CN104890533B - A kind of tramcar control system and maximum operational speed control method - Google Patents
A kind of tramcar control system and maximum operational speed control method Download PDFInfo
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- CN104890533B CN104890533B CN201410082108.XA CN201410082108A CN104890533B CN 104890533 B CN104890533 B CN 104890533B CN 201410082108 A CN201410082108 A CN 201410082108A CN 104890533 B CN104890533 B CN 104890533B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a kind of tramcar control system and maximum operational speed control methods, system includes passive tag, beacon reader, the first wireless communication module, central server, infrared transmitter, infrared remote receiver and the second wireless communication module, and central server is also connected with router, visibility detector, thermometer and rainfall gauge；Passive tag is arranged in orbit；Beacon reader is arranged in electric car lower front, and the first wireless communication module is connect with beacon reader, and infrared transmitter setting is arranged in orbit in electric car head, infrared remote receiver, and infrared remote receiver is connect with the second wireless communication module.Central server calculates electric car highest running speed by visibility, environment temperature, precipitation and load condition, it is ensured that the safety of electric car operation.The present invention is suitable for urban tram system.
Description
Technical field
The present invention relates to city railroad traffic controls, more particularly, to a kind of higher tramcar control system of safety
And maximum operational speed control method.
Background technique
In Modern City Traffic, subway on schedule, the feature that freight volume is big, investment is big becomes domestic big city first choice at present and hands over
Logical mode, but its investment is excessive, causes financial burden overweight etc. that negative effects also increasingly show.And tramcar is then with its investment
Small, the advantages that construction period is short, freight volume is moderate, project examination is simple, becomes the novel track favored by vast big and medium-sized cities and hands over
Logical mode.
Subway is run in the state that underground is totally-enclosed, is monitored in real time by ATP technology, and driving can also be realized complete
It is automatic unmanned, reach the security level of SIL4.And tramcar is then had under half isolation or mixed row mode in city
In the problem of exercising, thereby producing a safe driving.Although America and Europe is estimated using driver over more than 100 years and is driven, with
By means of the high-quality and civic of driver it is high-quality and a whole set of signal and safe practice system without occur it is super-huge
Accident, but and it is external unlike Chinese big and medium-sized cities rush hour, crossroad (flat fork) or crowded section
Flow of the people be American-European countries cannot mention in the same breath, be also above the imagination and design concept of external expert.At present simultaneously
The habit of domestic citizen's civilization trip is also far from reaching the civilization habit that Cities of Foreign Countries citizen form over more than 100 years.Even if
Reach the safest signal of SIL3 standard and safety control system using foreign countries, tramcar travels or exists in Chinese city
Huge security risk.
State Intellectual Property Office of the People's Republic of China discloses Publication No. CN1272436A's on November 8th, 2000
Patent document, title are a kind of monitoring systems of real-time displaying running state of subway.It includes optical fiber, optical time domain reflectometer
(OTDR), optical time domain reflectometer is connected to any end of optical fiber, further includes mechanical displacement sensing mechanism, the mechanical position
It moves sensing mechanism and presses certain Density Distribution on optical fiber.This scheme is anti-by train position information by mechanical displacement sensing mechanism
It should be on optical time domain transmitter, to be positioned to train, but this scheme is not suitable for tramcar.
Summary of the invention
The present invention is mainly to solve shortage present in the prior art to the skill of the effective and safe safeguards system of tramcar
Art problem, provide it is a kind of it is highly-safe, widely applicable, consider impact factor comprehensive tramcar control system and maximum transport
Row method for control speed.
What the present invention was mainly addressed by following technical proposals in view of the above technical problems：A kind of tramcar is most
Big speed of service control method, includes the following steps：
S01, system starting；
S02, System self-test, if there is equipment is not since self-test is by issuing alarm signal, then stopping alarm, otherwise into
Enter step S03；
S03, judge whether visibility is greater than threshold of visibility, if it is, speed based on setting haze limitation speed Vi
V0 is spent, subsequently into step S04；If visibility is less than or equal to threshold of visibility, haze limitation is calculated according to visibility
Speed Vi, subsequently into step S04；
S04, judge whether the same day is frosty weather, then enters step S05 if it is frosty weather；If not frost day
Gas then sets the first midrange speed V1 as basic speed V0, and enters step S06；
S05, judge this vehicle whether be the same day on this route the first coastiong time, if it is the first midrange speed V1 by with
Lower formula obtains：V1=V0 × K1, V0 are basic speed, and K1 is frost coefficient, subsequently into step S06；If this vehicle is not
The first coastiong on current line then sets the first midrange speed V1 as basic speed V0, and enters step S06；
S06, the second midrange speed V2 is determined according to precipitation, third midrange speed V3 is adjusted according to temperature；
S07, the 4th midrange speed V4 is adjusted according to vehicle load；
S08, the size for comparing the 4th midrange speed V4 and haze limitation speed Vi, taking smaller value therein is that electric car is maximum
Speed of service Vmax.
If it is frosty weather, frictional force of the vehicle when braking on the track for have frosting can be smaller than normal condition, so
It needs to reduce the speed of service.Frost of first coastiong after on track can be eliminated, and not had an impact to subsequent vehicle, therefore
And the deceleration of the first coastiong is only needed to pass through.K1 value range is 0.8-0.9.
Preferably, described include the following steps according to precipitation adjustment third midrange speed V3：
S061, judge whether there is precipitation in 2 hours, if it is, the second midrange speed V2 is obtained by following formula：V2=
V1 × K2, K2 are precipitation coefficient, subsequently into step S062；If setting the second midrange speed V2 without precipitation in 2 hours
For the first midrange speed V1, subsequently into step S063；
S062, judge whether current environmental temperature is greater than 0 degree Celsius, if it is, entering step S063；If working as front ring
Border temperature is less than or equal to 0 degree Celsius, then third midrange speed V3 is determined by following formula：V3=V2 × K3, K3 are the system that freezes
Number, subsequently into step S07；
S063, third midrange speed V3 is set as the second midrange speed V2, subsequently into step S07.
If there is precipitation, electric car and rail friction can also reduced, so as to cause braking distance increasing, so needing to drop
The low velocity upper limit can make precipitation form frost in orbit, further decrease frictional force, accordingly if temperature is lower than 0 degree Celsius
Speed limit should also be as further decreasing.The value range of K2 is 0.8-0.9, and the value range of K3 is 0.7-0.8.
Preferably, described be specially according to the 4th midrange speed V4 of vehicle load adjustment：
When loading capacity is full load, the 4th midrange speed V4 is determined by following formula：V4=V3 × K41, K41 are fully loaded system
Number；When loading capacity is semi-load, the 4th midrange speed V4 is determined by following formula：V4=V3 × K42, K42 are semi-load coefficient；When
When loading capacity is unloaded, the 4th midrange speed V4 is set as third midrange speed V3；
It is fully loaded with for electric car loading capacity 75% or more of peak load, semi-load are electric car loading capacity in peak load
25%-75%；Zero load is electric car loading capacity the 25% or less of peak load.
Vehicle braking distance in the case where loading capacity difference is different, and the more big then braking distance of load-carrying is longer, so needing
Maximum speed is modified according to load-carrying.The value range of K41 is 0.8-0.85, and the value range of K42 is 0.9-0.95.
Preferably, the haze limitation speed Vi is determined by following formula：Vi=[(14.44+2S/a)0.5- 3.8] a formula
In, S is visibility, and a is percentage speed variation when electric car brakes.
Reaction time of the driver after finding preceding object is 1s, and system reaction time is no more than 1.2s, turn-out track setting
Time is 1.6s, that is to say, that the time required for appearing in preceding object and start in driver eye to electric car to start to brake is 1s
+ 1.2s+1.6s=3.8s, the electric car speed of service are V, and the distance passed through in 3.8s is 3.8V, and electric car decelerates to static taken
Between be V/a, moderating process pass through distance be V2/ 2a, to guarantee that train does not collide with preceding object, visibility S is necessary
Greater than 3.8V+V2/ 2a, i.e.,
S≥3.8V+V2/2a
It is calculated, electric car speed of service V≤[(14.44+2S/a)0.5- 3.8] a, therefore haze limits speed Vi=
[(14.44+2S/a)0.5-3.8]a。
From safety considerations, percentage speed variation when electric car brakes also is linked up with the case where precipitation, frost, load-carrying, is needed
It to be adjusted according to the actual situation.
A kind of tramcar control system, including the read-write of visibility detector, thermometer, rainfall gauge, passive tag, beacon
Device, the first wireless communication module, router, central server, infrared transmitter, infrared remote receiver and the second radio communication mold
Block, the passive tag have several, and passive tag is arranged in orbit；Beacon reader is arranged in electric car lower front, institute
It states the first wireless communication module to connect with beacon reader, the central server is connect with router, the infrared transmitter
Setting is on electric car head, and in orbit, the infrared remote receiver and the second wireless communication module connect for the infrared remote receiver setting
It connects；The visibility detector, thermometer and rainfall gauge are all connect with central server.
First wireless communication module, the second wireless communication module and router are all connected to wireless network.Router is in
Central server is arranged in control centre.Passive tag is arranged in orbit every a distance, is stored in each passive tag
The information of itself setting position.Beacon reader can read the information stored in the passive tag in certain distance.This away from
From generally 5-20 meters.When electric car starts, beacon reader constantly refreshes the information read, and successively by the information read
Central server is sent to by the first wireless communication module, wireless network and router, and the staff of control centre can be with
The location of electric car is seen on central server.When electric car is close to crossroad, flat fork or crowded area, control
The staff at center processed can according to the actual situation remind trolleyman.Visibility detector test is current to see
It spends and passes to central server.Thermometer measure environment temperature simultaneously passes to server.Rainfall gauge counted in two hours
Precipitation simultaneously passes to server.Electric car load condition passes through the first radio communication mold by the weight detection system of electric car itself
Block, wireless network and router are sent to central server.Central server is completed after the calculating of highest running speed of train
It is sent to electric car, the electric car speed of service is necessarily less than highest running speed.
Infrared remote receiver is arranged in orbit every a distance.The infrared ray that infrared transmitter issues is by infrared remote receiver
It receives.After infrared remote receiver receives infrared ray, passes through the second wireless communication module together with own location information and send
To wireless network, received by the first wireless module and router.The second wireless receiving module also passes through the first wireless communication simultaneously
The information that the beacon reader that module issues is read is to determine whether infrared ray should be received.If someone is in infrared acquisition
In range between injection, then infrared ray can be by partition a period of time.Infrared remote receiver finds that the phase of infrared ray should be received
Interior certain time is not received by between infrared ray then determines someone's injection, and warning message is then passed through the second nothing
Line communication module is sent to wireless network.First wireless communication module receive pass through after warning message installed on electric car it is aobvious
The equipment such as display screen, loudspeaker are notified to trolleyman.The staff of control centre can learn from central server simultaneously
Whether between someone's injection, driver is reminded to pay attention to driving safety in case of need.The infrared ray that infrared transmitter issues
Transmission range is 300 meters or more, and tramcar (can be much smaller than this close to crossing or crowded area at 70 kilometers/hour
Speed) speed under brake need 180 meters or so, enough drivers make control appropriate and operate.
Preferably, further including pyroelectric infrared sensor, the pyroelectric infrared sensor is arranged in crowded area
Domain, the second nearest wireless communication module of the pyroelectric infrared sensor connection.
Track is both provided with heat by the intermediate position monitored of the needs such as crossroad, flat fork or crowded area and releases
Electric infrared sensor is responsible for detecting whether between someone's injection.When electric car is close to pyroelectric infrared sensor detection zone
(being judged whether by the signal that the first wireless communication module issues close), pyroelectric infrared sensor is started to work, by the
Two wireless communication modules send testing result to wireless network, are received by the first wireless communication module and router, and electricity is helped
Vehicle driver and control centre staff carry out control management.
Preferably, the passive tag is RFID chip, the beacon reader is RFID card reader.
Preferably, first wireless communication module and the second wireless communication module all include GPRS unit and WIFI mono-
Member.
GPRS unit is used for the connection with router, and WIFI unit is for the first wireless communication module and the second wireless communication
Connection between module.
Preferably, urban tram safeguards system further includes several inductance loops, the inductance loop is arranged in track
Between ground on and close to the region of pyroelectric infrared sensor is equipped with, the inductance loop and pyroelectric infrared sensor connect
It connects.
When electric car is close to the monitoring area of pyroelectric infrared sensor, inductance loop generates inductive signal and is sent to pyroelectricity
Infrared sensor, pyroelectric infrared sensor will test result and sent by the second wireless communication module.Pass through inductance loop
The position of electric car can be more accurately determined.
Preferably, urban tram safeguards system further includes trackside control cabinet, the pyroelectric infrared sensor and
Infrared remote receiver all passes through trackside control cabinet and connect with the second wireless communication module, traffic lights control of the trackside control cabinet also with crossing
Case connection processed.
Trackside control cabinet handle and control each module of connection to each square signal, can also control if necessary
Traffic lights processed, control to adjust traffic.
Bring substantial effect of the present invention is that the maximum travelling speed of electric car can be obtained according to environment regulating calculation,
It is highly-safe, the specific location of vehicle all the time can be determined by overall monitoring system, can pass through safe driving system
Determine that vehicle front with the presence or absence of security risk, greatly facilitates scheduling and monitoring personnel under the understanding and instruction of instant situation
It reaches.Driver receives alerting signal and the scheduling/control centre prompting instruction of front security risk simultaneously, can make oneself
Judgement.This system is simultaneously not provided with the Function for Automatic Pilot such as self-actuating brake, to distinguish the difference of tramcar and subway, save at
This, builds simple and quick.
Detailed description of the invention
Fig. 1 is a kind of tramcar control system circuit block diagram of the invention；
Fig. 2 is a kind of control process flow chart of the invention；
In figure：1, beacon reader, the 2, first wireless communication module, 3, passive tag, 4, router, 5, center service
Device, 6, infrared transmitter, 7, infrared remote receiver, the 8, second wireless communication module, 9, pyroelectric infrared sensor, 10, inductance loop,
11, wireless network, 12, visibility detector, 13, rainfall gauge, 14, thermometer.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment：A kind of tramcar control system of the present embodiment, as shown in Figure 1, including beacon reader 1, first
Wireless communication module 2, passive tag 3, router 4, central server 5, infrared transmitter 6, infrared remote receiver 7, second are wireless
Communication module 8, pyroelectric infrared sensor 9, inductance loop 10, wireless network 11, visibility detector 12, rainfall gauge 13 and temperature
Meter 14.
Passive tag has several, in orbit every a distance setting.Infrared remote receiver also has several, Mei Geyi
The setting of section distance is in orbit.The setting of beacon reader is arranged in electric car lower front, infrared transmitter in electric car front end.Routing
Device and central server are arranged in control centre.Beacon reader is connect with the first wireless communication module.Infrared remote receiver and
The connection of two wireless communication modules.The infrared remote receiver that multiple can be located proximate to shares second wireless communication module, can also
Second wireless communication module is connected with each infrared remote receiver.
The current visibility of visibility detector test simultaneously passes to central server.Thermometer measure environment temperature simultaneously passes
Pass server.Rainfall gauge counts the precipitation in two hours and passes to server.Electric car load condition is by electric car itself
Weight detection system central server is sent to by the first wireless communication module, wireless network and router.
First wireless communication module and the second wireless communication module all include GPRS unit and WIFI unit.GPRS unit is used
In the connection of same router, WIFI unit is for the connection between the first wireless communication module and the second wireless communication module.
Pyroelectric infrared sensor is arranged in crowded region and connects the second nearest wireless communication module.Inductance loop
It is arranged on the ground of interorbital and connects close to the region for being equipped with pyroelectric infrared sensor and with pyroelectric infrared sensor
It connects.
First wireless communication module, the second wireless communication module and router are all connected to wireless network.Router is in
Central server is arranged in control centre.Passive tag in orbit, is stored with every 20 meters of left and right settings in each passive tag
The information of itself setting position.Beacon should be able to can be worked normally at -40 ° to 60 ° of low temperature.Beacon reader can read one
The information stored in passive tag in set a distance.Generally 5-20 meters of this distance.When electric car starts, beacon reader is continuous
Refresh the information read, and the information read is passed sequentially through into the first wireless communication module, wireless network and router and is sent out
It is sent to central server, the staff of control centre can see the location of electric car on central server.Work as electric car
When close to crossroad, flat fork or crowded area, the staff of control centre can be according to the actual situation to electric car
Driver reminds.
Infrared remote receiver is arranged in orbit every a distance.The infrared ray that infrared transmitter issues is by infrared remote receiver
It receives.After infrared remote receiver receives infrared ray, passes through the second wireless communication module together with own location information and send
To wireless network, received by the first wireless module and router.The second wireless receiving module also passes through the first wireless communication simultaneously
The information that the beacon reader that module issues is read is to determine whether infrared ray should be received.If someone is in infrared acquisition
In range between injection, then infrared ray can be by partition a period of time.Infrared remote receiver finds that the phase of infrared ray should be received
Interior certain time is not received by between infrared ray then determines someone's injection, and warning message is then passed through the second nothing
Line communication module is sent to wireless network.First wireless communication module receive pass through after warning message installed on electric car it is aobvious
The equipment such as display screen, loudspeaker are notified to trolleyman.The staff of control centre can learn from central server simultaneously
Whether between someone's injection, driver is reminded to pay attention to driving safety in case of need.The infrared ray that infrared transmitter issues
Transmission range is 300 meters or more, and tramcar (can be much smaller than this close to crossing or crowded area at 70 kilometers/hour
Speed) speed under brake need 180 meters or so, enough drivers make control appropriate and operate.
Track is both provided with heat by the intermediate position monitored of the needs such as crossroad, flat fork or crowded area and releases
Electric infrared sensor is responsible for detecting whether between someone's injection.When electric car is close to pyroelectric infrared sensor detection zone
(being judged whether by the signal that the first wireless communication module issues close), pyroelectric infrared sensor is started to work, by the
Two wireless communication modules send testing result to wireless network, are received by the first wireless communication module and router, and electricity is helped
Vehicle driver and control centre staff carry out control management.
When electric car is close to the monitoring area of pyroelectric infrared sensor, inductance loop generates inductive signal and is sent to pyroelectricity
Infrared sensor, pyroelectric infrared sensor will test result and sent by the second wireless communication module.Pass through inductance loop
The position of electric car can be more accurately determined.
In order to preferably handle the signal of infrared remote receiver and pyroelectric infrared sensor, trackside control can also be set
Case, infrared remote receiver, pyroelectric infrared sensor and the second wireless communication module are all connect with trackside control cabinet.Roadside control cabinet
In be equipped with single-chip microcontroller, to each square signal carry out handle and each module of connection is controlled.Trackside control cabinet can also and road
The controlling system of traffic light connection of mouth.
150 meters of one beacons of setting or inductance loop in front of chain stay road junction, vehicle notifies crossing equipment when reaching, and acquires letter
Breath.
A beacon or inductance loop are buried again at 70 meters in front of chain stay road junction, and collected information is passed through beacon or induction
Reader interaction on ring and vehicle, notifies driver vehicle to enter chain stay road junction, pays attention to surface conditions.
The temperature monitor based on Wifi is arranged in chain stay road junction.To detect whether that someone (crowd) is just occupying this space, body
Warm detector is connected by cable with trackside control cabinet, and road conditions signal is passed back driving by smart antenna after single-chip microcontroller is analyzed
Room.
Temperature monitor is arranged in road junction, and two sides liquid crystal display board and two warning lamps are arranged simultaneously.As long as someone is in road
In the domain of mouth region, beacon or the occupied information of inductance loop are just notified by cable.When vehicle is pressed on 100 meters of beacons or inductance loop
When, liquid crystal display board notes that passerby, and vehicle reaches, and no through traffic.When somebody passes through, warning lamp is lighted, and alerts driver,
Slow down.
This programme further includes decompression driver system, and decompression driver system is being turned round in twenty-twenty vision visibility scope
Locate, climb and fall location, black spot, the intensive location setting warning lamp of pedestrian, liquid crystal display board, 50 meters of settings before location
Beacon or inductance loop, when vehicle is pressed onto beacon or inductance loop, notice warning lamp flashing, display board prompt pedestrian " vehicle is close,
Pedestrian speeds away ".
Beacon or inductance loop are set before location, are referred to the length close to section of grade crossing signal subsystem to carry out
It calculates.
A kind of tramcar maximum operational speed control method, includes the following steps：
S01, system starting；
S02, System self-test, if there is equipment is not since self-test is by issuing alarm signal, then stopping alarm, otherwise into
Enter step S03；
S03, judge whether visibility is greater than threshold of visibility, if it is, speed based on setting haze limitation speed Vi
V0 is spent, subsequently into step S04；If visibility is less than or equal to threshold of visibility, haze limitation is calculated according to visibility
Speed Vi, subsequently into step S04；
S04, judge whether the same day is frosty weather, then enters step S05 if it is frosty weather；If not frost day
Gas then sets the first midrange speed V1 as basic speed V0, and enters step S06；
S05, judge this vehicle whether be the same day on this route the first coastiong time, if it is the first midrange speed V1 by with
Lower formula obtains：V1=V0 × K1, V0 are basic speed, and K1 is frost coefficient, subsequently into step S06；If this vehicle is not
The first coastiong on current line then sets the first midrange speed V1 as basic speed V0, and enters step S06；
S06, the second midrange speed V2 is determined according to precipitation, third midrange speed V3 is adjusted according to temperature；
S07, the 4th midrange speed V4 is adjusted according to vehicle load；
S08, the size for comparing the 4th midrange speed V4 and haze limitation speed Vi, taking smaller value therein is that electric car is maximum
Speed of service Vmax.
If it is frosty weather, frictional force of the vehicle when braking on the track for have frosting can be smaller than normal condition, so
It needs to reduce the speed of service.Frost of first coastiong after on track can be eliminated, and not had an impact to subsequent vehicle, therefore
And the deceleration of the first coastiong is only needed to pass through.K1 value range is 0.8-0.9.
Preferably, described include the following steps according to the precipitation adjustment electric car speed of service：
S061, judge whether there is precipitation in 2 hours, if it is, the second midrange speed V2 is obtained by following formula：V2=
V1 × K2, K2 are precipitation coefficient, subsequently into step S062；If setting the second midrange speed V2 without precipitation in 2 hours
For the first midrange speed V1, subsequently into step S063；
S062, judge whether current environmental temperature is greater than 0 degree Celsius, if it is, entering step S063；If working as front ring
Border temperature is less than or equal to 0 degree Celsius, then third midrange speed V3 is determined by following formula：V3=V2 × K3, K3 are the system that freezes
Number, subsequently into step S07；
S063, third midrange speed V3 is set as the second midrange speed V2, subsequently into step S07.
If there is precipitation, electric car and rail friction can also reduced, so as to cause braking distance increasing, so needing to drop
The low velocity upper limit can make precipitation form frost in orbit, further decrease frictional force, accordingly if temperature is lower than 0 degree Celsius
Speed limit should also be as further decreasing.The value range of K2 is 0.8-0.9, and the value range of K3 is 0.7-0.8.
Preferably, described determine that electric car operation maximum speed is specially according to vehicle load：
When loading capacity is full load, the 4th midrange speed V4 is determined by following formula：V4=V3 × K41, K41 are fully loaded system
Number；
When loading capacity is semi-load, the 4th midrange speed V4 is determined by following formula：V4=V3 × K42, K42 are semi-load system
Number；
When loading capacity is semi-load, the 4th midrange speed V4 is set as third midrange speed V3；
It is fully loaded with for electric car loading capacity 75% or more of peak load, semi-load are electric car loading capacity in peak load
25%-75%；Zero load is electric car loading capacity the 25% or less of peak load.
Vehicle braking distance in the case where loading capacity difference is different, and the more big then braking distance of load-carrying is longer, so needing
Maximum speed is modified according to load-carrying.The value range of K41 is 0.8-0.85, and the value range of K42 is 0.9-0.95.
Preferably, the haze limitation speed Vi is determined by following formula：
Vi=[(14.44+2S/a)0.5-3.8]a
In formula, S is visibility, and a is percentage speed variation when electric car brakes.
The calculating that central server completes highest running speed of train is sent to electric car later, and the electric car speed of service must be small
In highest running speed.
It can be with by overall monitoring system, main track infrared detection system and the key area clearing systems based on body temperature monitoring
It is combined into 4 kinds of flat leading modes of fork track：
A) the automatic leading mode-of track is when the time of tramcar drives into flat fork is by exactly road junction bus signals
Equidirectional green light, then need not obtain pas from traffic police's hand again, it is automatic in advance；
B) the leading mode-in part is when the time of tramcar drives into flat fork is by the same of exactly road junction bus signals
Direction green light becomes red time, then pas is obtained from traffic police's hand, after extension green time train passes through, gives back signal power；
C) normal signal mode-meets crossing traffic congestion, infrared detection and pyroelectricity when the flat fork of tramcar approaching
Infrared sensor indicates that road junction is occupied (more than 10 minutes) for a long time, then tramcar palpus slow down, is waiting crossing just
Normal traffic pass signals or traffic police commander.
D) absolutely leading mode-, by flat fork, is controlled when tramcar main track is Exclusive Right of Way by trackside
Case is connected with traffic police's signal command case, when vehicle is close, obtains pas by force, signal lamp in the same direction automatically from red light greening lamp,
After train passage, it can weigh return traffic police in advance.
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Although the terms such as visibility, temperature, infrared remote receiver are used more herein, it is not precluded and uses other arts
A possibility that language.The use of these items is only for be more convenient to describe and explain essence of the invention；It is construed as
Any additional limitation is disagreed with spirit of that invention.
Claims (10)
1. a kind of tramcar maximum operational speed control method, which is characterized in that include the following steps：
S01, system starting；S02, System self-test are then shut down if there is equipment is not since self-test is by issuing alarm signal
Alarm, otherwise enters step S03；
S03, judge whether visibility is greater than threshold of visibility, if it is, setting haze limits speedViFor basic speedV0,
Subsequently into step S04；If visibility is less than or equal to threshold of visibility, haze is calculated according to visibility and limits speedVi, subsequently into step S04；
S04, judge whether the same day is frosty weather, then enters step S05 if it is frosty weather；Then if not frosty weather
Set the first midrange speedV1For basic speedV0, and enter step S06；S05, judge whether this vehicle is the same day on this route
The first coastiong time, if it is the first midrange speedV1It is obtained by following formula：V1=V0×K1,V0For basic speed,K1For
Frost coefficient, subsequently into step S06；The first midrange speed is set if this vehicle is not the first coastiong time on current lineV1For basic speedV0, and enter step S06；
S06, the second midrange speed is determined according to precipitationV2,Third midrange speed is adjusted according to temperatureV3；
S07, the 4th midrange speed is adjusted according to vehicle loadV4；
S08, compare the 4th midrange speedV4Speed is limited with hazeViSize, take smaller value therein for electric car maximum operation
SpeedVmax。
2. a kind of tramcar maximum operational speed control method according to claim 1, which is characterized in that the basis
Precipitation adjusts third midrange speedV3Include the following steps：
S061, judge whether there is precipitation in 2 hours, if it is, the second midrange speedV2It is obtained by following formula：V2=V1× K2,K2For precipitation coefficient, subsequently into step S062；If setting the second midrange speed without precipitation in 2 hoursV2It is
One midrange speedV1, subsequently into step S063；
S062, judge whether current environmental temperature is greater than 0 degree Celsius, if it is, entering step S063；If current environment temperature
Degree is less than or equal to 0 degree Celsius, then third midrange speedV3It is determined by following formula：V3=V2×K3,K3For icing coefficient, so
After enter step S07；
S063, setting third midrange speedV3For the second midrange speedV2, subsequently into step S07.
3. a kind of tramcar maximum operational speed control method according to claim 2, which is characterized in that the basis
Vehicle load adjusts the 4th midrange speedV4Specially：
When loading capacity is full load, the 4th midrange speedV4It is determined by following formula：V4=V3×K41,K41For charge ratio；
When loading capacity is semi-load, the 4th midrange speedV4It is determined by following formula：V4=V3×K42,K42For semi-load coefficient；Work as load
When weight is unloaded, the 4th midrange speed is setV4For third midrange speedV3；
It is fully loaded with for electric car loading capacity 75% or more of peak load, semi-load are 25%-75% of the electric car loading capacity in peak load；
Zero load is electric car loading capacity the 25% or less of peak load.
4. a kind of tramcar maximum operational speed control method according to claim 1 or 2 or 3, which is characterized in that institute
State haze limitation speedViIt is determined by following formula：Vi=[(14.44+2S/a) 0.5 -3.8]aIn formula,SFor visibility,aFor electricity
Percentage speed variation when vehicle brakes.
5. a kind of tramcar control system controlled using maximum operational speed control method described in claim 1,
It is characterised in that it includes visibility detector, thermometer, rainfall gauge, passive tag, beacon reader, the first radio communication mold
Block, router, central server, infrared transmitter, infrared remote receiver and the second wireless communication module, if the passive tag has
Dry, passive tag is arranged in orbit；The setting of beacon reader in electric car lower front, first wireless communication module with
The connection of beacon reader, the central server connect with router, and the infrared transmitter is arranged on electric car head, described red
In orbit, the infrared remote receiver is connect with the second wireless communication module for outer receiver setting；The visibility detector, temperature
Degree meter and rainfall gauge are all connect with central server.
6. tramcar control system according to claim 5, which is characterized in that it further include pyroelectric infrared sensor,
In crowded region, it is wireless that the pyroelectric infrared sensor connects nearest second for the pyroelectric infrared sensor setting
Communication module.
7. tramcar control system according to claim 6, which is characterized in that the passive tag is RFID chip,
The beacon reader is RFID card reader.
8. tramcar control system according to claim 5 or 6, which is characterized in that first wireless communication module
It all include GPRS unit and WIFI unit with the second wireless communication module.
9. tramcar control system according to claim 7, which is characterized in that it further include several inductance loops, it is described
Inductance loop is arranged on the ground of interorbital and close to the region for being equipped with pyroelectric infrared sensor, and the inductance loop is released with heat
Electric infrared sensor connection.
10. tramcar control system according to claim 9, which is characterized in that further include trackside control cabinet, the heat
It releases electric infrared sensor and infrared remote receiver and all passes through trackside control cabinet and connect with the second wireless communication module, trackside control cabinet is also
It is connect with the traffic lights control cabinet at crossing.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105931464A (en) * | 2016-06-27 | 2016-09-07 | 安徽四创电子股份有限公司 | Method for determining dynamic speed limit value of highway road section based on visibility meter |
| CN107097812B (en) * | 2017-04-30 | 2018-03-02 | 中南大学 | A kind of railway heavy showers amount unmanned plane real-time intelligent measuring method and system |
| CN112388640A (en) * | 2020-11-27 | 2021-02-23 | 深圳优地科技有限公司 | Speed control method and device based on load, robot and storage medium |
| CN113924861A (en) * | 2021-11-05 | 2022-01-14 | 广东省农业科学院蔬菜研究所 | Automatic harvesting system for greenhouse vegetable cultivation |
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| WO2009088946A1 (en) * | 2008-01-03 | 2009-07-16 | Iwapi, Inc. | Integrated rail efficiency and safety support system |
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| CN201725433U (en) * | 2010-06-29 | 2011-01-26 | 重庆交通大学 | Recommended running speed information prompt board based on road and weather conditions |
| CN102372001A (en) * | 2010-08-05 | 2012-03-14 | 罗伯特·博世有限公司 | Method and device for determining appropriate driving speed of vehicle |
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