CN107672627B - Rapid positioning method for dormant train through trackside ATP storage memory - Google Patents
Rapid positioning method for dormant train through trackside ATP storage memory Download PDFInfo
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- CN107672627B CN107672627B CN201710683694.7A CN201710683694A CN107672627B CN 107672627 B CN107672627 B CN 107672627B CN 201710683694 A CN201710683694 A CN 201710683694A CN 107672627 B CN107672627 B CN 107672627B
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000007958 sleep Effects 0.000 claims description 21
- 230000005059 dormancy Effects 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 14
- 238000013475 authorization Methods 0.000 claims description 7
- PLAIAIKZKCZEQF-UHFFFAOYSA-N methyl 6-chloro-2-oxo-3h-1,2$l^{4},3-benzodithiazole-4-carboxylate Chemical compound COC(=O)C1=CC(Cl)=CC2=C1NS(=O)S2 PLAIAIKZKCZEQF-UHFFFAOYSA-N 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
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- 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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
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- 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 trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/028—Determination of vehicle position and orientation within a train consist, e.g. serialisation
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- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a method for quickly positioning a dormant train through trackside ATP storage memory, which comprises the following steps: firstly, the train enters a wake-up sleeping area, the position of a sleeping front-row vehicle is memorized through the trackside ATP, and then the vehicle enters a sleeping state; secondly, after the train is awakened from the sleeping state, the effective positioning information of the train is obtained through a position detection device arranged in a train awakening sleeping area, the effective positioning information of the train is combined with train position information memorized before sleeping to check the position of the train, and whether the train is allowed to enter the positioning state is judged; and finally, after the train enters a positioning state, reporting the position information to the trackside ATP by the vehicle-mounted ATP, and changing the tracking mode of the train from the previous NTQB to TVB after the trackside ATP receives the position information. The invention realizes automatic and rapid positioning of the dormant train and improves the operation efficiency.
Description
The patent application of the invention is a divisional application of the invention and creation name of 'a method for rapidly positioning a dormant train based on memory', the original application date is 2016, 8 and 26 days, and the application number is 2016107304793.
Technical Field
The invention relates to a track traffic CBTC control technology, in particular to a rapid positioning technology of a dormant train.
Background
In a track traffic CBTC control system, before a train operates, manual power-on and self-checking are needed, then the train is dispatched in a manual driving RM mode, the train runs at a low speed in the RM mode, the train enters a positioning initialization state after acquiring effective position information through one positioning beacon, and enters a positioning state after acquiring the effective position information through a second positioning beacon, and the CBTC control system allows the train to enter a driving mode with a vehicle-mounted ATP protection function, such as an FAM/AM/CM mode.
In the prior art, the train power-on and self-checking need manual participation, and after the self-checking is completed, the train can enter a positioning state only after the train is driven by a person at a very low speed through two positioning beacons, the train is allowed to enter a driving mode (including a full-automatic driving mode) with a vehicle-mounted ATP protection function, drivers need to participate from the train power-on to the automatic driving, the whole process is long in time consumption, and the operation efficiency is low.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for quickly positioning a dormant train through trackside ATP storage memory, so that the automatic quick positioning of the dormant train is realized, and the operation efficiency is improved.
In order to solve the technical problems, the invention adopts the following technical scheme: a method for rapidly positioning a dormant train through trackside ATP storage memory comprises the following steps:
step 1: when the operation of the previous day is finished, the train completely enters a wake-up sleeping area and is stopped stably, the position information before the train is in sleep is sent to the trackside ATP after the vehicle-mounted controller judges that the sleeping condition is met, and the trackside ATP memorizes the position of the train before the sleep;
step 2: the vehicle-mounted controller sends a sleep instruction to the vehicle, the vehicle-mounted controller cuts off a main power supply of the vehicle-mounted controller after waiting for the sleep of the train, and only the sleep module and the vehicle-ground communication equipment are kept in a non-power-off state;
and step 3: the central ATS manually or automatically sends a wake-up command to a wake-up dormant module of the vehicle-mounted controller according to a time schedule when the vehicle-mounted controller is about to operate on the next day;
and 4, step 4: the awakening dormancy module is used for receiving an awakening instruction and then connecting a main power supply of the vehicle-mounted controller, and the vehicle-mounted controller is powered on;
and 5: the vehicle-mounted controller executes a power-on test;
step 6: the vehicle-mounted controller passes the electric test and establishes communication with the trackside ATP;
and 7: tracking the dormant train by the trackside ATP in a dormant train tracking mode; after the front signal is opened, the trackside ATP calculates the movement authorization for the train according to the signal opening state, and sends the movement authorization information to the vehicle-mounted ATP;
and 8: the vehicle-mounted ATP controls the train to move according to the movement authorization, the vehicle-mounted ATP enters a positioning unconfirmed state after acquiring positioning information through the position detection device, and the position information is sent to the trackside ATP;
and step 9: the train position information reported by the vehicle-mounted ATP is checked by the trackside ATP according to the train position information reported by the vehicle-mounted ATP and by combining the train position information memorized before dormancy, whether the error between the train position memorized before dormancy and the train position information reported by the vehicle-mounted ATP is smaller than or equal to a preset limit value is judged, if the error is smaller than or equal to the preset limit value, the train position check is judged to be passed, otherwise, the train position check is judged not to be passed, and the trackside ATP feeds back the check result to the vehicle-mounted ATP;
step 10: judging whether the error between the train position memorized before dormancy and the train position information reported by the vehicle-mounted ATP is smaller than or equal to a preset limit value by the rail-side ATP, if so, judging that the checking is passed, otherwise, judging that the checking is not passed, and if the vehicle-mounted ATP receives the train position checking passing information of the rail-side ATP, judging that the train enters a positioning state from a positioning unconfirmed state;
step 11: after the train enters a positioning state, the vehicle-mounted ATP reports position information to the trackside ATP, and after the trackside ATP receives the position information, the tracking mode of the train is changed from the previous dormant train tracking mode to a communication train tracking mode.
Preferably, the position detection device is a positioning beacon or a positioning loop.
By adopting the technical scheme, the invention has the following advantages:
1. when no jump interface exists between the vehicle and the signal system, the train can be quickly positioned, and the application range is wide.
2. The position detection device (positioning loop line, awakening dormancy positioning beacon) is convenient to deploy, and can enter a positioning state before the train is put into operation, so that the operation efficiency is improved.
3. The positioning loop is cheaper than European beacons and American beacons, and if the positioning loop is adopted to assist the train to be quickly positioned, the cost is saved.
4. After the train is in a dormant state, only the dormancy awakening module and the train-ground communication equipment are kept in a non-power-off state, the power consumption is low, and the energy can be effectively saved.
Drawings
The invention is further described with reference to the accompanying drawings and the detailed description below:
FIG. 1 is a schematic view of the present invention;
in the figure: s1, S2, S3, S4 refer to the names of the traffic signals, and T1, T2, T3, T4 refer to the names of the positioning beacons.
Detailed Description
The invention arranges corresponding position detection devices (such as positioning beacons and positioning loops) in a train awakening sleeping area, and checks the position of the train before sleeping and the positioning information acquired by the position detection devices after awakening through the vehicle-mounted ATP or the trackside ATP to judge whether the train is allowed to enter a positioning state.
The first scheme is as follows: the position of the train is memorized through a vehicle-mounted ATP, and the train is laid with a positioning loop, and the line layout is according to a mode 1 shown in figure 1;
step 1: and after the operation of the previous day is finished, the train enters a wake-up sleeping area and completely enters a positioning loop area and then is stably stopped, and the current position of the train is memorized (the train is not cleared after the power failure of the train controller) after the train-mounted controller judges that the sleeping condition is met.
Step 2: the vehicle-mounted controller sends a sleep instruction to the vehicle, the vehicle-mounted controller cuts off a main power supply of the vehicle-mounted controller after waiting for the sleep of the train, and only the sleep module and the vehicle-ground communication equipment are kept in a non-power-off state.
And step 3: and the central ATS manually or automatically sends a wake-up command to a wake-up dormant module of the vehicle-mounted controller according to a time schedule when the vehicle-mounted controller is about to operate in the next day.
And 4, step 4: and the awakening dormancy module is used for switching on the main power supply of the vehicle-mounted controller after receiving the awakening instruction, and the vehicle-mounted controller is powered on.
And 5: the onboard controllers perform power-up tests (including braking, gating, etc.).
Step 6: and the on-board controller passes the electrical test, establishes communication with the trackside ATP and considers that the train enters a positioning unconfirmed state according to the memorized position information. After the power-on test of the vehicle-mounted controller is passed, as long as the condition that the memorized position information is valid is met, the vehicle-mounted controller is considered to enter a positioning unconfirmed state.
And 7: the vehicle-mounted controller obtains effective positioning information through a positioning loop line laid in the awakening sleeping area and sends the position information to the trackside ATP.
And 8: the vehicle-mounted ATP checks the train position according to the acquired effective positioning information and by combining the train position information memorized before dormancy, judges whether the error between the train position memorized before dormancy and the effective positioning information acquired by the position detection device is less than or equal to a preset limit value, and if the error is less than or equal to the preset limit value, the train position is considered to pass the checking, but the train position is still kept in a positioning unconfirmed state; otherwise, the train position check is not passed.
And step 9: using NTQB to track the train with unconfirmed positioning by using trackside ATP (for the train with NTQB, ZC can give MAL, but the length of MAL should be specially limited); after the signal of S3 (front in the figure) is opened, the trackside ATP calculates MAL for the NTQB train according to the open state of the signal of S3, and transmits MAL information to the vehicle-mounted ATP.
Step 10: the train movement is controlled by the vehicle-mounted ATP according to the MAL information, the vehicle-mounted ATP checks the train distance judged according to the OPG of the vehicle-mounted ATP and the positioning information obtained through the positioning loop, whether the distance variation error judged by the positioning loop and the OPG is smaller than or equal to a preset limit value or not is judged, if the distance variation error is smaller than or equal to the preset limit value, the checking is judged to be passed, and the train enters a positioning state from a positioning unconfirmed state; otherwise, judging that the train does not pass the checking and still is in a positioning unconfirmed state.
Step 11: after the train enters a positioning state, the vehicle-mounted ATP reports position information to the trackside ATP, and after the trackside ATP receives the position information, the tracking mode of the train is changed from the previous NTQB to TVB.
The left signal S4 is processed in the same manner as the signal opening process.
Wherein, NTQB is as follows: a dormant train tracking mode; TVB Chinese is: the communication train tracking mode, MAL Chinese is: mobile authorization, OPG chinese is: a speed measuring sensor.
The second scheme is as follows: the train position is memorized by the vehicle-mounted ATP, and based on laying positioning beacons, the route is arranged according to a mode 2 in a figure 1.
In the figure, two dormancy awakening positioning beacons are respectively arranged at two ends of a train, wherein T2 and T3 are used for controlling the train at the head and the tail in a redundant manner, T1 and T4 are used for controlling the train at the head, and the arrangement of the awakening positioning beacons is required to meet certain constraints, such as a certain distance between the front end and the rear end of the train.
Step 1: and after the operation of the previous day is finished, the train enters a wake-up sleeping area and completely enters a positioning beacon area and then is stopped stably, and the current position of the train is memorized (the train is not cleared after the power failure of the train controller) after the train-mounted controller judges that the sleeping condition is met.
Step 2: the vehicle-mounted controller sends a sleep instruction to the vehicle, the vehicle-mounted controller cuts off a main power supply of the vehicle-mounted controller after waiting for the sleep of the train, and only the sleep module and the vehicle-ground communication equipment are kept in a non-power-off state.
And step 3: and the central ATS manually or automatically sends a wake-up command to a wake-up dormant module of the vehicle-mounted controller according to a time schedule when the vehicle-mounted controller is about to operate in the next day.
And 4, step 4: and the awakening dormancy module is used for switching on the main power supply of the vehicle-mounted controller after receiving the awakening instruction, and the vehicle-mounted controller is powered on.
And 5: the onboard controllers perform power-up tests (including braking, gating, etc.).
Step 6: and the on-board controller passes the electrical test, establishes communication with the trackside ATP and considers that the train enters a positioning unconfirmed state according to the memorized position information. After the power-on test of the vehicle-mounted controller is passed, as long as the condition that the memorized position information is valid is met, the vehicle-mounted controller is considered to enter a positioning unconfirmed state.
And 7: using NTQB to track the train with unconfirmed positioning by using trackside ATP (for the train with NTQB, ZC can give MAL, but the length of MAL should be specially limited); after the signal of S1 (front in the figure) is opened, the trackside ATP calculates MAL for the NTQB train according to the opening state of the signal of S1, and sends MAL information to the vehicle-mounted ATP.
And 8: the train is controlled to move to the right by the vehicle-mounted ATP according to the MAL, and the vehicle-mounted ATP reads T1 positioning beacon information through the beacon reading unit.
And step 9: the vehicle-mounted ATP checks the position of the train according to the acquired T1 positioning beacon information and by combining the train position information memorized before dormancy, whether the distance variation error judged by the positioning information acquired by the positioning beacon and the OPG is less than or equal to a preset limit value or not is judged, if the distance variation error is less than or equal to the preset limit value, the checking is judged to be passed, and the train enters a positioning state from a positioning unconfirmed state; otherwise, judging that the train does not pass the checking and still is in a positioning unconfirmed state.
Step 10: after the train enters a positioning state, the vehicle-mounted ATP reports position information to the trackside ATP, and after the trackside ATP receives the position information, the tracking mode of the train is changed from the previous NTQB to TVB.
The left signal S2 is processed in the same manner as the signal opening process.
In the third scheme: the train position is memorized through the trackside ATP, the positioning loop line and the positioning beacon are supported, and the line arrangement can be realized according to the mode 1 and the mode 2 of the figure 1:
step 1: and after the operation of the previous day is finished, the train completely enters a wake-up sleeping area and is stopped stably, the position information before the train is in sleep is sent to the trackside ATP after the vehicle-mounted controller judges that the sleeping condition is met, and the trackside ATP memorizes the position of the train before the sleep.
Step 2: the vehicle-mounted controller sends a sleep instruction to the vehicle, the vehicle-mounted controller cuts off a main power supply of the vehicle-mounted controller after waiting for the sleep of the train, and only the sleep module and the vehicle-ground communication equipment are kept in a non-power-off state.
And step 3: and the central ATS manually or automatically sends a wake-up command to a wake-up dormant module of the vehicle-mounted controller according to a time schedule when the vehicle-mounted controller is about to operate in the next day.
And 4, step 4: and the awakening dormancy module is used for switching on the main power supply of the vehicle-mounted controller after receiving the awakening instruction, and the vehicle-mounted controller is powered on.
And 5: the onboard controllers perform power-up tests (including braking, gating, etc.).
Step 6: the onboard controller passes the electrical test and establishes communication with the trackside ATP.
And 7: using NTQB to track the dormant train by using trackside ATP (for the train of NTQB, ZC can give MAL, but the length of MAL should be specially limited); after the right signal (S3 or S1) is opened, the trackside ATP calculates MAL for the NTQB train according to the signal open state, and transmits MAL information to the vehicle-mounted ATP.
And 8: the vehicle-mounted ATP controls the train to move according to the MAL, the vehicle-mounted ATP enters a positioning unconfirmed state after acquiring positioning information through a positioning loop (S3 is opened) or a T1 beacon (S1 is opened), and the position information is sent to the trackside ATP.
And step 9: the train position information reported by the vehicle-mounted ATP is checked by the trackside ATP according to the train position information reported by the vehicle-mounted ATP and by combining the train position information memorized before dormancy, whether the error between the train position memorized before dormancy and the train position information reported by the vehicle-mounted ATP is smaller than or equal to a preset limit value is judged, if the error is smaller than or equal to the preset limit value, the train position check is judged to be passed, otherwise, the train position check is judged not to be passed, and the trackside ATP feeds back the check result to the vehicle-mounted ATP.
Step 10: and if the vehicle-mounted ATP receives the position checking passing information of the trackside ATP, the train is judged to enter the positioning state from the unconfirmed positioning state.
Step 11: after the train enters a positioning state, the trackside ATP judges whether the error between the train position memorized before dormancy and the train position information reported by the vehicle-mounted ATP is smaller than or equal to a preset limit value, if so, the checking is judged to be passed, otherwise, the checking is judged to be not passed, the vehicle-mounted ATP reports the position information to the trackside ATP, and after the trackside ATP receives the position information, the tracking mode of the train is changed from the previous NTQB to the TVB.
The left signal (S2 or S4) is open for the same reason.
Claims (2)
1. A method for rapidly positioning a dormant train through trackside ATP storage memory is characterized by comprising the following steps:
step 1: when the operation of the previous day is finished, the train completely enters a wake-up sleeping area and is stopped stably, the position information before the train is in sleep is sent to the trackside ATP after the vehicle-mounted controller judges that the sleeping condition is met, and the trackside ATP memorizes the position of the train before the sleep;
step 2: the vehicle-mounted controller sends a sleep instruction to the vehicle, the vehicle-mounted controller cuts off a main power supply of the vehicle-mounted controller after waiting for the sleep of the train, and only the sleep module and the vehicle-ground communication equipment are kept in a non-power-off state;
and step 3: the central ATS manually or automatically sends a wake-up command to a wake-up dormant module of the vehicle-mounted controller according to a time schedule when the vehicle-mounted controller is about to operate on the next day;
and 4, step 4: the awakening dormancy module is used for receiving an awakening instruction and then connecting a main power supply of the vehicle-mounted controller, and the vehicle-mounted controller is powered on;
and 5: the vehicle-mounted controller executes a power-on test;
step 6: the vehicle-mounted controller passes the electric test and establishes communication with the trackside ATP;
and 7: tracking the dormant train by the trackside ATP in a dormant train tracking mode; after the front signal is opened, the trackside ATP calculates the movement authorization for the train according to the signal opening state, and sends the movement authorization information to the vehicle-mounted ATP;
and 8: the vehicle-mounted ATP controls the train to move according to the movement authorization, the vehicle-mounted ATP enters a positioning unconfirmed state after acquiring positioning information through the position detection device, and the position information is sent to the trackside ATP;
and step 9: the train position information reported by the vehicle-mounted ATP is checked by the trackside ATP according to the train position information reported by the vehicle-mounted ATP and by combining the train position information memorized before dormancy, whether the error between the train position memorized before dormancy and the train position information reported by the vehicle-mounted ATP is smaller than or equal to a preset limit value is judged, if the error is smaller than or equal to the preset limit value, the train position check is judged to be passed, otherwise, the train position check is judged not to be passed, and the trackside ATP feeds back the check result to the vehicle-mounted ATP;
step 10: if the vehicle-mounted ATP receives the position checking passing information of the trackside ATP, the train is judged to enter a positioning state from a positioning unconfirmed state;
step 11: after the train enters a positioning state, the trackside ATP judges whether the error between the train position memorized before dormancy and the train position information reported by the vehicle-mounted ATP is smaller than or equal to a preset limit value, if so, the checking is judged to be passed, otherwise, the checking is judged to be not passed, the vehicle-mounted ATP reports the position information to the trackside ATP, and after the trackside ATP receives the position information, the tracking mode of the train is changed from the former dormant train tracking mode to a communication train tracking mode.
2. The method for rapidly positioning the dormant train through the trackside ATP storage memory according to claim 1, characterized in that: the position detection device is a positioning beacon or a positioning ring line.
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| EP2168840B1 (en) * | 2008-09-30 | 2011-07-20 | Thales Security Solutions & Services GmbH | Method for operating a train on a railway system, in particular comprising a national ATP infill in ETCS |
| CN104554345A (en) * | 2013-10-29 | 2015-04-29 | 徐成琦 | Safe driving method for high speed railway |
| CN103738368B (en) * | 2013-12-18 | 2015-10-28 | 北京交控科技有限公司 | Vehicle dormancy and wake up process method |
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| CN104442928B (en) * | 2014-10-13 | 2016-06-29 | 北京交控科技股份有限公司 | Train position accumulating method and check method based on zone controller |
| CN104354726B (en) * | 2014-10-17 | 2016-04-20 | 北京交控科技股份有限公司 | A kind of automatic awakening method of train and system |
| CN105438222A (en) * | 2015-12-01 | 2016-03-30 | 唐山轨道客车有限责任公司 | Train formation control system |
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2016
- 2016-08-26 CN CN201610730479.3A patent/CN106314485B/en active Active
- 2016-08-26 CN CN201710683694.7A patent/CN107672627B/en active Active
- 2016-08-26 CN CN201710683686.2A patent/CN107697105B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107672627A (en) | 2018-02-09 |
| CN107697105B (en) | 2020-05-22 |
| CN107697105A (en) | 2018-02-16 |
| CN106314485B (en) | 2017-11-24 |
| CN106314485A (en) | 2017-01-11 |
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