CN107839719A - train control method, device, storage medium and processor - Google Patents
train control method, device, storage medium and processor Download PDFInfo
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- CN107839719A CN107839719A CN201710863044.0A CN201710863044A CN107839719A CN 107839719 A CN107839719 A CN 107839719A CN 201710863044 A CN201710863044 A CN 201710863044A CN 107839719 A CN107839719 A CN 107839719A
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- 238000003860 storage Methods 0.000 title claims abstract description 23
- 238000012360 testing method Methods 0.000 claims description 13
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- 230000008569 process Effects 0.000 description 24
- 238000005516 engineering process Methods 0.000 description 13
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 10
- 230000009191 jumping Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 5
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/60—Testing or simulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/20—Trackside control of safe travel of vehicle or train, e.g. braking curve calculation
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of Train control method, device, storage medium and processor.Wherein, this method includes：Obtain skip distance and the jump direction of train；The rotation information of the bogie wheel shaft of train is determined according to skip distance and jump direction；Train is controlled to be moved to target location parking according to rotation information.Using such scheme, the present invention solves the relatively low technical problem of the accuracy rate controlled when being controlled to train jump, the accuracy rate controlled when being controlled so as to improve to train jump.
Description
Technical field
The present invention relates to signal control field, in particular to a kind of Train control method, device, storage medium and
Processor.
Background technology
With developing rapidly for urban track traffic, the security reliability and service quality of metro operation seem particularly heavy
Will.In the case where dynamically test and train are to two kinds of scenes of mark after crewless train wakes up jump control can be carried out to train.Nothing
Before people's driving train puts into effect daily, car operation company needs dynamically to test after waking up train, to confirm ground
Reliability of the control centre to Train Control.Another scene, train enters the station needs to mark parking, due to caused by a variety of causes
Train is brought to not happened occasionally during mark in assigned position parking (including punching mark, deficient mark) to train normal operation order
Severe jamming, light then single Train delay is heavy then cause Analysis of Train Operation Order disorderly, and large area is late, is made troubles to passenger,
Even more serious consequence.
Conventional train jump control depends primarily on the location technology and pilot steering experience of train.Current outer city at home
There are a variety of train Positioning Technologies in city's track traffic.Main location technology is using track circuit location technology and based on CBTC
Train Positioning Technology.Wherein the train Positioning Technology based on CBTC mainly has based on radio spread spectrum communication location technology and utilization
GPS global satellite positionings.Radio spread spectrum communication installed in train both ends is utilized based on radio spread spectrum communication location technology
Emitter, earthward ranging Base Transmitter location information.Train Positioning Technology based on CBTC is more accurate for train positioning,
If but simply simple bigger using error when traction, inertia and braking timing instructions control short distance jump, low precision.Also
It is that after Vehicle Controller VOBC receives skip instruction feedback, leading for preset duration and default size is exported to train to have a kind of method
Draw, to cause the train skip-forwards.After the train zero-speed, order is completed in Vehicle Controller VOBC output jumps.This method
And it is simple using timing instructions control is drawn, accurately train jump can not be controlled.
For it is above-mentioned the problem of, not yet propose effective solution at present.
The content of the invention
The embodiments of the invention provide a kind of Train control method, device, storage medium and processor, at least to solve pair
The relatively low technical problem of accuracy rate that train jump is controlled when being controlled.
One side according to embodiments of the present invention, there is provided a kind of Train control method, including：Obtain the jump of train
Distance and jump direction；Determine that the rotation of the bogie wheel shaft of the train is believed according to the skip distance and the jump direction
Breath；The train is controlled to be moved to target location parking according to the rotation information.
Alternatively, the institute of the bogie wheel shaft of the train is determined according to the skip distance and the jump direction
Stating rotation information includes：The bogie wheel shaft is determined according to the parameter preset of the skip distance and the bogie wheel shaft
Treat rotate gear number, wherein, the parameter preset of the bogie wheel shaft includes：The wheel footpath of the bogie wheel shaft and institute
State the number of gears of bogie wheel shaft；The rotation direction of the bogie wheel shaft is determined according to the jump direction；Wherein, described turn
Dynamic information includes：It is described to treat rotate gear number and the rotation direction.
Alternatively, controlling the train to be moved to the target location parking according to the rotation information includes：Obtain
The traction information and braking information of the train, wherein, the traction information is used for the driving power for indicating the train, described
Braking information is used for the stopping power for indicating the train；According to traction information, the braking information and the rotation
Information controls the train to be moved to the target location parking.
Alternatively, the train is controlled to move according to traction information, the braking information and the rotation information
Include to the target location and parking：Treat that rotate gear number divides by described according to the traction information and the braking information
For first gear number and second gear number；Controlling the steering framing wheel according to the traction information, axially the rotation direction rotates
The first gear number；Controlling the steering framing wheel according to the braking information, axially the rotation direction rotates second tooth
Stopped operating after wheel number.
Alternatively, the skip distance and the jump direction for obtaining the train include one below：Obtain default
The skip distance and the default jump direction, wherein, the default skip distance and the default jump
The dynamic test that jump direction is used for after being waken up to the train；The train is positioned, obtains stopping for the train
Truck position；The distance between the parking spot and the target location are detected, as the skip distance；Detect the target
Position relative to the parking spot direction, as the jump direction.
Another aspect according to embodiments of the present invention, a kind of train controller is additionally provided, including：Acquisition module, use
In the skip distance and jump direction that obtain train；Determining module, for true according to the skip distance and the jump direction
The rotation information of the bogie wheel shaft of the fixed train；Control module, for controlling the train to move according to the rotation information
Move target location parking.
Alternatively, the determining module includes：First determining unit, for according to the skip distance and the steering
What the parameter preset of frame wheel shaft determined the bogie wheel shaft treats rotate gear number, wherein, the bogie wheel shaft it is described pre-
Setting parameter includes：The number of gears of the wheel footpath of the bogie wheel shaft and the bogie wheel shaft；Second determining unit, for basis
The jump direction determines the rotation direction of the bogie wheel shaft；Wherein, the rotation information includes：It is described to treat rotate gear
Number and the rotation direction.
Alternatively, the control module includes：Acquiring unit, traction information and braking for obtaining the train are believed
Breath, wherein, the traction information is used for the driving power for indicating the train, and the braking information is used to indicate the train
Stopping power；Control unit, for controlling the row according to traction information, the braking information and the rotation information
Car is moved to the target location parking.
Another aspect according to embodiments of the present invention, a kind of storage medium is additionally provided, alternatively, the storage medium bag
The program of storage is included, wherein, equipment where the storage medium is controlled when described program is run performs above-mentioned any one institute
The method stated.
Another aspect according to embodiments of the present invention, a kind of processor is additionally provided, alternatively, the processor is used to transport
Line program, wherein, described program performs the method described in above-mentioned any one when running.
In embodiments of the present invention, using the skip distance and jump direction for obtaining train；According to skip distance and jump
Direction determines the rotation information of the bogie wheel shaft of train；Train is controlled to be moved to target location parking according to rotation information
Mode, the rotation information of train bogie wheel shaft is determined by the skip distance and jump direction of acquisition, believed further according to the rotation
Cease to control train to be jumped, jump control is carried out to train by controlling the rotation of bogie wheel shaft so as to train
The control of skip distance is more accurate, the accuracy rate controlled when being controlled so as to improve to train jump, and then solves
The relatively low technical problem of the accuracy rate that is controlled when being controlled to train jump.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the schematic diagram of Train control method according to embodiments of the present invention；
Fig. 2 is the bogie wheel shaft control system schematic diagram according to alternative embodiment of the present invention；
Fig. 3 is the schematic diagram according to the train skip-forwards of alternative embodiment of the present invention；
Fig. 4 is the schematic diagram to be jumped backward according to the train of alternative embodiment of the present invention；
Fig. 5 is a kind of structured flowchart one of train controller according to embodiments of the present invention；
Fig. 6 is a kind of structured flowchart two of train controller according to embodiments of the present invention；
Fig. 7 is a kind of structured flowchart three of train controller according to embodiments of the present invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, it should all belong to the model that the present invention protects
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
According to embodiments of the present invention, there is provided a kind of embodiment of the method for Train Control is, it is necessary to illustrate, in accompanying drawing
The step of flow illustrates can perform in the computer system of such as one group computer executable instructions, although also,
Logical order is shown in flow chart, but in some cases, can be to perform shown different from order herein or retouch
The step of stating.
Fig. 1 is the schematic diagram of Train control method according to embodiments of the present invention, as shown in figure 1, this method is including as follows
Step：
Step S102, obtain skip distance and the jump direction of train；
Step S104, the rotation information of the bogie wheel shaft of train is determined according to skip distance and jump direction；
Step S106, train is controlled to be moved to target location parking according to rotation information.
Alternatively, above-mentioned Train control method can be, but not limited to applied in the scene being controlled to train jump.
Such as：The control that train jump control in dynamic test when automatic Pilot train wakes up, train jump to timestamp to train.
Alternatively, above-mentioned Train control method can be, but not limited to be applied to terminal device, such as：Mobile phone, tablet personal computer,
PC computers, Intelligent worn device, Train Control platform etc..
Alternatively, in the present embodiment, above-mentioned skip distance refers to train needs mobile distance in control process of jumping.
Such as：During train is to target, skip distance can be, but not limited to be train parking spot between target location
Distance.In the dynamic testing process of train, skip distance can be, but not limited to be default distance value.
Alternatively, in the present embodiment, above-mentioned jump direction refers to the position that train needs to be moved in control process of jumping
Put relative to the direction where current location.Such as：During train is to target, if train, which is in, rushes mark state, that is, arrange
The parking spot of car has exceeded target location, then jump direction can be, but not limited to be rear, that is to say, that train needs
Car, if train, which is in, owes mark state, i.e. the parking spot of train could not reach target location, then jump direction can with but not
It is limited to front, that is to say, that train is needed in the segment distance that advances.In the dynamic testing process of train, jump direction can
With but be not limited to default direction, forward or backward.
Alternatively, in the present embodiment, the rotation information of above-mentioned bogie wheel shaft can be, but not limited to use bogie wheel shaft
Rotational angle and rotation direction represent.Or the rotation information of above-mentioned bogie wheel shaft can also but be not limited to use bogie
The number of gears and rotation direction of wheel shaft represent.
By above-mentioned steps, using the skip distance and jump direction for obtaining train；According to skip distance and jump direction
Determine the rotation information of the bogie wheel shaft of train；Train is controlled to be moved to the side that target location is stopped according to rotation information
Formula, the rotation information of train bogie wheel shaft is determined by the skip distance and jump direction of acquisition, further according to the rotation information
To control train to be jumped, jump control is carried out to train by controlling the rotation of bogie wheel shaft so that train is jumped
Hop from control it is more accurate, the accuracy rate that controls when being controlled so as to improve to train jump, and then solve
The accuracy rate that controls relatively low technical problem when being controlled to train jump.
Alternatively, the movement of train can be converted to the rotation of bogie wheel shaft, and the skip distance of train is converted into and turned
The number of gears rotated to frame wheel shaft, train movement skip distance can be accurately controlled and reach target location.Such as：In above-mentioned step
In rapid S104, rotate gear number is treated according to what the parameter preset of skip distance and bogie wheel shaft determined bogie wheel shaft, its
In, the parameter preset of bogie wheel shaft includes：The wheel footpath of bogie wheel shaft and the number of gears of bogie wheel shaft, and according to jump side
To the rotation direction for determining bogie wheel shaft, wherein, rotation information includes：Treat rotate gear number and rotation direction.
In an optional embodiment, skip distance Z, the parameter preset of bogie wheel shaft includes：Steering framing wheel
The wheel footpath D of the axle and number of gears X of bogie wheel shaft, can be according to skip distance Z and the wheel footpath D and bogie of bogie wheel shaft
What the number of gears X of wheel shaft determined bogie wheel shaft treats rotate gear number Y.Such as：Fig. 2 is according to the optional reality of the present invention
The bogie wheel shaft control system schematic diagram of mode is applied, as shown in Fig. 2 bogie wheel shaft wheel footpath is D, the gear of bogie wheel shaft
Number is X, and vehicle TCMS and signal system control train movement, brakes, which passes through, adds up number of teeth detection means detection bogie
The number of gears that wheel shaft rotates.
Alternatively, train from it is static to mobile again to the process and a deceleration that acceleration during parking, be present
Process, in accelerator, by the traction information of train train can be controlled to move, during deceleration, Ke Yitong
Cross the braking information control Train Stopping of train.For example, in above-mentioned steps S106, the traction information and braking that obtain train are believed
Breath, wherein, traction information is used to indicate the driving power of train, and braking information is used for the stopping power for indicating train, according to leading
Fuse breath, braking information and rotation information control train are moved to target location parking.
Alternatively, the traction information of train can be, but not limited to include：The information such as traction working condition and traction level, train
Braking information can be, but not limited to include：Braking instruction and nonlinear function control braking level.
Alternatively, according to the traction information and braking information of train can determine acceleration distance in train jump process and
Deceleration distance, then can will treat that rotate gear number is divided into two parts, and a part is controlled by traction information and rotated, another portion
Divide to be controlled by braking information and rotate, so as to realize the accurate control to train jump.Such as：Can be according to traction information and braking
Information will treat that rotate gear number is divided into first gear number and second gear number, axially be turned according to traction information control steering framing wheel
Dynamic direction rotates first gear number, controls steering framing wheel axial rotation direction to stop after rotating second gear number according to braking information
Rotate.
In an optional embodiment, under train automatic driving mode, signal system output skip instruction, direction
The information such as instruction, traction working condition and traction level, after train operation, motor vehicle braking system exports the bogie wheel shaft accumulation number of teeth
Give vehicle TCMS, TCMS that number of teeth variable quantity is converted into skip distance and be transmitted to signal system, train jumps to default distance early stage
After (corresponding number of teeth variable quantity early stage, equivalent to above-mentioned first gear number), signal system output braking instruction and nonlinear function
Control braking level, control vehicle are run to target range (corresponding target number of teeth variable quantity, equivalent to above-mentioned second gear number)
Place's parking, completes jump process.Nonlinear function control braking level is born on train skip distance, the speed of service, vehicle
The function of lotus, idling slide coefficient and track adhesion coefficient.Fig. 3 is the train skip-forwards according to alternative embodiment of the present invention
Schematic diagram, as shown in figure 3, the direction for controlling bogie wheel shaft to travel forward according to train first rotates first gear number, make
Train is moved to default early stage apart from rear position from jump front position, then the side for controlling bogie wheel shaft to be travelled forward according to train
To second gear number is rotated, make train from the position that default early stage is moved to after jumping to target range apart from rear position, i.e. mesh
Cursor position, so as to complete the skip-forwards process of train.Fig. 4 is jumped backward according to the train of alternative embodiment of the present invention
Schematic diagram, as shown in figure 4, the direction for controlling bogie wheel shaft to be moved backward according to train first rotates first gear number, make row
Car is moved to default early stage apart from rear position from jump front position, then the direction for controlling bogie wheel shaft to be moved backward according to train
Second gear number is rotated, makes train from the position that default early stage is moved to after jumping to target range apart from rear position, i.e. target
Position, so as to complete the jump process backward of train.
Alternatively, train skip distance and jump direction in dynamic testing process can be default, in train to mark
During, skip distance and jump direction actually detected can be arrived.Such as：In above-mentioned steps S102, can by with
One of under type obtains skip distance and the jump direction of train：
Mode one, default skip distance and default jump direction are obtained, wherein, default skip distance and default
The dynamic test that jump direction is used for after being waken up to train.
Mode two, is positioned to train, obtains the parking spot of train；Detect between parking spot and target location
Distance, as skip distance；Direction of the target location relative to parking spot is detected, as jump direction.
Alternatively, the skip distance dynamically tested can be, but not limited to as default fixed value after train wakes up, and train
The train Positioning Technology based on CBTC can be utilized to detect the skip distance of mark jump.
A kind of train controller is additionally provided in the present embodiment, and the device is used to realize above-described embodiment and preferred reality
Mode is applied, had carried out repeating no more for explanation.As used below, term " module " can realize the soft of predetermined function
The combination of part and/or hardware.Although device described by following examples is preferably realized with software, hardware, or
The realization of the combination of software and hardware is also what may and be contemplated.
Fig. 5 is a kind of structured flowchart one of train controller according to embodiments of the present invention, as shown in figure 5, the device
Including：
Acquisition module 52, for obtaining skip distance and the jump direction of train；
Determining module 54, coupled to acquisition module 52, for determining the steering of train according to skip distance and jump direction
The rotation information of frame wheel shaft；
Control module 56, coupled to determining module 54, for controlling train to be moved to target location according to rotation information
Parking.
Alternatively, above-mentioned train controller can be, but not limited to applied in the scene being controlled to train jump.
Such as：The control that train jump control in dynamic test when automatic Pilot train wakes up, train jump to timestamp to train.
Alternatively, above-mentioned train controller can be, but not limited to be applied to terminal device, such as：Mobile phone, tablet personal computer,
PC computers, Intelligent worn device, Train Control platform etc..
Alternatively, in the present embodiment, above-mentioned skip distance refers to train needs mobile distance in control process of jumping.
Such as：During train is to target, skip distance can be, but not limited to be train parking spot between target location
Distance.In the dynamic testing process of train, skip distance can be, but not limited to be default distance value.
Alternatively, in the present embodiment, above-mentioned jump direction refers to the position that train needs to be moved in control process of jumping
Put relative to the direction where current location.Such as：During train is to target, if train, which is in, rushes mark state, that is, arrange
The parking spot of car has exceeded target location, then jump direction can be, but not limited to be rear, that is to say, that train needs
Car, if train, which is in, owes mark state, i.e. the parking spot of train could not reach target location, then jump direction can with but not
It is limited to front, that is to say, that train is needed in the segment distance that advances.In the dynamic testing process of train, jump direction can
With but be not limited to default direction, forward or backward.
Alternatively, in the present embodiment, the rotation information of above-mentioned bogie wheel shaft can be, but not limited to use bogie wheel shaft
Rotational angle and rotation direction represent.Or the rotation information of above-mentioned bogie wheel shaft can also but be not limited to use bogie
The number of gears and rotation direction of wheel shaft represent.
By said apparatus, the skip distance of train and direction of jumping are obtained using acquisition module；Determining module is according to jump
Rotation information of the hop from the bogie wheel shaft that train is determined with jump direction；Control module controls train to move according to rotation information
The mode of target location parking is moved, the rotation of train bogie wheel shaft is determined by the skip distance and jump direction of acquisition
Information, control train to be jumped further according to the rotation information, train is carried out by controlling the rotation of bogie wheel shaft
Jump control so that it is more accurate to the control of train skip distance, time control is controlled to train jump so as to improve
The accuracy rate of system, and then solve the relatively low technical problem of the accuracy rate controlled when being controlled to train jump.
Fig. 6 is a kind of structured flowchart two of train controller according to embodiments of the present invention, as shown in fig. 6, alternatively,
Determining module 54 includes：
First determining unit 62, for determining bogie wheel shaft according to the parameter preset of skip distance and bogie wheel shaft
Treat rotate gear number, wherein, the parameter preset of bogie wheel shaft includes：The wheel footpath of bogie wheel shaft and the tooth of bogie wheel shaft
Take turns number；
Second determining unit 64, coupled to the first determining unit 62, for determining bogie wheel shaft according to jump direction
Rotation direction；
Wherein, rotation information includes：Treat rotate gear number and rotation direction.
Alternatively, the movement of train can be converted to the rotation of bogie wheel shaft, and the skip distance of train is converted into and turned
The number of gears rotated to frame wheel shaft, train movement skip distance can be accurately controlled and reach target location.
In an optional embodiment, skip distance Z, the parameter preset of bogie wheel shaft includes：Steering framing wheel
The wheel footpath D of the axle and number of gears X of bogie wheel shaft, can be according to skip distance Z and the wheel footpath D and bogie of bogie wheel shaft
What the number of gears X of wheel shaft determined bogie wheel shaft treats rotate gear number Y.Such as：Fig. 2 is according to the optional reality of the present invention
The bogie wheel shaft control system schematic diagram of mode is applied, as shown in Fig. 2 bogie wheel shaft wheel footpath is D, the gear of bogie wheel shaft
Number is X, and vehicle TCMS and signal system control train movement, brakes, which passes through, adds up number of teeth detection means detection bogie
The number of gears that wheel shaft rotates.
Fig. 7 is a kind of structured flowchart three of train controller according to embodiments of the present invention, as shown in fig. 7, alternatively,
Control module 56 includes：
Acquiring unit 72, for obtaining the traction information and braking information of train, wherein, traction information is used to indicate train
Driving power, braking information is used to indicate the stopping power of train；
Control unit 74, coupled to acquiring unit 72, for being controlled according to traction information, braking information and rotation information
Train is moved to target location parking.
Alternatively, train from it is static to mobile again to the process and a deceleration that acceleration during parking, be present
Process, in accelerator, by the traction information of train train can be controlled to move, during deceleration, Ke Yitong
Cross the braking information control Train Stopping of train.
Alternatively, the traction information of train can be, but not limited to include：The information such as traction working condition and traction level, train
Braking information can be, but not limited to include：Braking instruction and nonlinear function control braking level.
Alternatively, control unit 74 is used for：It will treat that rotate gear number is divided into first according to traction information and braking information
The number of gears and second gear number；First gear number is rotated according to traction information control steering framing wheel axial rotation direction；According to system
Dynamic information control steering framing wheel axial rotation direction stops operating after rotating second gear number.
Alternatively, according to the traction information and braking information of train can determine acceleration distance in train jump process and
Deceleration distance, then can will treat that rotate gear number is divided into two parts, and a part is controlled by traction information and rotated, another portion
Divide to be controlled by braking information and rotate, so as to realize the accurate control to train jump.
In an optional embodiment, under train automatic driving mode, signal system output skip instruction, direction
The information such as instruction, traction working condition and traction level, after train operation, motor vehicle braking system exports the bogie wheel shaft accumulation number of teeth
Give vehicle TCMS, TCMS that number of teeth variable quantity is converted into skip distance and be transmitted to signal system, train jumps to default distance early stage
After (corresponding number of teeth variable quantity early stage, equivalent to above-mentioned first gear number), signal system output braking instruction and nonlinear function
Control braking level, control vehicle are run to target range (corresponding target number of teeth variable quantity, equivalent to above-mentioned second gear number)
Place's parking, completes jump process.Nonlinear function control braking level is born on train skip distance, the speed of service, vehicle
The function of lotus, idling slide coefficient and track adhesion coefficient.Fig. 3 is the train skip-forwards according to alternative embodiment of the present invention
Schematic diagram, as shown in figure 3, the direction for controlling bogie wheel shaft to travel forward according to train first rotates first gear number, make
Train is moved to default early stage apart from rear position from jump front position, then the side for controlling bogie wheel shaft to be travelled forward according to train
To second gear number is rotated, make train from the position that default early stage is moved to after jumping to target range apart from rear position, i.e. mesh
Cursor position, so as to complete the skip-forwards process of train.Fig. 4 is jumped backward according to the train of alternative embodiment of the present invention
Schematic diagram, as shown in figure 4, the direction for controlling bogie wheel shaft to be moved backward according to train first rotates first gear number, make row
Car is moved to default early stage apart from rear position from jump front position, then the direction for controlling bogie wheel shaft to be moved backward according to train
Second gear number is rotated, makes train from the position that default early stage is moved to after jumping to target range apart from rear position, i.e. target
Position, so as to complete the jump process backward of train.
Alternatively, acquisition module 52 is used for one below：
Default skip distance and default jump direction are obtained, wherein, default skip distance and default jump side
Tested to for the dynamic after being waken up to train；
Train is positioned, obtains the parking spot of train；The distance between parking spot and target location are detected, is made
For skip distance；Direction of the target location relative to parking spot is detected, as jump direction.
Alternatively, train skip distance and jump direction in dynamic testing process can be default, in train to mark
During, skip distance and jump direction actually detected can be arrived.
Alternatively, the skip distance dynamically tested can be, but not limited to as default fixed value after train wakes up, and train
The train Positioning Technology based on CBTC can be utilized to detect the skip distance of mark jump.
Embodiments of the invention additionally provide a kind of storage medium, and the storage medium includes the program of storage, wherein, it is above-mentioned
The method described in any of the above-described is performed when program is run.
Alternatively, in the present embodiment, above-mentioned storage medium can be configured to the journey that storage is used to perform following steps
Sequence code：
S1, obtain skip distance and the jump direction of train；
S2, the rotation information of the bogie wheel shaft of train is determined according to skip distance and jump direction；
S3, train is controlled to be moved to target location parking according to rotation information.
Alternatively, in the present embodiment, above-mentioned storage medium can include but is not limited to：USB flash disk, read-only storage (Read-
Only Memory, referred to as ROM), it is random access memory (Random Access Memory, referred to as RAM), mobile hard
Disk, magnetic disc or CD etc. are various can be with the medium of store program codes.
Embodiments of the invention additionally provide a kind of processor, and the processor is used for operation program, wherein, program operation
Step in Shi Zhihang any of the above-described methods.
Alternatively, in the present embodiment, said procedure is used to perform following steps：
S1, obtain skip distance and the jump direction of train；
S2, the rotation information of the bogie wheel shaft of train is determined according to skip distance and jump direction；
S3, train is controlled to be moved to target location parking according to rotation information.
Alternatively, the specific example in the present embodiment may be referred to described in above-described embodiment and optional embodiment
Example, the present embodiment will not be repeated here.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in some embodiment
The part of detailed description, it may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, others can be passed through
Mode is realized.Wherein, device embodiment described above is only schematical, such as the division of the unit, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
Connect, can be electrical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer
Equipment (can be personal computer, server or network equipment etc.) perform each embodiment methods described of the present invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
- A kind of 1. Train control method, it is characterised in that including：Obtain skip distance and the jump direction of train；The rotation information of the bogie wheel shaft of the train is determined according to the skip distance and the jump direction；The train is controlled to be moved to target location parking according to the rotation information.
- 2. according to the method for claim 1, it is characterised in that institute is determined according to the skip distance and the jump direction Stating the rotation information of the bogie wheel shaft of train includes：Turning gear is treated according to what the parameter preset of the skip distance and the bogie wheel shaft determined the bogie wheel shaft Number is taken turns, wherein, the parameter preset of the bogie wheel shaft includes：The wheel footpath of the bogie wheel shaft and the steering framing wheel The number of gears of axle；The rotation direction of the bogie wheel shaft is determined according to the jump direction；Wherein, the rotation information includes：It is described to treat rotate gear number and the rotation direction.
- 3. method according to claim 1 or 2, it is characterised in that control the train to move according to the rotation information Include to target location parking：The traction information and braking information of the train are obtained, wherein, the traction information is used for the traction for indicating the train Ability, the braking information are used for the stopping power for indicating the train；The train is controlled to be moved to the target position according to traction information, the braking information and the rotation information Put place's parking.
- 4. according to the method for claim 3, it is characterised in that according to traction information, the braking information and the institute Stating the rotation information control train and being moved to the target location and stop includes：Treat that rotate gear number is divided into first gear number and the second tooth by described according to the traction information and the braking information Take turns number；Controlling the steering framing wheel according to the traction information, axially the rotation direction rotates the first gear number；The steering framing wheel is controlled axially to stop after the rotation direction rotates the second gear number according to the braking information Rotate.
- 5. according to the method for claim 1, it is characterised in that obtain the skip distance of the train and the jump Direction includes one below：Obtain the default skip distance and the default jump direction, wherein, the default skip distance and The dynamic test that the default jump direction is used for after being waken up to the train；The train is positioned, obtains the parking spot of the train；Detect the parking spot and the target location The distance between, as the skip distance；Direction of the target location relative to the parking spot is detected, as described Jump direction.
- A kind of 6. train controller, it is characterised in that including：Acquisition module, for obtaining skip distance and the jump direction of train；Determining module, the rotation of the bogie wheel shaft for determining the train according to the skip distance and the jump direction Information；Control module, for controlling the train to be moved to target location parking according to the rotation information.
- 7. device according to claim 6, it is characterised in that the determining module includes：First determining unit, for determining the steering according to the parameter preset of the skip distance and the bogie wheel shaft Frame wheel shaft treats rotate gear number, wherein, the parameter preset of the bogie wheel shaft includes：The wheel of the bogie wheel shaft Footpath and the number of gears of the bogie wheel shaft；Second determining unit, for determining the rotation direction of the bogie wheel shaft according to the jump direction；Wherein, the rotation information includes：It is described to treat rotate gear number and the rotation direction.
- 8. the device according to claim 6 or 7, it is characterised in that the control module includes：Acquiring unit, for obtaining the traction information and braking information of the train, wherein, the traction information is used to indicate institute The driving power of train is stated, the braking information is used for the stopping power for indicating the train；Control unit, for controlling the train to move according to traction information, the braking information and the rotation information Move to the target location and stop.
- A kind of 9. storage medium, it is characterised in that the storage medium includes the program of storage, wherein, run in described program When control the storage medium where method in equipment perform claim requirement 1 to 5 described in any one.
- A kind of 10. processor, it is characterised in that the processor is used for operation program, wherein, right of execution when described program is run Profit requires the method described in any one in 1 to 5.
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