CN105292189A - Micro-rail intelligent transportation control system and control method - Google Patents
Micro-rail intelligent transportation control system and control method Download PDFInfo
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- CN105292189A CN105292189A CN201510870108.0A CN201510870108A CN105292189A CN 105292189 A CN105292189 A CN 105292189A CN 201510870108 A CN201510870108 A CN 201510870108A CN 105292189 A CN105292189 A CN 105292189A
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Abstract
The invention discloses a micro-rail intelligent transportation control system and control method, and belongs to the technical field of rail transportation control. Multiple intelligent trolleys are arranged on a micro rail, and the intelligent trolleys run by maintaining a safe running space; multiple RFID modules are arranged on the micro rail or on the side of the micro rail at certain intervals; each intelligent trolley exchanges data with each RFID module when passing through the RFID module, and the multiple RFID modules are connected through one or more CAN buses so that data can be exchanged among the RFID modules through the CAN buses. According to the micro-rail intelligent transportation control system and control method, the RFID modules are combined with the CAN buses to conduct communication with the intelligent trolleys, control over the safe running space among the intelligent trolleys on the rail is achieved, the structure is simple, the manufacturing cost is low, and the micro-rail intelligent transportation control system and control method are suitable for being applied to micro-rail intelligent transportation.
Description
Technical field
The invention belongs to track traffic control technology field, particularly relate to a kind of micro-rail intelligent traffic control system and control method.
Background technology
Track traffic is that the feature that its freight volume is large, stroke is far away, punctual is liked by people deeply, but micro-rail traffic is different from the track traffic on common meaning in occupation of vital function in people's life.The intelligent carriage sizableness that the micro-rail related in the present invention runs is in a taxicar or cable car, intensively on micro-rail travel a lot of intelligent carriages, for meeting individual or the rapid transit demand of microcommunity people in region in region, by taking intelligent carriage, any website in micro-rail region can be arrived fast.
The safety traffic distance of train before and after conventional rails traffic is controlled by fixed blocking standard, system cannot know the particular location of train in subregion, and therefore the starting point of train braking and terminal are always on the border of a certain subregion.For fully ensureing safety, must increase a protected section between two trains, this makes the personal distance between train comparatively large, have impact on the service efficiency of circuit.
Improved quasi-moving block goes a step further than fixed blocking in the personal distance controlling train.By adopting the auxiliary loop wire of message formula track circuit or responser, it judges that subregion takies and transmission information contains much information; Can inform that follow-up train continues the distance moved ahead, follow-up train reasonably can be taked to slow down or braking according to this distance, the starting point of train braking may extend to the place ensureing its safety arrestment, thus can improve train speed control, reduces train safe interval and improves circuit utilization ratio.But in quasi-moving block, the maximum target braking point of follow-up train still must take the foreign side of subregion at leading train, and therefore it does not break through the restriction of track circuit completely.
Moving Block Technology in UMT through improving further is then controlling more to go a step further to the personal distance of train.Can according to the maximum stopping distance of the real-time speed of train and position dynamic calculation train by mobile unit and trackside equipment continual two way communication control center.Ensure the safety distance before and after train, two adjacent movable block subregions just can advance with very little interval simultaneously, and this makes train can run with higher speed and less interval, thus raising efficiency of operation.
The circuit of movable block eliminates point Division on physical level, but circuit be divide into several by the predefined line unit of data bank, each element length is between several meters to tens meters, namely movable block subregion is made up of the unit of some, the number of unit can change along with the speed of train and position, and the length of subregion is also dynamic change.
In moving block system, train and trackside equipment must keep continuous print two way communication.Train uninterruptedly transmits its mark, position, direction and speed to trackside controller, trackside controller calculates, determines the safe driving interval of train according to the information from train, and by relevant information (as leading train position, mobile authorization etc.) pass to train, control train operation.
If need to realize movable block, the operational factors such as the position to train control center report oneself then needing train real-time and speed, train control center must be real-time resolve operational factor for train and send to train, this kind of machine-processed realization, needs the two-way land mobile communication system support of continous way.General by this Train Control mode, be called communication-based train control (CBTC).That is, CBTC realizes ATC, particularly the set of a series of technological means of movable block system ATC system.Simultaneously, in an ATC system realized based on CBTC, also ATP system is comprised, now ATP system generally comprises vehicle-mounted and ground two parts, the operational factor guarantee vehicle safety operation that vehicle-mounted ATP system resolves by receiving ground ATP system, ground ATP, by receiving the operational factor of all fronts train of vehicle-mounted ATP report, resolves operational factor for them and sends to vehicle by communication system.Usually, ground ATP also system be also called ZC (zone controller), RBC (radio block center) or TCC (train control center).Its whole control system is complicated and involve great expense, and is not suitable for micro-rail intelligent transportation.
Micro-rail intelligent transportation is applied to the passenger flow transport in area division, its track laying scope is little, track and travel on locomotive on track all cost low, need control system simple, be suitable for regional traffic transport.
Summary of the invention
The invention provides a kind of micro-rail intelligent traffic control system and control method, with comparatively cheap cost and safing mode solves communication between intelligent carriage that micro-rail travels and Security Control Problem.
For realizing above technical purpose, the invention provides a kind of micro-rail intelligent traffic control system, comprising: micro-rail arranges some intelligent carriages, between described intelligent carriage, keep safety distance to run; Be provided with some RFID module on micro-rail or on micro-rail limit, be separated by a certain distance between described some RFID module; Described intelligent carriage is through each RFID module and its exchange data; Described some RFID module are connected by least one CAN, make to exchange data by CAN between described RFID module.
Optionally, the spacing distance between described every two adjacent R FID modules is between 10 meters-100 meters.
Optionally, described some RFID module are divided into many groups, and often organize RFID module and connected by a CAN, adjacent C AN bus is connected as gateway by a common RFID module.
Optionally, described some RFID module are divided into many groups, often organize RFID module to be connected by a CAN, often in group, arbitrary RFID module connects the CAN of this group and the CAN of adjacent sets as gateway, makes the interior data of this group by gateway forwards to adjacent C AN bus.
Optionally, the length of described each CAN is greater than the preset security vehiclar gap of intelligent carriage.
Optionally, described RFID module comprises MCU module and RF module composition, and wherein RF module is used for communicating with the vehicle-mounted RF read head of intelligent carriage, and MCU module is used for data processing and transceiving data in CAN.
Optionally, described intelligent carriage comprise vehicle-mounted RF read head, Vehicle Controller; Store orbital data in Vehicle Controller, described orbital data comprises the position data of each RFID module.
And for realizing above object, the present invention also provides a kind of micro-rail intellectual traffic control method, comprises:
First intelligent carriage, through the first RFID module, obtains the information comprising the numbering of the first RFID module;
The numbering of the first intelligent carriage described in described first RFID module record;
The numbering formation data packet of the numbering of the first intelligent carriage of record and this RFID module is transferred to other RFID module by CAN by described first RFID module;
Described data packet and forwarding counting are transmitted to next CAN adjacent by gateway by described first RFID module place CAN;
Be positioned at described first intelligent carriage the second intelligent carriage below and obtain the numbering of the first intelligent carriage and the numbering of the first RFID module by its hithermost second RFID module, second intelligent carriage calculates the spacing between described first RFID module and the second RFID module, and judge whether described spacing is greater than the preset security vehiclar gap of intelligent carriage, and determine whether slow down or brake.
Optionally, described first RFID module place CAN sends data packet to its adjacent C AN bus, and default hop count is counted in the forwarding comprised in described data packet; After described data packet is given the second adjacent CAN by gateway forwards by the first CAN, the gateway of the second CAN and adjacent 3rd CAN reads described forwarding and counts, if described forwarding counting is not 0, after then described forwarding counting being subtracted 1 continue the data packet of a described RFID to be forwarded to the 3rd CAN, stop forwarding until gateway reads after forwarding is counted as 0.
Optionally, described first RFID module can be arbitrary RFID module, is also provided with other RFID module between described second RFID module and described first RFID module; The rear of data packet to intelligent carriage travel direction forwards by described gateway.
The micro-rail intelligent traffic control system more than realized and method, with point type communication, namely when train is by RFID module, communicate with RFID module, keep at a certain distance away between each RFID module, data are received by CAN between adjacent R FDI module, each RFID module record finally by the numbering of intelligent carriage, when there being intelligent carriage by RFID module, the Vehicle Controller of intelligent carriage gets little truck position, front by this RFID module, autonomous decision safety traffic strategy, when the distance that intelligent carriage leaves this RFID module is greater than safety distance, the information of last intelligent carriage no longer will be sent to next CAN by CAN.
Accompanying drawing explanation
Fig. 1 is the present invention's micro-rail intelligent traffic control system structural representation;
Fig. 2 is the present invention's micro-rail intelligent traffic control system CAN connection diagram;
Fig. 3 is the present invention's micro-rail intellectual traffic control method flow schematic diagram;
Fig. 4 is the information interaction schematic diagram of intelligent carriage and RFID module;
Fig. 5 is that intelligent carriage merges track switch Control system architecture schematic diagram.
Detailed description of the invention
Introduce implementation procedure of the present invention below with reference to accompanying drawing in detail by way of example, should be appreciated that embodiment does not form limiting the scope of the invention.
Embodiment one
With reference to Fig. 1, the embodiment of the present invention one provides a kind of micro-rail intelligent traffic control system, comprises on micro-rail and arranges some intelligent carriages, keeps safety distance mutually when described intelligent carriage runs; Be provided with some RFID module on micro-rail or on micro-rail limit, described RFID module comprises MCU module and RF module, and described MCU module is for the treatment of the data obtained from described intelligent carriage, and described RF module is used for transmitting data to intelligent carriage.Be separated by a certain distance between described some RFID module; Described intelligent carriage is through each RFID module and its exchange data; Described some RFID module are connected by least one CAN, make to exchange data by CAN between RFID module.Described CAN can be operated in broadcast mode, and a RFID module sends, and in CAN, other RFID module receives simultaneously, and after receiving data, RFID module, according to respective setting, determines to want to process this data.
Concrete, described RFID module is made up of MCU module and RF module, and wherein RF module in charge communicates with the vehicle-mounted RF read head of intelligent carriage, and MCU module is responsible for data processing and transceiving data in CAN.Described some RFID module, such as, 1A, 1B, 1C, 1D, 1E, 2A, 2B, 2C, 2D, 2E, 3A described in Fig. 1 represent a RFID module respectively, can equi-spaced apart between described RFID module, also can non-equidistant interval; Spacing distance between described every two adjacent R FID modules is 10 meters to 100 meters, is spaced apart 30 meters in the present embodiment between preferred each RFID module.Described some RFID module are divided into some groups, the quantity often organized sets according to actual needs, such as, in this enforcement, every 5 RFID module are one group, connected by a CAN, adjacent CAN is connected as gateway by same RFID module, such as, in this enforcement, composition graphs 1, RFID module 2A, 2B, 2C, 2D, 2E is one group, connected by the first CAN, RFID module 1A, 1B, 1C, 1D, 1E is one group, connected by the second CAN, first CAN and the second CAN have common RFID module 2A, described RFID module 2A is the connection gateway of the first CAN and the second CAN.CAN after being connected by gateway, can realize signal and be transferred to the RFID module of the second CAN from the RFID module of the first CAN.
In order to when at gateway, one of them lost efficacy, system also can normally work, and gateway can arrange and multiplely realize redundancy, and RFID module 4 and RFID module 5, can transmit data between CAN1 and CAN2 as shown in Figure 2.Called gateway, be exactly in same CPU, there are two cover CAN transmit receive units, the data received in two different CAN can be received, after receiving the data packet in one of them CAN, the RFID module as gateway can be confirmed whether in another CAN needing to forward the data to gateway connection by certain rule.The present invention arranges in the packet and forwards counting, when the RFID module as gateway reads the data received, reads forwarding counting wherein, as long as this forwards counting is not 0, is subtracted after 1 by forwarding counting and this data packet is forwarded to its adjacent CAN again.
For meeting the safety traffic demand of the succinct of information transmission and convenience and intelligent carriage, the length of described each CAN is greater than the preset security vehiclar gap between intelligent carriage.Travel on micro-rail with identical normal speed between described intelligent carriage, learn that the vehiclar gap of Ben Che and front truck is less than default safety distance according to the data that the RFID module of front truck process is transmitted, travel posterior intelligent carriage and need take brake or braking that moving velocity is reduced.
Embodiment two
With reference to Fig. 3, the embodiment of the present invention two provides a kind of micro-rail intellectual traffic control method, and described control method is based on the control method under the control system of embodiment one, comprises following steps:
S1, the first intelligent carriage, through the first RFID module, gather the information comprising the numbering of described first RFID module;
Concrete, described first RFID module can be arbitrary RFID module, first intelligent carriage also can for arbitrary dolly that micro-rail travels, when appointed first intelligent carriage is through the first RFID module, gather the information comprising the numbering of described first RFID module, the numbering of each RFID module is the representative of this RFID module unique positions coordinate, obtains RFID module numbering and namely equals the position knowing this RFID module, also just get the position of the first intelligent carriage.RFID module also gathers the information of intelligent carriage, as required, can comprise the dolly numbering, dolly current driving speed etc. of the first intelligent carriage.As shown in Figure 4, described intelligent carriage comprises Vehicle Controller and RF read head, described Vehicle Controller is used for the safety traffic distance calculating intelligent carriage adjacent with other according to acquisition data and the orbital data being stored in Vehicle Controller, and adjusts order to the moving velocity of intelligent carriage; The described RF read head being positioned at intelligent carriage reads the information of the RFID module be positioned on micro-rail or on micro-rail limit.The described RFID module be arranged on micro-rail or on micro-rail limit comprises MCU module and RF module, and described MCU module is responsible for data processing and transceiving data in CAN.
The numbering of the first intelligent carriage described in S2, described first RFID module record;
Concrete, when the first intelligent carriage is through the first RFID module, the first intelligent carriage numbering described in the first RFID module record, and also can record the speed of the first intelligent carriage, elapsed time and other necessary informations.
The numbering formation data packet of the numbering of described first intelligent carriage of record and this RFID module is transferred to other RFID module by CAN by S3, described first RFID module; Described data packet and forwarding are counted another CAN being transmitted to gateway and being connected by described first RFID module place CAN by gateway;
Concrete, self numbering, the first intelligent carriage numbering and the selectable speed about the first intelligent carriage and other information are formed data packet by this first RFID module, with default forward count together with to be transferred to other RFID module in CAN by CAN, other described RFID module comprise the gateway RFID module in CAN.The RFID module that CAN connects can obtain described first RFID module forwarding information.
S4, be positioned at described first intelligent carriage the second intelligent carriage below obtains the first intelligent carriage numbering through described first RFID module by its hithermost RFID module, Vehicle Controller calculates whether be greater than safety distance with the distance of described first intelligent carriage, and determines whether slow down or brake.
Shown in composition graphs 1, two intelligent carriages travel from left to right on micro-rail, be in first intelligent carriage in front through RFID module 2C, the CAN at RFID module 2C place is defined as the first bus, RFID module 2C gathers dolly number information, the moving velocity of the first intelligent carriage, and combines in conjunction with the number information formation data packet of RFID module self other RFID module transmission preset and forward and count in CAN.Hypothesis is preset and forwarded count value is in this example 1, adjacent with described RFID module 2C and RFID module 2A, RFID module 2B, RFID module 2D and RFID module 3A of in same CAN can receive the described data packet transmitted from RFID module 2C.RFID module 2A is as gateway, after receiving the data packet of RFID module 2C transmission, the forwarding read wherein is counted as 1, the described counting that forwards is subtracted after 1 and continued this data packet to its another CAN transmission adjacent, and the RFID module in another adjacent CAN all can receive the data packet that RFID module 2A forwards, and wherein RFID module 1A is as gateway, after receiving data, forwarding counting in read data packet, finds that forwarding is counted as 0, no longer transmits data to other CAN adjacent.Now be positioned at second intelligent carriage at described first intelligent carriage rear through RFID module IC, described second intelligent carriage gets about information such as the position of the first intelligent carriage and moving velocitys from described RFID module 1C, calculates the spacing between described second intelligent carriage and the first intelligent carriage by the Vehicle Controller of the second intelligent carriage; Judge that described second intelligent carriage calculates and whether be greater than safety distance with the distance of described first intelligent carriage, and determine whether slow down or brake.
Computation process is specially: calculate the distance between the position of the immediate RFID module 1C of the second intelligent carriage and described first RFID module 2C, namely midfeather how many RFID module spacing are calculated, then be multiplied by the distance of each RFID spacing, namely obtain the distance between the position of RFID module 1C and described first RFID module 2C; If the spacing between each RFID module is not identical, then directly calculate the RFID module spacing sum between the position of RFID module 1C and described first RFID module 2C; Or pass through the difference of the position of RFID module 1C and the coordinate computation coordinate of described first RFID module 2C.Distance between the position of comparison RFID module 1C and described first RFID module 2C and the size of default intelligent carriage safety distance, if described distance is more than or equal to preset security vehiclar gap, then the second intelligent carriage travels with normal moving velocity continuation at present, if described distance is less than preset security vehiclar gap, then second intelligent carriage brake or braking deceleration to the first intelligent carriage between distance be more than or equal to preset security vehiclar gap.
Described RFID module 2A is positioned at the junction of the first CAN and the second adjacent CAN, described RFID module 1A is positioned at the junction of the second CAN and the 3rd adjacent CAN, through once forwarding, the transmission distance of described information has been far longer than the preset security vehiclar gap of adjacent dolly, do not need to continue to forward, so the forwarding counting initial value of described RFID module can be set to 1, after once forwarding, forward counting and be kept to 0.
If the length of each CAN is greater than the safe spacing of driving, after once forwarding, RFID module in two adjacent CAN all will obtain the position of front truck, and data transmission distance is greater than safety distance, and the rear car outside adjacent C AN bus does not need to pay close attention to front vehicle position and state.CAN length also can have nothing to do with traffic safety spacing, and data are after one or many forwards, and the distance of data transmission is greater than safety distance with regard to passable.
When described RFID module 2C sends data in CAN, the RFID module 3A as gateway also receives data, because front truck does not need the position understanding rear car, RFID3A does not need the CAN forwarding the data to front.
Described control method goes for the control on rectilinear orbit or turnout.
As shown in Figure 5, data are forwarded to CAN2 from CAN1, are forwarded to CAN3 from CAN1, and gateway 1A, 1G only do unidirectional information and forward.
The intelligent carriage V2 that left branch road runs on the track at CAN2 place, the intelligent carriage V1 run in CAN3 with right branch road, there is no information exchange each other, article two, the dolly on branch road can detect the track pitch state near track switch, but can not detect another membership beyond switch zones.A wherein intelligent carriage is only had to enter after in CAN1, the little truck position could understood another branch road of another branch road.
RFID module exchange message in intelligent carriage V1 and CAN1, image data and forwarding counting send by RFID module in CAN1, and will be forwarded to bus CAN2, CAN3.
Intelligent carriage on the branch road of left and right may arrive RFID module 1A, RFID module 1G in the very close time, if now two intelligent carriages arrive RFID module 1B, RFID module 1H simultaneously, then has and travels danger.Two cars have almost been RFID module 1A simultaneously, RFID module 1G, and what first arrive will maintain normal speed, and that arrives afterwards will slow down, and can be pulled open during to ensure to be RFID module 1B, RFID module 1H by distance.If intelligent carriage V1 arrives first RFID module 1G, and then V1 arrives RFID module 1A, then intelligent carriage intelligent carriage V1 normally runs, intelligent carriage V2 slows down, when intelligent carriage V2 arrives RFID module 1B, normal condition, should ensure intelligent carriage V1 by RFID module 1D or RFID module 1E.Ensure intelligent carriage V2, the distance between intelligent carriage V1 is greater than safety distance.
As intelligent carriage V1 because unforeseen circumstances, be parked between RFID module 1G and RFID module 1H, when intelligent carriage V2 is by RFID module 1B, detect that front is empty, namely RFID module 1B front and RFID module 1H front all do not have other intelligent carriage, then intelligent carriage V2 accelerates to normal speed operation.
Difference with non-track switch, is mainly manifested in:
RFID module 1A and RFID module 1G distance track switch is apart from equal, through intelligent carriage 1A, intelligent carriage V2 detects that intelligent carriage V1 just passes through 1G, the scheme run slowly can be adopted, because arrive track switch from RFID module 1A or RFID module 1G to also have certain distance, after slowing down after a while, can keep a safe distance when through turnout passing.If intelligent carriage V2 is through RFID module 1C, find intelligent carriage V1 just by RFID module 1I, then employing is tightly striven braking by intelligent carriage V2.
The mode and the straight way that are separated track switch are similar, repeat no more.
The micro-rail intelligent traffic control system more than realized and control method, by forwarding information mutual between RFID module, rear car is made to obtain the driving information of front truck by the RFID module of road warp, and the distance between calculation and control front truck, make to keep safety traffic between intelligent carriage that micro-rail travels, adopt a kind of point type communication modes, integral structure is simple, information transmission is fast, and cost is low, is applicable to micro-rail traffic.
Above with reference to the accompanying drawings of the preferred embodiments of the present invention, not thereby limit to interest field of the present invention.Those skilled in the art do not depart from the scope and spirit of the present invention interior done any amendment, equivalent replacement and improve, all should within interest field of the present invention.
Claims (10)
1. a micro-rail intelligent traffic control system, is characterized in that comprising: micro-rail arranges some intelligent carriages, keeps safety distance to run between described intelligent carriage; Be provided with some RFID module on micro-rail or on micro-rail limit, be separated by a certain distance between described some RFID module; Described intelligent carriage is through each RFID module and its communication and intercourse data; Described some RFID module are connected by least one CAN, make to exchange data by CAN between described RFID module.
2. micro-rail intelligent traffic control system according to claim 1, is characterized in that, the spacing distance between described every two adjacent R FID modules is between 10 meters-100 meters.
3. micro-rail intelligent traffic control system according to claim 1, is characterized in that, described some RFID module are divided into many groups, and often organize RFID module and connected by a CAN, adjacent C AN bus is connected as gateway by a common RFID module.
4. micro-rail intelligent traffic control system according to claim 1, it is characterized in that, described some RFID module are divided into many groups, often organize RFID module to be connected by a CAN, often in group, arbitrary RFID module connects the CAN of this group and the CAN of adjacent sets as gateway, makes the interior data of this group by gateway forwards to adjacent C AN bus.
5. micro-rail intelligent traffic control system according to claim 1, is characterized in that, the length of described CAN is greater than the preset security vehiclar gap of intelligent carriage.
6. micro-rail intelligent traffic control system according to claim 1, it is characterized in that, described RFID module comprises MCU module and RF module, and wherein RF module is used for communicating with the vehicle-mounted RF read head of intelligent carriage, and MCU module is used for data processing and transceiving data in CAN.
7. micro-rail intelligent traffic control system according to claim 1, it is characterized in that, described intelligent carriage comprise vehicle-mounted RF read head, Vehicle Controller, store orbital data in Vehicle Controller, described orbital data comprises the position data of each RFID module.
8., based on a micro-rail intellectual traffic control method for the arbitrary device of claim 1-7, it is characterized in that comprising:
First intelligent carriage, through the first RFID module, obtains the information comprising the numbering of the first RFID module;
The numbering of the first intelligent carriage described in described first RFID module record;
The numbering formation data packet of the numbering of the first intelligent carriage of record and this RFID module is transferred to other RFID module by CAN by described first RFID module; Described data packet and forwarding are counted another CAN being transmitted to gateway and being connected by described first RFID module place CAN by gateway;
Be positioned at the numbering of described first intelligent carriage the second intelligent carriage below by the numbering and the first RFID module that obtain the first intelligent carriage during its hithermost second RFID module, second intelligent carriage calculates the spacing between described first RFID module and the second RFID module, and judge whether described spacing is greater than the default safety distance of intelligent carriage, and determine whether slow down or brake.
9. micro-rail intellectual traffic control method according to claim 8, it is characterized in that: described first CAN is by described data packet and forward counting by gateway forwards to after the second adjacent CAN, the gateway of three CAN adjacent with the second CAN reads described forwarding and counts, if described forwarding counting is not 0, then the described counting that forwards subtracts the gateway that 1 data packet that is rear and a RFID continues to be forwarded to the 3rd CAN and the 4th CAN, stops forwarding until gateway reads after forwarding is counted as 0.
10. micro-rail intellectual traffic control method according to claim 8, is characterized in that: described first RFID module can be arbitrary RFID module, is also provided with other RFID module between described second RFID module and described first RFID module; The rear of data packet to intelligent carriage travel direction forwards by described gateway.
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