can the line information of ATS system monitoring be regarded as the stack of topological layer and this two-layer gauze of electrical layer according to the characteristics of subway line.As shown in Figure 1, be engaged in device location and civil engineering information etc. of orbital arrangement, the worker on topological layer net list terrain iron wire road.The storage inside of topological layer network is called track database, or claims digital track map, and its outward appearance demonstration is commonly referred to as line topological figure.The relevant electricity affair information of electrical layer network performance signal system can be regarded as on the physical circuit topological layer and sets up through cutting apart track and additional equipment object, forms the electrical layer circuit network.Subsequently, be basic mathematic model again with the digraph, the electrical layer line information of track is mapped to the physical circuit topological layer of station field pattern, finally obtain oriented electronic chart.
In the present embodiment, the model of oriented electronic chart as shown in Figure 2.As can be seen from Figure 2, oriented electronic chart adopts the math modeling of digraph as basic mathematic model, comes the digitalisation line connecting relation.To line track equipment; Taken out the BLOCK data structure; For section without a switch and parking track; It is corresponding to a BLOCK, and then corresponding three BLOCK of track switch are respectively switch blade BLOCK; Straight rail BLOCK and curved rail BLOCK; BLOCK is divided into some logic blocks, the logic block structure in corresponding the ATP system, a node of the corresponding digraph of each BLOCK.Digraph mathematics adopts the construction design method of doubly linked list, preserves its all forerunner's node and descendant node in each node.Under the basic structure of digraph; Set up the mapping relations of ATS equipment and digraph point; Write down current line signal facility information (track switch state; The opening of signal is closed; Track account for pressure); Realize interlocking equipment to the mapping of ATS equipment and the mapping relations of ATP equipment and ATS equipment, and set up the mapping relations of ATS equipment and real-time storehouse mid point.
Also have in the application scenes; The accuracy of considering oriented electronic chart can directly have influence on the accuracy that train is followed the tracks of; So stating oriented electronic chart in the use carries out in the process that train follows the tracks of; Will carry out real-time update to this oriented electronic chart; Particularly, after ATS receives the CI data sent, can judge whether the signalling set state has renewal according to the information of receiving; In case the signalling set state upgrades, then upgrade oriented electronic chart according to the signalling set status information of having upgraded.
Based on above-mentioned oriented electronic chart, also have some schemes to propose in the process that the enterprising walking along the street of electronic chart is directly searched, carry out according to the search condition of this locality.Be ATS when at every turn receiving data, judge whether that according to the current data that receive needs carry out stepping and calculate,, will directly search in the enterprising walking along the street of electronic chart according to the search condition of this locality when judging to carry out stepping and calculate the time.Wherein, search condition comprise at least surpass maximum search apart from the time finish search, just when the scope of search reached maximum search apart from but still need finish current search operation when not finding train.It is unit distance that indication range can adopt the BLOCK shown in Fig. 2.And ATS judges whether to carry out stepping and calculates and to refer to, when confirming to have taken place following any situation according to the current data that receive, judgement need be carried out stepping and calculate:
1) train position information change; 2) the idle change of section accounts for pressure; 3) the signal opening becomes and closes, and there is train in the outside of protection; 4) section accounts for to press and becomes the free time, and train is arranged on it.
And the process that is designed with to electronic chart can be; With circuit element abstract be summit (node); The corresponding keyword of each circuit element is as the unique identification of circuit element, circuit element concerned abstract in the annexation between the summit, constructs a chained list.Like this, according to the search condition of this locality, the associative operation of in the figure of this oriented electronic chart chained list, searching specific nodes gets final product, and comprises depth-first search, BFS scheduling algorithm.Can find out, adopt this scheme after, train is followed the tracks of can find fast and accurately the train on equipment such as relevant track or the track, and the process that order is searched is simply efficient.Certainly, after proposition is carried out path searching according to search condition, in other preferred versions; Just propose this search condition and also need carry out real-time update; Particularly, the time gap that receives data for twice when the ATS system is adjacent surpasses sets duration, then upgrades local search condition.For example; Communication takes place when unusual; The ATS system possibly not receive any data for a long time; Like this, when communication recovers the ATS system and receives data once more (the adjacent time gap that receives data for twice has surpassed the setting duration), the train larger distance of possibly having advanced; Therefore; In order to improve search efficiency, need to upgrade search condition, as enlarging the maximum search distance.
Embodiment 2
Present embodiment provides a kind of train automatic monitoring system, and it comprises collecting unit and processing unit at least.
Wherein, collecting unit receives the data that ATP and CI send in real time;
Processing unit when receiving element receives data, carries out train tracking and stepping calculating according to current received data.
Also have some schemes, on the basis of said system, increased the electronic chart unit, this unit is designed with to electronic chart according to the topological structure of train operation circuit in advance.Like this, processing unit when receiving data, is searched the train driving path from oriented electronic chart, carries out stepping calculating according to lookup result and current received data, follows the tracks of to realize train.Particularly, the process of the oriented electronic chart of electronic chart unit design can repeat no more at this referring to the content among the embodiment 1.Based on this scheme, also have some preferred versions, wherein, and the electronic chart unit, when confirming that according to the data of the current reception of collecting unit the signalling set state takes place to upgrade, can be according to the oriented electronic chart of signalling set state information updating that has upgraded.
In some other scheme, module, search module and stepping processing module are set except increase electronic chart unit specifically is divided into processing unit search condition again, specifically can be referring to Fig. 3.
Search condition is provided with module, and local search condition is set, search condition comprise surpass maximum explore apart from the time finish search;
In the preferable scheme, search condition is provided with module, when the time gap of the adjacent twice reception data of collecting unit surpasses the setting duration, can also upgrade local search condition.For example, enlarge the maximum search distance, to guarantee under the situation of not carrying out the train tracking for a long time, searching train position as early as possible.
Search module when needs carry out stepping calculating, is searched the train driving path according to the search condition of this locality on electronic chart;
The stepping processing module; When receiving data; Judge whether that according to the current data that receive needs carry out stepping and calculate; And when needs carry out stepping calculating; Result and current received data according to the train driving path that finds from oriented electronic chart are carried out stepping calculating, realize the train tracking.
Wherein, when the stepping processing module confirmed to have taken place following any situation according to the current data that receive, judgement need be carried out stepping and calculate:
1) train position information change; 2) the idle change of section accounts for pressure; 3) the signal opening becomes and closes, and there is train in the outside of protection; 4) section accounts for to press and becomes the free time, and train is arranged on it.
Can find out from foregoing description; The train automatic monitoring system that present embodiment proposes complements each other traditional movable block and these two kinds of tracing modes of fixed blocking; The information of which pattern (being the data of ATP transmission or the data that CI sends) arrives the ATS system earlier; Which information to be main just with; At first carry out stepping according to this information and calculate, last tracking results then can revised and replenish to the information that the back arrives.For example, what ATS received earlier is the train position information that ATP sends, but a train is wherein arranged owing to communication failure, and its information is not in this location information; But ATS receives the signalling set status information that CI sends subsequently, and it can demonstrate the somewhere has the situation that accounts for the pressure and do not have train information, and comprehensively these 2 information can be judged the position of communication failure car, thereby reach accurate tracking.But consider that the ATP data carry out the advantage that train is followed the tracks of, so in the preferred version, generally with the ATP data received as main track data, with the CI data received as additional tracking.
Below with preferred train automatic monitoring system shown in Figure 3 with example, the concrete working process of this system is described, as shown in Figure 4, this process comprises following operation:
S1, the signalling set state that collecting unit sends according to CI in the ATS system finds that the signalling set state upgrades, the signalling set status information that then will upgrade sends to the electronic chart unit;
S2, the electronic chart unit is according to the oriented electronic chart of receiving of signalling set state information updating;
In this step, oriented electronic chart can be set up according to subway line by the ATS system in advance, and the process of setting up particularly can repeat no more referring to the description among the embodiment 1 here.
Above-mentioned steps 1 and 2 be not one fix on following each step before operate, it can carry out in tracing process, as long as when the ATS system upgrades electronic chart according to the signalling set status discovery needs received, the operation of carrying out above-mentioned steps 1 and 2 gets final product.
S3, collecting unit sends to the stepping processing module with the signalling set state that CI sends in the ATS system, after the stepping processing module is received the signalling set state, confirms the time gap that this receives data and received data last time, sends to search condition module is set;
S4 judges that when search condition is provided with module the time gap of twice reception data being received has surpassed the setting duration, then upgrades search condition;
In this step, when the time gap that receives data for twice had surpassed the setting duration, search condition was provided with module and thinks that the long period do not carry out train and follow the tracks of, and therefore upgrades search condition to improve search efficiency.Particularly, as enlarging the maximum search distance, like this, search condition just is updated to, and just finishes search when exploring the interior train that do not search of distance in the maximum that has enlarged.
S5, search condition are provided with module the search condition that upgrades are sent to search module, and search module is preserved this search condition in this locality;
S6 when the stepping processing module receives the data of ATP or CI transmission, judges whether that according to the current data that receive needs carry out stepping and calculate, if, then trigger search module and directly search in the enterprising walking along the street of electronic chart, otherwise process ends;
In this step, when the stepping processing module confirms to have taken place following any situation according to the current data that receive, i.e. judgement need be carried out stepping and calculate:
1) train position information change; 2) the idle change of section accounts for pressure; 3) the signal opening becomes and closes, and there is train in the outside of protection; 4) section accounts for to press and becomes the free time, and train is arranged on it.
S7, the search condition that search module is preserved according to this locality is searched the train driving path, and lookup result is fed back to the stepping processing module on electronic chart;
S8, the stepping processing module is carried out corresponding train step-by-step operation according to the lookup result of search module, accomplishes train and follows the tracks of.
One of ordinary skill in the art will appreciate that all or part of step in the said method can instruct related hardware to accomplish through program, said program can be stored in the computer-readable recording medium, like read-only memory (ROM), disk or CD etc.Alternatively, all or part of step of the foregoing description also can use one or more integrated circuit to realize.Correspondingly, each the module/unit in the foregoing description can adopt the form of hardware to realize, also can adopt the form of software function module to realize.The application is not restricted to the combination of the hardware and software of any particular form.
Can find out, promptly do not have the needs of mode switch from the foregoing description, the problem that the train that does not therefore have mode switch and caused is followed the tracks of interruption because the present techniques scheme is used in combination ATP data and CI data simultaneously.Likewise; Owing to be used in combination ATP data and CI data simultaneously; So sail under the abnormal condition such as monitoring range in train communication fault and communication car; Compare with traditional single tracing mode; Data (possibly be ATP data or CI data) are always received by the ATS system, can follow the tracks of according to the train that the data of receiving continue.And in preferred version, adopted oriented electronic chart and search strategy, then further improved the accuracy of train tracking and the efficient of tracking operation.Make the ATS system have stronger fault-tolerant ability and failover capability faster, made basic guarantee in operation security, efficiency of operation and the service quality scheme of City Rail Transit System.
The above is the application's a preferred embodiments only, is not the protection domain that is used to limit the application.All within the application's spirit and principle, any modification of being made, be equal to replacement, improvement etc., all should be included within the application's the protection domain.
Claims (10)
1. a train tracing method is characterized in that, this method comprises:
Train automatic monitoring (ATS) system receives the data of train automatic safety device (ATP) and interlock system transmission in real time, when receiving data, carries out stepping according to current received data and calculates, and realizes the train tracking.
2. the method for claim 1 is characterized in that, this method also comprises:
Said ATS system is designed with to electronic chart according to the topological structure of train operation circuit in advance; When said ATS system receives data; Search the train driving path from said oriented electronic chart; Carry out stepping calculating according to lookup result and current received data, realize the train tracking.
3. method as claimed in claim 2 is characterized in that,
When said ATS system confirms that according to the data of current reception the signalling set state takes place to upgrade, according to the said oriented electronic chart of signalling set state information updating that has upgraded.
4. like claim 2 or 3 described methods, it is characterized in that,
The process that said ATS searches the train driving path from said oriented electronic chart is following:
When said ATS carries out stepping calculating according to the current data judgement needs that receive, directly search in the enterprising walking along the street of electronic chart according to the search condition of this locality.
5. method as claimed in claim 4 is characterized in that,
The time gap that receives data for twice when said ATS system is adjacent surpasses sets duration, then upgrades local search condition.
6. a train automatic monitoring system is characterized in that, this system comprises:
Collecting unit receives the data that train automatic safety device and interlock system send in real time;
Processing unit when said receiving element receives data, carries out train tracking and stepping calculating according to current received data.
7. system as claimed in claim 6 is characterized in that, said system also comprises:
The electronic chart unit, the topological structure according to the train operation circuit is designed with to electronic chart in advance;
Said processing unit when receiving data, is searched the train driving path from said oriented electronic chart, carries out stepping calculating according to lookup result and current received data, realizes the train tracking.
8. system as claimed in claim 7 is characterized in that,
Said electronic chart unit is when confirming that according to the data of the current reception of said collecting unit the signalling set state take place to upgrade, according to the said oriented electronic chart of signalling set state information updating that has upgraded.
9. like claim 7 or 8 described systems, it is characterized in that said processing unit comprises:
Search condition is provided with module, and local search condition is set;
Search module when needs carry out stepping calculating, is searched the train driving path according to the search condition of this locality on electronic chart;
The stepping processing module; When receiving data; Judge whether that according to the current data that receive needs carry out stepping and calculate; And when needs carry out stepping calculating; Result and current received data according to the train driving path that finds from said oriented electronic chart are carried out stepping calculating, realize the train tracking.
10. system as claimed in claim 9 is characterized in that,
Said search condition is provided with module, when the time gap of the adjacent twice reception data of said ATS system surpasses the setting duration, upgrades local search condition.
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| CN104597828A (en) * | 2015-01-16 | 2015-05-06 | 汪顺生 | Automatic recognition device for vehicle-mounted risk data in train control system |
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Application publication date: 20120208 |