CN106741004A - Suitable for the automatic train protection system of single track - Google Patents
Suitable for the automatic train protection system of single track Download PDFInfo
- Publication number
- CN106741004A CN106741004A CN201710026257.8A CN201710026257A CN106741004A CN 106741004 A CN106741004 A CN 106741004A CN 201710026257 A CN201710026257 A CN 201710026257A CN 106741004 A CN106741004 A CN 106741004A
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- train
- protection system
- single track
- gps
- unit
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning, or like safety means along the route or between vehicles or vehicle trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/126—Brakes for railway vehicles coming into operation in case of exceeding a predetermined speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/021—Measuring and recording of train speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
Abstract
The invention discloses a kind of automatic train protection system suitable for single track, it is related to train protection systems technology field.Vehicle Controller is connected with wireless communication terminal, GPS, human-computer interaction interface, transponder transport module, velocity sensor, train interface unit respectively, Vehicle Controller is fail-safe computer by I, II is that two sets of fail-safe computer cabinets of fail-safe computer and a set of train interface cabinet are constituted, two sets of fail-safe computer cabinets constitute can lifting system availability " two multiply " structure.The present invention is according to the characteristics of monorail train, realize that ground is positioned in face of train by cordless, train itself realizes three-dimensional fix, safer, abundant signal input output interface, while the security and scalability of automatic train protection system is substantially improved, monorail train system has been adapted to.
Description
Technical field
The present invention relates to train protection systems technology field, and in particular to suitable for the train automatic protection system of single track
System.
Background technology
Automatic train protection system relies primarily on external equipment, and such as sensor, transponder external equipment receives ground position
Put, the information such as speed limit, and terrestrial information is compared with current information on car, train braking system is controlled according to state of ground
System, ensures train operating safety.Existing automatic train protection system is used mainly for the double-rail track circuits such as big iron, subway, train
Steel wheel, terrestrial positioning is contacted its short circuit by steel wheel with double track, forms the track circuit mode of closed-loop path.And monorail
Cannot meet track circuit applications primary condition, train using rubber tyre not with rail contact, and single track cannot form closure
Loop；Train positioning aspect, existing automatic train protection system uses two-dimensional coordinate system, storage ground relative coordinate and some spies
The grade information of different point position, it is impossible to meet the complicated spatial variations demand of monorail (straddle-type or suspension type)；Signal is controlled
Aspect, with developing rapidly for sensor technology, train needs the information for obtaining, needs device to be controlled more and more, existing
Signal input, output mechanism scalability it is not strong, cannot all meet growing demand in quantity and security.
In order to solve the above problems, a kind of new automatic train protection system suitable for single track of design still has very much must
Want.
The content of the invention
It is automatic the present invention seeks to be a kind of train suitable for single track of offer for not enough present on prior art
Guard system, reasonable in design according to the characteristics of monorail train, realizes that ground is positioned in face of train by cordless, row
Car itself realizes three-dimensional fix, and safer, abundant signal input output interface is being substantially improved train automatic protection
While the security and scalability of system, monorail train system is adapted to, it is practical, it is easy to promote the use of.
To achieve these goals, the present invention is to realize by the following technical solutions：Suitable for single track train from
Dynamic guard system, including Vehicle Controller, wireless communication terminal, GPS, human-computer interaction interface, transponder transport module, speed are passed
Sensor, train interface unit, Vehicle Controller transmit mould with wireless communication terminal, GPS, human-computer interaction interface, transponder respectively
Block, velocity sensor, the connection of train interface unit, the Vehicle Controller are fail-safe computer by I, II are fail-safe computer two
Set fail-safe computer cabinet and a set of train interface cabinet composition, two sets of fail-safe computer cabinets constitute energy lifting system and can use
" two multiply " structure of property.
Preferably, described fail-safe computer cabinet includes main control unit, crosspoint, recording unit, tests the speed
Away from unit, security input unit, Safety output unit, CAN interface unit, power subsystem, input conditioning plate, output conditioning plate；
Described train interface message processor (IMP) case includes power subsystem, GPS unit, relay board, pinboard, and each unit uses 1000M networks
It is connected with Switching Module, the safe transmission of data is realized by crosspoint.
Preferably, described main control unit inside takes two voting systems using two pieces of cpu controller compositions two of CPUM, CPUC
System, while carrying out hot backup redundancy using 2 sets of fail-safe computers, constitutes two and multiplies two system architectures for taking two, improves system
Availability, reliability and security.
Preferably, the described range cells that test the speed, security input unit, Safety output unit are built-in with two pieces of FPGA
Used as main controller, two pieces of data of FPGA realize that two take two votings by deciding by vote passage；The security input unit possesses 24 tunnels
Secure digital amount is input into acquisition capacity, and safe input module is decided by vote using 24 tunnel binary channels, while being believed input using binary channels
Number put to the vote treatment, lifting system security；The Safety output unit makes for 8 road secure digital amount output driving abilities
Decide by vote Safety output module with 8 tunnel binary channels, output signal is decided by vote by carrying out double drive, while to the output signal after voting
Carry out back inspection, it is ensured that correct, the lifting system security of output signal.
Preferably, velocity information is provided as reference using GPS, train idle running is detected by physical method, is skidded etc.
Unusual condition, improves unusual condition detection accuracy；The 3 d space coordinate provided using GPS, by wireless communication terminal
Train space coordinates is sent to control centre, GIS map function is realized, control centre can be lifted according to outside emergency situations,
The accuracy of anticipation is carried out to train operating safety.
Preferably, the combination Computational Method of Velocity Measurement of operating speed sensor+GPS, by two from three mode to the information of testing the speed
Validity judged, disabled facility information can be filtered, and improves locomotive velocity measuring precision, and set when detect this
When standby information can use, can automatically restore it, improve system availability；The integrated positioning of operating speed sensor+GPS is calculated
Method, improves train positioning precision, after being prevented effectively from single positioner failure, the problem that train positioning is lost.
Beneficial effects of the present invention：According to the characteristics of monorail train, realize that ground is positioned in face of train by cordless,
Solve the problems, such as that monorail train cannot form the trains such as closed-loop path positioning with rail contact, without double track, improve abnormal shape
Condition detection accuracy, train itself realizes three-dimensional fix, safer, abundant signal input output interface, significantly
While lifting security and scalability, reliability, availability, the maintainability of automatic train protection system, list has been adapted to
Rail train system.
Brief description of the drawings
Describe the present invention in detail with reference to the accompanying drawings and detailed description；
Fig. 1 is structured flowchart of the invention；
Fig. 2 is the structural representation of fail-safe computer cabinet of the present invention；
Fig. 3 is the structural representation of train interface cabinet of the present invention；
Fig. 4 is the overall structure diagram that the present invention is applied to single track signal system.
Specific embodiment
For technological means, creation characteristic, reached purpose and effect for making present invention realization are easy to understand, with reference to
Specific embodiment, is expanded on further the present invention.
Reference picture 1-4, this specific embodiment uses following technical scheme：Suitable for the train automatic protection system of single track
System, including Vehicle Controller CC, wireless communication terminal MR, GPS, human-computer interaction interface TOD, transponder transport module BTM, speed
Sensor ODO, train interface unit TIU, Vehicle Controller CC respectively with wireless communication terminal MR, GPS, human-computer interaction interface
TOD, transponder transport module BTM, velocity sensor ODO, train interface unit TIU connections.
This specific embodiment Vehicle Controller as automatic train protection system nucleus equipment, be safe calculating by I
Machine, II are the consistent fail-safe computer cabinet of the nested structure of fail-safe computer two and a set of train interface cabinet composition, wherein two sets
Fail-safe computer cabinet constitutes " two multiply " structure of energy lifting system availability, the availability of lifting system, described safety
Computer cabinet includes main control unit CPU, crosspoint SWM, recording unit DRU, the range cells that test the speed SMU, safety input
Unit VIU, Safety output unit VOU, CAN interface unit CAN, power subsystem PSU, input conditioning plate ITB, output conditioning plate
OTB；Described train interface message processor (IMP) case includes power subsystem PSU, GPS unit GPU, relay board RLY, pinboard TB, each list
Unit is connected using 1000M networks with Switching Module, and the safe transmission of data is realized by crosspoint；In different applied environments
During middle implementation, can be by security input unit VIU, Safety output unit VOU boards in Fig. 2 according to input, the quantity of output interface
Configure on demand, Fig. 3 repeat circuit plate RLY boards can also be replaced with the board of corresponding interface according to the difference of interface mode, with
The scalability of lifting system.
(1) main control unit CPU：As the Main Processor Unit of Vehicle Controller, vehicle-mounted control major part function is completed, each
Main control unit inside takes two voting systems using two pieces of cpu controller compositions two of CPUM, CPUC, while being calculated using 2 sets of safety
Machine carries out hot backup redundancy, constitutes two and multiplies two system architectures for taking two, improves availability, reliability and the security of system.
(2) crosspoint SWM：Using 1000M ethernet communication modes, it is responsible for fail-safe computer with outside input, output
Deng the Ethernet data interaction between board.
(3) recording unit DRU：It is responsible for record Vehicle Controller self diagnosis, fault alarm and train operation significant data, number
The form of journal file is stored in external storage according to this, and commissioning staff or attendant can be by daily record scan tools point
Analysis journal file.
(4) range cells that test the speed SMU：By the information realization tachometric survey of picking rate sensor and GPS sensor with
Distance travelled calculating, used as main controller, two pieces of data of FPGA are by deciding by vote passage reality for the built-in two pieces of FPGA of the range cells that test the speed
Existing two take two votings.
(5) security input unit VIU：Possess 24 road secure digital amount input acquisition capacities, security input unit built-in two
Used as main controller, two pieces of data of FPGA realize that two take two votings to block FPGA by deciding by vote passage.
(6) Safety output unit VOU：Possess 8 road secure digital amount output driving abilities, built-in two pieces of Safety output unit
Used as main controller, two pieces of data of FPGA realize that two take two votings to FPGA by deciding by vote passage.
(7) CAN interface unit CAN：Data interaction is carried out by CAN communication mode and transponder transport module BTM
Ground transponder information is obtained, while the also communication port of the equipment such as reserved and induction loop.
(8) power subsystem PSU：Other boards offer+12VDC is responsible for power.
(9) GPS unit GPU：For the range cells that test the speed provide train speed and positional information.
(10) relay board RLY：Arrangement safety relay, externally provides relay dry contact signal.
(11) input conditioning plate ITB：It is responsible for the switching of velocity sensor pulse signal, safety-type digital quantity input externally protection
(lightning protection Anti-surging function and antistatic are designed) and synchronization pulse triggering.
(12) output conditioning plate OTB：It is responsible for safety-type digital output and drives externally protection (lightning protection Anti-surging function and anti-
Electrostatic designs), while for relay board provides power supply.
(13) pinboard TB：Export conditioning plate to relay board Signals Transfer Board.
The major function of this specific embodiment is continuously to detect train position, and the ground sent according to point type communication equipment
Face mobile authorization perform overspeed protection, stop in emergency, the function such as car door monitoring.Major function includes：
(1) train speed detection：According to speed measuring device, the input information realization train speed and traffic direction of GPS module
Detection.
(2) train positioning：Line position is entered according to the location information that locomotive velocity measuring device, dot-mode transponder and GPS module are provided
Correction is put, ATP system calculates the position of train in real time.
(3) speed-apart from safety arrestment model：According to track data and train attribute, the safety arrestment mould of train is calculated
Type, using continous way speed-distance type control model.
(4) overspeed protection：Whether ATP automatic detections train running speed meets current permissible velocity, otherwise triggers urgent
Braking.Including both sides security restriction：Most strict Speed limit curve (MRSP), driving license terminal.
(5) regression protection：ATP real-time monitoring current of traffics, in the case where there is ground to authorize, it is allowed to inverted running
Certain tolerance, beyond will cause ATP system implement brake hard, apply in general to railway platform stop when.
(6) car slipping protection：Train to coming to a complete stop is monitored, prevent train to one's own job operating desk direction controller work as
The direction operation of preceding state conflict, ATP is detected after train car slipping exceedes tolerance and is triggered brake hard.
(7) zero-speed detection and supervision of coming to a complete stop：According to the information of speed measuring device, judge whether train reaches zero-speed, monitoring row
It is the secured premise that car door and platform screen door are opened in station that car comes to a complete stop.
(8) integrity of train supervision：The integrity of train signal that ATP real-time monitorings are input into safely from train, works as train
Fullness signal triggers brake hard when lacking.
(9) monitoring of car door and shield door/safety door：The shape of ATP system monitor in real time car door and shield door/safety door
State, when after the train that arrives at a station comes to a complete stop in platform area and when meeting stopping accuracy requirement, ATP just allows to open car door and shield door/peace
Air cock；Train is just allowed to be dispatched a car from station after car door and shield door/safety door safety shutdown；When train runs between station, if inspection
Car door opening is measured, ATP should alarm, the warning message will could be removed when the next stop is stopped.
(10) dispatch a car supervision：Train comes to a complete stop and after car door opening in platform, and system outputting cutting is except traction, supervision of now dispatching a car
Function on.ATP will forbid train to move after the function on, until detecting car door, shield door/safety door, exit signal
When the conditions of dispatching a car such as machine meet, vehicle-mounted ATP recovers to draw and allow driver to dispatch a car.
(11) driving model switching：According to operation scene and train status, ATP system can cut in different driving models
Change.
(12) track data management：ATP system is responsible for safeguarding the track data storehouse of itself, and ensure database version number with
It is consistent in central server, newest track data is obtained from central server when inconsistent.
(13) data communication：Including the communication of ATP and external equipment ZC, ATO etc..
The overall structure of single track signal system is made up of (Fig. 4) the vehicle-mounted and big subsystem of trackside two, and vehicle-mounted train is automatic
Guard system ATP is the core of onboard subsystem, is the key equipment of Train Control, vehicle-mounted ATP can by with trackside computer
The cooperation of interlocking subsystem CI and zone controller ZC, realizes the automatic protection function of monorail train operation.
This specific embodiment is contrasted with prior art in hardware aspect, with following technical advantage：
(1) using contactless devices such as meter shaft, Europe superscript transponders, monorail train (rubber tyre, straddle-type or outstanding are solved
It is hanging) problem that the trains such as closed-loop path are positioned cannot be formed with rail contact, without double track；
(2) use the velocity information that GPS is provided as reference, detect that train idle running, skidding etc. are abnormal by physical method
Situation, improves unusual condition detection accuracy；
(3) decide by vote safe input module using 24 tunnel binary channels, greatly improve automatic train protection system input equipment
Interface Expanding performance, while putting to the vote to input signal treatment using binary channels, improves the security of system；
(4) decide by vote Safety output module using 8 tunnel binary channels, output signal is decided by vote by carrying out double drive, while to table
Output signal after certainly carry out back inspection, it is ensured that output signal it is correct, improve the security of system；
(5) spare interface is provided to communication modules such as RS-485, RS-422, CAN, ETH, can be according to specifically applying need
Ask, configure different communication modules, greatly improve the scalability of system；
(6) communicated by wireless communication terminal between the system and ground control centre, can be by train operation situation
Send to ground control centre in real time, while ground can be also sent to train the information such as current road conditions, limiting vehicle speed in real time, carry
The security of train is risen；
(7) all devices use binary channels in system, carry out two and take two votings, and consistent premise is decided by vote in binary channels
Under, corresponding control command is just performed, with the reliability of lifting system；
(8) system core equipment uses two sets of redundancies, carries out two and multiplies two hot standby, and set of system breaks down, another set of
System can realize seamless switching, improve the availability of system；
(9) system uses preceding outlet interface mode, and all plates use preceding plug-in, and equipped with drawing-aid device, once go out
Existing failure, can easily be repaired, and improve the maintainability of system.
This specific embodiment is contrasted with prior art in software aspects, with following technical advantage：
(1) 3 d space coordinate provided using GPS, is sent to control train space coordinates by wireless communication terminal
Center, realizes GIS map function, can lift control centre according to outside emergency situations, and anticipation is carried out to train operating safety
Accuracy；
(2) integrated positioning algorithm of " velocity sensor+GPS " is used, train positioning precision is improved, and effectively prevent list
After one positioning failure of apparatus, the problem that train positioning is lost；
(3) the combination Computational Method of Velocity Measurement of " velocity sensor+GPS " is used, by two from three mode to the effective of the information of testing the speed
Property judged, disabled facility information can be filtered, improve locomotive velocity measuring precision, and when detect the equipment letter
When breath is available, can automatically restore it, improve the availability of system；
(4) using the positional information of the Europe superscript transponder for getting, by calculating train secure localization, while to row
Car operation cumulative errors are eliminated, and further improve train positioning precision；
(5) setting speed-apart from safety arrestment model, optimized algorithm, by calculating and plotting train braking curve, lifting meter
Calculate efficiency；
(6) most strict Speed limit curve and mobile authorization terminal are set, optimized algorithm is bent by calculating and plotting brake hard
Line, service braking curve, lift train operational safety；
(7) mobile authorization terminal is set, optimized algorithm is calculated mobile authorization, and mobile authorization validity is entered
Row supervision, checking, lift train operational safety.
General principle of the invention and principal character and advantages of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not limited to the above embodiments, simply explanation described in above-described embodiment and specification this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent thereof.
Claims (10)
1. suitable for the automatic train protection system of single track, it is characterised in that including Vehicle Controller (CC), wireless communication terminal
(MR), GPS, human-computer interaction interface (TOD), transponder transport module (BTM), velocity sensor (ODO), train interface unit
(TIU), Vehicle Controller (CC) transmits mould with wireless communication terminal (MR), GPS, human-computer interaction interface (TOD), transponder respectively
Block (BTM), velocity sensor (ODO), train interface unit (TIU) connection, the Vehicle Controller by I be fail-safe computer,
II is two sets of fail-safe computer cabinets of fail-safe computer and a set of train interface cabinet composition, and two sets of fail-safe computer cabinets are constituted
Can lifting system availability " two multiply " structure.
2. the automatic train protection system suitable for single track according to claim 1, it is characterised in that described safety meter
Calculation machine cabinet includes main control unit (CPU), crosspoint (SWM), recording unit (DRU), the range cells that test the speed (SMU), peace
Full input block (VIU), Safety output unit (VOU), CAN interface unit (CAN), power subsystem (PSU), input conditioning plate
(ITB), output conditioning plate (OTB).
3. the automatic train protection system suitable for single track according to claim 1, it is characterised in that described train connects
Mouth cabinet includes power subsystem (PSU), GPS unit (GPU), relay board (RLY), pinboard (TB).
4. the automatic train protection system suitable for single track according to claim 2, it is characterised in that described master control list
Two voting systems are taken using two pieces of cpu controller compositions two of CPUM, CPUC inside first (CPU), while being calculated using two sets of safety
Machine carries out hot backup redundancy, constitutes two and multiplies two system architectures for taking two, improves availability, reliability and the security of system.
5. the automatic train protection system suitable for single track according to claim 2, it is characterised in that described tests the speed
Two pieces of FPGA are built-in with as main controller away from unit (SMU), security input unit (VIU), Safety output unit (VOU), two
The data of block FPGA realize that two take two votings by deciding by vote passage.
6. the automatic train protection system suitable for single track according to claim 1, it is characterised in that the GPS is provided
Velocity information detects the unusual conditions such as train idle running, skidding as reference by physical method, improves unusual condition detection accurate
True property；The combination Computational Method of Velocity Measurement of operating speed sensor (ODO)+GPS, is entered by two from three mode to the validity of the information of testing the speed
Row judgement, can filter to disabled facility information, improve locomotive velocity measuring precision, and can when the facility information is detected
Used time, can automatically restore it, improve system availability.
7. the automatic train protection system suitable for single track according to claim 1, it is characterised in that the velocity pick-up
Device (ODO) and the integrated positioning algorithm of GPS, improve train positioning precision, and after being prevented effectively from single positioner failure, train is fixed
The problem of bit loss.
8. the automatic train protection system suitable for single track according to claim 2, it is characterised in that the safety input
Unit (VIU) possesses 24 road secure digital amount input acquisition capacities, safe input module is decided by vote using 24 tunnel binary channels, while adopting
Input signal is put to the vote treatment, lifting system security with binary channels.
9. the automatic train protection system suitable for single track according to claim 2, it is characterised in that the Safety output
Unit (VOU) possesses 8 road secure digital amount output driving abilities, and Safety output module is decided by vote using 8 tunnel binary channels, and output is believed
Number by carry out it is double drive voting, while carrying out back examining to the output signal after voting, it is ensured that correct, the lifting system of output signal
Security.
10. the automatic train protection system suitable for single track according to claim 1, it is characterised in that the GPS is provided
3 d space coordinate, the 3 d space coordinate provided using GPS is sent train space coordinates by wireless communication terminal (MR)
To control centre, GIS map function is realized, control centre can be lifted according to outside emergency situations, train operating safety is carried out
The accuracy of anticipation.
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| CN107479490A (en) * | 2017-09-30 | 2017-12-15 | 广州地铁设计研究院有限公司 | Novel intelligent subway flood airtight blast door open-shut control system |
| CN107953902A (en) * | 2017-11-30 | 2018-04-24 | 交控科技股份有限公司 | A kind of method of train position correction |
| CN108216303A (en) * | 2017-12-28 | 2018-06-29 | 交控科技股份有限公司 | A kind of Vehicle Controller and train |
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