CN103129586A - Locomotive position monitoring and safety controlling device based on track circuit and control method thereof - Google Patents
Locomotive position monitoring and safety controlling device based on track circuit and control method thereof Download PDFInfo
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- CN103129586A CN103129586A CN2013100893115A CN201310089311A CN103129586A CN 103129586 A CN103129586 A CN 103129586A CN 2013100893115 A CN2013100893115 A CN 2013100893115A CN 201310089311 A CN201310089311 A CN 201310089311A CN 103129586 A CN103129586 A CN 103129586A
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Abstract
The invention relates to a locomotive position monitoring and safety controlling device based on a track circuit and a control method thereof. The device comprises a fixed device and a vehicle-mounted device. The fixed device comprises a communication server, a centralized traffic control main machine, a data radio station base station, a global position system (GPS) time service device and a computer interlock system. The vehicle-mounted device comprises a safety control main machine, a vehicle-mounted data radio station, a vehicle-mounted GPS time service device, a display, an alarm voice box, a braking device and a sensor. Based on the devices and a current industrial site computer interlock system, the locomotive position monitoring and safety controlling device based on the track circuit and the control method thereof achieve real-time calculation for an accurate position where a locomotive runs on a railway through utilizing the occupied and idle time of the track circuit and according to the collected running speed of the locomotive, can predict whether the locomotive runs on the basis of observing regulations according to the position and by referring to the conditions of a signal machine, a track switch and other signal devices, and carries out early warning and braking before violation of the regulations. Accordingly, the purpose of guaranteeing safe driving is achieved.
Description
Technical field
The present invention relates to locomotive position and detect and driving safety control technology field, disclose a kind of locomotive position based on track circuit and detected and method of controlling security.
Background technology
at present the railroad track of industry spot is comprised of the multistage merogenesis on electric, each section wherein is called track section, be useful on every section track section and detect locomotive and whether be pressed in track circuit detecting device on this section, when locomotive travels on railway, the computer interlock system that matches can detect in real time locomotive by the track circuit detecting device and be on some sections, show different patterns according to the signal in interlocking of signals rule control station field afterwards, drive the driver of locomotive according to the display format driving of signal, to reach the purpose of sacurity dispatching locomotive.But the method is the passive security protection, and when driver's mistake was seen signal or misoperation, native system can't carry out further active safety protection, exists certain shortcoming.
For this situation, common on the market have employing GPS measure or install the accurate location that point type transponder device method is used for the auxiliary detection locomotive head additional on locomotive, in order to carry out the active safety protection.
for the localization method that adopts GPS, can orient easily the position of locomotive, but when locomotive during at the factory building inside processing, GPS equipment can't be worked, exist certain shortcoming, simultaneously based on cost, power supply, the aspects such as property easy to maintenance are considered, usually the GPS fixing aid is only installed with locomotive head inner, be not arranged on railway carriage, so only to orient headstock present position, can't locate the position of the tailstock that has articulated the compartment, can not adopt the method to detect the vehicle commander of a row locomotive, just be difficult to realize function of safety protection when locomotive when sending operation pushing up like this, hypervelocity for the driver, the joy riding such as make a dash across the red light can't be accomplished initiatively protection.
Need on each locomotive head, card reader be installed for installing the dot-mode transponder method additional, and at the ground ad-hoc location, dot-mode transponder is installed, can detect the position of locomotive during by dot-mode transponder at locomotive head, this method has position probing advantage accurately, but exist equally the shortcoming that is not easy to be arranged on railway carriage, can not locate the position of the tailstock that has articulated the compartment.Simultaneously based on equipment cost and installation and maintenance cost consideration, dot-mode transponder can not be installed continuously or too much, so the locomotive position that employing the method obtains neither be continuous, position that can't the all-the-way tracking positioning vehicle has significant limitation.
In addition, at present a lot of locomotives have been installed locomotive running state and have been gathered the black box device, but the general record that only is used for Information Monitoring of this device can only be used for fault and accident analysis afterwards, can not provide the real-time protection in locomotive actual travel process to remind.
Summary of the invention
The present invention is for solving above-mentioned problems of the prior art, a kind of locomotive position monitoring and method of controlling security based on track circuit is provided, can accurately detect locomotive position, and adopt custom-designed method of controlling security to make the operation of locomotive more safe and reliable, improve locomotive shunting efficient, alleviate driver and conductor's labour intensity.
Technical scheme of the present invention is as follows:
Monitoring comprises that with control setup the fixed equipment part forms with mobile unit, fixed equipment is comprised of the communication server (1), centralized traffic control main frame (2), data radio station base station (3), GPS time service equipment (4) and computer interlock system (5), and mobile unit is comprised of peace control main frame (6), vehicle-mounted data radio station (7), vehicle GPS time service equipment (8), telltale (9), audio alert audio amplifier (10), brake equipment (11) and sensor (12);
The data radio station base station (3) of the communication server (1) and each regional center and centralized traffic control main frame (2) are interconnected by ethernet, play the conduct electricity effect at stylobate station of unified management and all number of regions of scheduling; The centralized traffic control main frame (2) of each regional center adopts ethernet interconnected with each computer interlock system (5); Interconnected by fieldbus between peace control main frame (6) and vehicle-mounted data radio station (7), vehicle GPS time service equipment (8), brake equipment (11) and sensor (12);
Telltale (9) is used for software for display interface and information, audio amplifier (10) is used for playing the alarm sound, brake equipment (11) is used for locomotive excision tractive force and brakes, and sensor (12) is used for gathering the locomotive operation work informations such as the speed of a motor vehicle, handle position, cylinder pressure.
The clock of centralized traffic control main frame (2) is calibrated by GPS time service equipment (4), the clock of computer interlock system (5) is synchronizeed with centralized traffic control main frame (2), the clock of peace control main frame (6) is calibrated by vehicle GPS time service equipment (8), thereby the clock between the three is consistent.
When centralized traffic control main frame (2) need to send data to peace control main frame (6) on locomotive, first data are sent to the communication server (1) by ethernet, data radio station base station (3) by the corresponding region after processing by the communication server (1) is unified again sends to vehicle-mounted data radio station (7) to data, and vehicle-mounted data radio station (7) is controlled main frame (6) to data retransmission to the locomotive peace again; Peace control main frame (6) reported data to the flow process of the centralized traffic control main frame (2) on ground in contrast.
Detection to locomotive position is to realize by the relative position of computing machine spacing track section two ends (track insulation joint); Locomotive is pressed in certain zone field and is obtained in real time by existing algorithm by centralized traffic control software, regularly gives peace control main frame (6) by wireless network transmissions; Locomotive is to come Equivalent Calculation to go out by the distance that locomotive sails in section apart from the length of track section two ends insulation joint, and locomotive sails distance in a certain track section into and calculates by the speed of a motor vehicle and entry time and get, and its computing formula is as follows:
Wherein:
Ta is the moment that locomotive arrives a certain track section;
Tb is current time;
S (t) is the t running velocity of locomotive constantly;
The moment Ta that locomotive enters a certain track section sends to centralized traffic control main frame (2) by computer interlock system (5) after by the track circuit device collection, and centralized traffic control main frame (2) sends to corresponding peace control main frame (6) to this information by data radio station base station (3) again;
The operation of locomotive is sailed speed and is gathered gained by peace control main frame (6) by the electro-optical pickoff that is arranged on wheel shaft; Peace control main frame (6) is take 100 milliseconds of running velocitys that gather locomotive as unit, the vehicle GPS time service equipment provides real-time time, be recorded in memory device after real-time time in the running velocity information flag that collects, can access easily in use the velocity information in any small time period;
A physical location of interior each fixed equipment and the length of standing obtains by the mode of mapping, when learning the position of locomotive on track section, can conveniently calculate the relative position of locomotive and the relevant equipment with safety traffic such as signal, tail track, factory building.
The vehicle commander's of one row locomotive measuring method is as follows:
Wherein:
Tc is the moment that locomotive arrives a certain track section;
Td is the moment that locomotive passes through the front track insulation joint fully;
S (t) is the t running velocity of locomotive constantly;
Locomotive enters the moment Ta of a certain track section and moment Td that locomotive passes through the front track insulation joint fully and sends to centralized traffic control main frame (2) by computer interlock system (5) after by the track circuit device collection, and centralized traffic control main frame (2) sends to corresponding peace control main frame (6) to this information by data radio station base station (3) again;
Peace control main frame (6) regularly is uploaded to centralized traffic control main frame (2) with vehicle commander's information of measuring and calculating, assembling concentrated main frame (2) can converse a row locomotive according to vehicle commander's information and articulate railway carriage quantity, thereby can compare with the railway carriage quantity that plan articulates, judged whether to articulate mistake.
Peace control main frame (6) can carry out locomotive make a dash across the red light early warning and braking, determination methods is: peace control main frame (6) can be according to the gradient of speed, load-carrying and the current track of locomotive and the stopping distance that camber information calculates locomotive, then according to the relation between the distance between stopping distance and the place ahead red light, where necessary by reporting to the police in advance or the modes such as autobrake are carried out safety control.
The highest safety speed-limit of the motoring condition of the traveling-position that peace control main frame (6) can be current according to locomotive, the load condition of locomotive, locomotive (railway carriage is sent on traction railway carriage or top) judgement locomotive, and carry out voice suggestion when safety speed-limit changes, can implement to report to the police or automatically excise the safe handling measure such as tractive force the locomotive of hypervelocity according to the configuration prediction scheme.
Peace control main frame (6) can judge whether each parts of locomotive are in normal working according to the locomotive operation work information that collects, and carries out alarm when finding operation irregularity; Peace control main frame (6) simultaneously can be according to the locomotive operation work information that collects, through the reasoning computing, the judgement driver in the startup of locomotive, travel, the operations to locomotive in docking process is to meet working specification, when finding not meet standard, carry out alarm, and alarm message is reported assemble concentrated main frame (2), form form by assembling concentrated main frame (2).
Centralized traffic control main frame (2) sends the information such as signal of locomotive periphery to peace control main frame (6) in real time, peace control main frame (6) shows peripheral signal information by telltale, check for the driver, and synchronously carry out voice suggestion when the coherent signal conversion, remind driver operation; Peace control main frame (6) can carry out non-volatile recording to the locomotive operation work information that collects, and can carry out recovering and analysis to the data of record.
The invention has the beneficial effects as follows: the present invention compares with other similar inventions, can improve the accuracy that locomotive position detects, and adopts method of controlling security of the present invention to make the operation of locomotive more safe and reliable, and realizes with low cost.
Description of drawings
Fig. 1 is the system construction drawing that installs in the present invention.
Fig. 2 is that in the present invention, locomotive position detects schematic diagram.
Fig. 3 is locomotive apart from the front signal machine apart from calculating schematic diagram.
The specific embodiment
Shown in accompanying drawing 1.
Based on the locomotive position monitoring of track circuit and the device of safety, monitoring comprises that with control setup the fixed equipment part forms with mobile unit, fixed equipment is comprised of the communication server (1), centralized traffic control main frame (2), data radio station base station (3), GPS time service equipment (4) and computer interlock system (5), and mobile unit is comprised of peace control main frame (6), vehicle-mounted data radio station (7), vehicle GPS time service equipment (8), brake equipment (11) and sensor (12); The communication server (1) is interconnected by ethernet with data radio station base station (3) and the centralized traffic control main frame (2) of each regional center, and the centralized traffic control main frame (2) of each regional center adopts ethernet interconnected with GPS time service equipment (4) and each computer interlock system (5); Interconnected by fieldbus between peace control main frame (6) and vehicle-mounted data radio station (7), vehicle GPS time service equipment (8), brake equipment (11), sensor (12).Mobile unit is provided with audio alert audio amplifier (10), and peace control main frame (6) is interconnected by fieldbus with audio alert audio amplifier (10).: mobile unit is provided with telltale (9), and peace control main frame (6) is interconnected by fieldbus with telltale (9).
Shown in accompanying drawing 2,3.
1, system builds.
System sets up a communication server in the control center, a number of units conduct electricity stylobate station is installed at center, each centralized traffic control zone, and a data radio station is installed on every locomotive.The data radio station base station of the communication server and each regional center is interconnected by ethernet, plays the conduct electricity effect at stylobate station of unified management and all number of regions of scheduling.
At GPS time dissemination system of each centralized traffic control zone installation, be used for the precise time calibration to the centralized traffic control main frame, at every locomotive, a GPS time dissemination system is installed simultaneously, for the time calibration to peace control main frame.After carrying out time calibration by gps time, ground maneuvers concentrates main frame to be consistent with the time of vehicle-mounted peace control main frame.The organization chart of system as shown in Figure 1.
2, wireless transmission function realizes.
When centralized traffic control main frame or other computing machine need to send data to peace control main frame on locomotive, it first sends to the communication server to data by ethernet, by the data radio station base station of the communication server by the corresponding region, data are sent on locomotive, the peace control main frame reported data on locomotive to the centralized traffic control main frame flow process on ground in contrast again.The separate unit data radio station base station in each centralized traffic control zone uses 1 to (2) frequency, uses frequency 1 that special-purpose 230M number passes frequency range to (2), and the transmitting-receiving minimum interval is 7MHz.Channel transmission rate is 24000bps, is half duplex transmission.
3, locomotive position detects and realizes.
In the present invention to locomotive position determine be that the relative position of locomotive in section realize by calculating, be the length of the insulation joint at computing machine spacing track section two ends, in because stand the position of each section and length GIS cartographic information can be in advance mode by mapping obtain, so as long as learn that the relative position information of locomotive and section can know the accurate location in the whole field of standing of locomotive.Locomotive is pressed in certain zone field and is obtained in real time by existing algorithm by centralized traffic control software, regularly gives peace control main frame by wireless network transmissions; Locomotive is to come Equivalent Calculation to go out by the distance that locomotive enters in a certain section apart from the length of track section two ends insulation joint, and the distance that locomotive enters in a certain track section is calculated by the speed of a motor vehicle and entry time.Locomotive actual travel speed by detecting the electro-optical pickoff DF8-200P/R(frequency signal of installing on locomotive axle, often turns pulse count: the speed in frequency amount signal gained that 200P/R) sends by peace control main frame.Peace is controlled main frame take 100 milliseconds of running velocitys that gather locomotive as unit, and is recorded in memory device, simultaneously the speed of a motor vehicle of record is carried out time mark, can conveniently access in use the velocity information in the random time section in the storage data.
Locomotive in the process of moving, as shown in Figure 2, when crossing track insulation joint from section A and reach next track B in the place ahead (Ta constantly), the track circuit that computer interlock system can detect locomotive the place ahead takies situation, and report the concentrated main frame of dispatcher, then send to locomotive peace control main frame by wireless mode.Due to the propagation delay time of a station status information, the occupied information of section B was transferred on locomotive in the Tb=Ta+Td moment (Td is propagation delay time), and this moment, locomotive entered into the place that the section B inner distance is L1.At the Tc of Tb after the moment constantly, the position that locomotive enters section B can be expressed as: Lb=L1+L2, and wherein L2 represents the distance that locomotive travels in the time period at Ta+Td to Tc, the distance that enters section B for locomotive divides 2 kinds of methods to carry out
(1) Tb constantly after, the computing formula of L is as follows;
Wherein, need to use the speed sampling value between Ta to Tc, establish Ta and constantly (comprise Ta constantly) and be followed successively by S[1 with the speed sampling value of Tc between the moment], S[2] ..., S[n], n=(Tc-Ta)/0.1.
(2) Ta to Tb constantly between, locomotive enters the distance of section B and calculates by following formula:
Lb=La-la
Wherein La is the distance that locomotive enters section A, and its method of measurement is the same, and la is the mapping length of section; Before can sending to locomotive at the track section occupied information on ground by this method, judge in advance locomotive and entered the place ahead section, compensate in this way because the problem that data transfer delay brings.When peace control main frame recovers by firm start or by faulty condition, require locomotive to cross over the front track insulation joint with low speed driving a period of time, shorter as far as possible with the L1 distance that allows above-mentioned transmission delay produce, to increase traffic safety.
4, locomotive peace control method is realized.
The three steps measures such as sound and light alarm, excision tractive force, service braking are taked in the defense controls of system.Concrete function has overrunning of signal when preventing locomotive shunting, prevents that train running speed from surpassing the Maximum speed limit of permission, the control car team stops ahead at the stub end siding safety distance.
(1) state judgement
1.. apart from the distance of front signal: as shown in Figure 3, the distance L a that locomotive enters section A can calculate by said method, and the general signal machine is identical with the track insulation installation site, so locomotive can be calculated as apart from the distance L x of front signal machine: Lx=la-La; Wherein la is the mapping length of section A;
2.. the speed limit data acquisition: the speed limit table is comprised of traction state, section, speed limit, the peace control main frame judgement locomotive passable according to handle position is in traction or state is sent on the top, according to position judgment current certain section that is in as can be known, then get speed limit according to speed limit Biao Kecha;
(2) the Control for Speed Limitation measure mainly contains:
3.. train speed reach speed limit 90% the time carry out voice reminder " attention speed ".
4.. exceed the speed limit and carried out audio alert in 5 seconds, bus attendant must have response;
5.. report to the police after 5 seconds, without response (speed does not change), excise tractive effort operation as the driver, train pipe decompression 100kpa.
6.. locating apart from blue lamp or red light " 15 meters+stopping distance Sz ", if speed is non-vanishing, carry out conventional brake.
7.. locate apart from " 15 meters+stopping distance Sz " before fouling post, stub end siding, if speed is non-vanishing, carry out conventional brake.
Train braking is tried to achieve by following formula apart from Sz:
Circular is referring to " the TBT1407-1998 train traction calculates rules ".
(3) signal speech prompting function
1.. the place ahead route signal is continuous two voice suggestions of white lamp: white lamp.
2.. the place ahead route signal is one white one voice suggestion of blue lamp: caution signal.Voice suggestion opportunity:
Remind in the time of can being set to timed reminding or signal intensity be detected.
(4) automatic safe is controlled inspection
Peace control main frame can be by the locomotive floor data situation of change that collects, and whether the prediction driver travels by regulations, below enumerates an example:
According to common moving operation rules, after locomotive stops the traveling more than 30 minutes, to restart mule carriage and must do brake performance (braking quality) checkout test, the brake experiment standard is:
1.. the single valve full application of brake: brake-cylinder pressure rises to the 300kpa time by 0 should be in 3S;
2.. single valve is alleviated: brake-cylinder pressure drops to the following time of 35kpa in 4S by 300kpa.
Peace control main frame Real-time Collection brake cylinder is pressed, and after locomotive detected and stop 30 substations and restart, if above data variation process (process of the test) do not detected, just judge the locomotive violation operation, will carry out that audio alert is pointed out and carry out the data record.
(5) data logging
By inner SD card record, the SD capacity is the 8G byte to peace control main frame for the locomotive floor data that gathers, and can surpass a week writing time.
Claims (10)
1. monitor and safety control based on the locomotive position of track circuit, it is characterized in that: monitoring comprises that with control setup the fixed equipment part forms with mobile unit, fixed equipment is comprised of the communication server (1), centralized traffic control main frame (2), data radio station base station (3), GPS time service equipment (4) and computer interlock system (5), and mobile unit is comprised of peace control main frame (6), vehicle-mounted data radio station (7), vehicle GPS time service equipment (8), telltale (9), audio alert audio amplifier (10), brake equipment (11) and sensor (12);
The communication server (1) is interconnected by ethernet with data radio station base station (3) and the centralized traffic control main frame (2) of each regional center, and the centralized traffic control main frame (2) of each regional center adopts ethernet interconnected with GPS time service equipment (4) and each computer interlock system (5); Interconnected by fieldbus between peace control main frame (6) and vehicle-mounted data radio station (7), vehicle GPS time service equipment (8), brake equipment (11), sensor (12), telltale and audio alert audio amplifier (10).
2. monitor and method of controlling security based on the locomotive position of track circuit, it is characterized in that: this method is determined the reference position of locomotive by track circuit, calculate the distance travelled of locomotive by the running velocity of locomotive, thereby calculate the exact location of locomotive in railroad track, remind the driver to travel by chapter in conjunction with the state judgement of the signalling set in rail yard again, where necessary locomotive is carried out brake regulation, ensure that motorcycle safety travels.
3. the locomotive position based on track circuit according to claim 2 is monitored and method of controlling security, it is characterized in that: the clock of centralized traffic control main frame is calibrated by the GPS time service equipment, the clock of computer interlock system is synchronizeed with the centralized traffic control main frame, the clock of peace control main frame is calibrated by vehicle GPS time service equipment (8), thereby the clock between the three is consistent.
4. the locomotive position based on track circuit according to claim 2 is monitored and method of controlling security, the centralized traffic control main frame it is characterized in that: when need to send data to peace control main frame on locomotive, first data are sent to the communication server by ethernet, data radio station base station by the corresponding region after processing by the communication server is unified again sends to vehicle-mounted data radio station to data, vehicle-mounted data radio station again data retransmission to locomotive peace control main frame; Peace control main frame reported data to the flow process of the centralized traffic control main frame on ground in contrast.
5. locomotive position monitoring and method of controlling security based on track circuit according to claim 2, is characterized in that: detect each locomotive place particular location in orbit; Detection to locomotive position is to realize by the relative position of computing machine spacing track section two ends; Certain zone field of locomotive place is obtained by existing algorithm in real time by centralized traffic control software, regularly gives peace control main frame by wireless network transmissions; Locomotive is to come Equivalent Calculation to go out by the distance that locomotive sails in section apart from the length of track section two ends insulation joint, and locomotive sails distance in a certain track section into and calculates by the speed of a motor vehicle and entry time and get, and its computing formula is as follows:
Wherein:
Ta is the moment that locomotive arrives a certain track section;
Tb is current time;
S (t) is the t running velocity of locomotive constantly;
The moment Ta that locomotive enters a certain track section sends to the centralized traffic control main frame by computer interlock system after by the track circuit device collection, and the centralized traffic control main frame sends to corresponding peace control main frame to this information by the data radio station base station again;
The operation of locomotive is sailed speed and is gathered gained by peace control main frame by the electro-optical pickoff that is arranged on wheel shaft; Peace control main frame is take 100 milliseconds of running velocitys that gather locomotive as unit, the vehicle GPS time service equipment provides real-time time, be recorded in memory device after real-time time in the running velocity information flag that collects, can access in use the velocity information in any small time period.
6. the locomotive position based on track circuit according to claim 2 is monitored and method of controlling security, and it is characterized in that: can the vehicle commander of a row locomotive accurately be calculated, measuring method is as follows:
Wherein:
Tc is the moment that locomotive arrives a certain track section;
Td is the moment that locomotive passes through the front track insulation joint fully;
S (t) is the t running velocity of locomotive constantly;
Locomotive enters the moment Ta of a certain track section and locomotive and sends to centralized traffic control main frame by computer interlock system after by the track circuit device collection through the moment Td of front track insulation joint fully, and the centralized traffic control main frame sends to corresponding peace control main frame to this information by the data radio station base station again;
Peace control main frame regularly is uploaded to the centralized traffic control main frame with vehicle commander's information of measuring and calculating, assemble and concentrate main frame to converse a row locomotive according to vehicle commander's information to articulate railway carriage quantity, thereby can compare with the railway carriage quantity that plan articulates, judged whether to articulate mistake.
7. the locomotive position based on track circuit according to claim 2 is monitored and method of controlling security, it is characterized in that: peace control main frame carries out locomotive make a dash across the red light early warning and braking, determination methods is: peace control main frame can be according to the gradient of speed, load-carrying and the current track of locomotive and the stopping distance that camber information calculates locomotive, then according to the relation between the distance between stopping distance and the place ahead red light, where necessary by reporting to the police in advance or the modes such as autobrake are carried out safety control.
8. the locomotive position based on track circuit according to claim 2 is monitored and method of controlling security, it is characterized in that: peace is controlled the load condition of the main frame traveling-position current according to locomotive, locomotive, the motoring condition of locomotive judges the highest safety speed-limit of locomotive, and carry out voice suggestion when safety speed-limit changes, can implement to report to the police or automatically excise the safe handling measure such as tractive force the locomotive of hypervelocity according to the configuration prediction scheme.
9. the locomotive position based on track circuit according to claim 2 is monitored and method of controlling security, it is characterized in that: peace control main frame is according to the locomotive operation work information that collects, judge whether each parts of locomotive are in normal working, carry out alarm when finding operation irregularity; Peace control main frame simultaneously can be according to the locomotive operation work information that collects, through the reasoning computing, the judgement driver in the startup of locomotive, travel, the operations to locomotive in docking process is to meet working specification, when finding not meet standard, carry out alarm, and alarm message is reported assemble concentrated main frame, concentrate main frame to form form by assembling.
10. the locomotive position based on track circuit according to claim 2 is monitored and method of controlling security, it is characterized in that: the centralized traffic control main frame sends the information such as signal of locomotive periphery to peace control main frame in real time, peace control main frame shows peripheral signal information by telltale, check for the driver, and synchronously carry out voice suggestion when the coherent signal conversion, remind driver operation; Peace control main frame carries out non-volatile recording to the locomotive operation work information that collects, and can carry out recovering and analysis to the data of record.
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