CN109116760B - Control method and control system of parking device - Google Patents
Control method and control system of parking device Download PDFInfo
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- CN109116760B CN109116760B CN201811072169.2A CN201811072169A CN109116760B CN 109116760 B CN109116760 B CN 109116760B CN 201811072169 A CN201811072169 A CN 201811072169A CN 109116760 B CN109116760 B CN 109116760B
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- 230000003993 interaction Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H3/00—Applications or arrangements of brakes with an outwardly movable braking member or members co-operating with the inner surface of a drum or the like
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2637—Vehicle, car, auto, wheelchair
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Abstract
The invention discloses a control method and a control system of a parking device, wherein the control method is that the parking device control system issues a control command to parking device equipment through any one of an autonomous mode, an execution mode and an isolation mode, wherein the parking device control system issues the control command to the parking device equipment according to station information under the autonomous mode; in an execution mode, the external control system issues a control command to the parking device control system according to station information, and then the parking device control system issues the control command to parking device equipment; in the isolation mode, an operator directly issues a control command to the parking device through a manual operation panel; the autonomous mode, the execution mode, and the isolation mode can be switched to each other. The control method can enable the parking device control system to select the appropriate control mode to control the parking device according to the field situation, and the applicability of the parking device control system is enhanced.
Description
Technical Field
The invention belongs to the field of railway traffic, and particularly relates to a control method and a control system of a stop device.
Background
The internal supporting parking anti-slide device (parking device for short) is a device for implementing friction braking on inner side surface of wheel pair of railway vehicle so as to attain the goal of parking and anti-slide. The parking device is the main controlled object of the control system. The parking device control system can control the parking device to perform braking and relieving according to the entering operation, the pulling-out operation and the returning operation of the train on the station yard.
The prior art introduces a control system for controlling a controllable parking device to prevent a hump sliding vehicle from sliding by collecting operation information of the head part and the tail part of the hump, the system automatically controls the braking or relieving of each station parking device by collecting operation conditions of the head part and the tail part and records the operation process, and the screen prompts the operation process to be in an automatic mode. If the screen prompt is in a manual mode, the control state can be changed by pressing a switch button and an automatic button of the manual disk. However, the control mode of the application is single, and the application cannot be compatible with various peripheral equipment or different marshalling station working conditions for control.
In the prior art, a control system of a parking device is connected with a centralized control system through a serial port, so that the parking device is controlled through a centralized automatic control mode, a centralized manual control mode and a field control mode, but the system is only suitable for a marshalling station with the centralized control system.
Therefore, the above existing stopper control system cannot meet the device configuration scenario of other marshalling stations due to a large difference in the peripheral environment of the marshalling stations.
Disclosure of Invention
In view of the above problems, the present invention provides a method for controlling a parking device, which enables a parking device control system to select an appropriate control mode according to a field situation to control a parking device, thereby enhancing the applicability of the parking device control system.
The invention also provides a control system of the parking device.
In view of the above, the present invention provides a method for controlling a parking device, which adopts the following technical solutions: a parking device control method, a parking device control system issues a control command to a parking device through any one of an autonomous mode, an execution mode and an isolation mode, wherein,
the system comprises a parking device control system, an external station information system and/or an external control system, wherein the parking device control system is communicated with the external station information system and/or the external control system in an autonomous mode, receives and analyzes station information sent by the external station information system and/or the external control system, and issues a control command to parking device equipment according to the station information;
the system comprises a parking device control system, a parking device control system and a parking device equipment, wherein the parking device control system is communicated with an external control system in an execution mode, the external control system receives and analyzes station information, issues a control command to the parking device control system according to the station information, and then issues the control command to the parking device equipment; and
when the parking device control system is in an isolation mode, an operator directly issues a control command to the parking device equipment through a manual operation panel of the parking device control system;
the autonomous mode, the execution mode, and the isolation mode can be switched to each other.
Further, the autonomous mode comprises automatic control and manual intervention control, and the manual intervention control and the automatic control can be switched;
under the automatic control, a control host of the parking device control system receives and analyzes station information sent by an external station information system and/or an external control system, and automatically issues a control command to the parking device equipment according to the station information;
and under the control of the manual intervention, the operator issues a control command to the parking device through the operating machine.
Further, the station yard information at least comprises station yard signal equipment state, zone state and station track blocking information.
Further, the initialization mode of the stopper control system is an autonomous mode, and the initialization control mode of the stopper control system is automatic control in the autonomous mode.
Further, before executing the automatic control, the parking device control system firstly judges whether the parking device equipment meets the automatic control condition, if so, the automatic control is continuously executed, and if not, the parking device control system outputs alarm prompt information which can not implement the automatic mode.
Further, the automatic control conditions at least comprise that the channel communication supporting the automatic control mode and acquiring the station yard information in the system configuration is normal.
Further, the control host of the parking device control system is in a cut-off state in the isolated mode.
Further, the switching between the autonomous mode and the execution mode is executed by an operator application through an operating machine of the parking control system, and the switching between the autonomous mode or the execution mode and the isolation mode is executed by an operator application through a manual operating panel of the parking control system.
Further, in the execution mode of the parking device control system, the control host of the parking device control system receives and executes a parking device control command issued by an external control system, and the control host sends the received parking device representation information to the external control system.
The invention also aims to provide a control system of the parking device, which comprises a control host, an operating machine, a drive acquisition unit, a manual operation panel and a relay circuit, wherein the control host is respectively connected with the operating machine and the drive acquisition unit, and the drive acquisition unit and the manual operation panel are both connected with the relay circuit;
the control host is also respectively connected with an external control system and/or an external station information system and used for interacting station information and parking equipment control information;
the operating machine can display an autonomous mode, an execution mode and an isolation mode and is used for matching station working conditions;
the driving acquisition unit is used for driving the brake or release of the parking device equipment and/or acquiring the representation information of the parking device equipment according to a control command issued by the parking device control system in the autonomous mode and/or the isolation mode;
the manual operation panel is used for issuing a control command to the parking device in the isolation mode.
The control method of the parking device can be applied to marshalling stations with different equipment configuration working conditions, can match one or a combination of an autonomous mode, an execution mode and an isolation mode according to the station field working conditions to control the parking device equipment, and a reasonable mode switching method is designed in each mode combination, so that the control method enables the applicability of a parking device control system to be wider, and the control efficiency of the parking device control system on the parking device is further improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 shows a control mode and mode switching diagram of a parking brake control method in an embodiment of the invention;
fig. 2 is a schematic diagram showing a composition structure of a parking brake control system in an embodiment of the invention;
fig. 3 is a schematic diagram illustrating a flow of automatic control of a parking device by a parking controller in an autonomous mode according to an embodiment of the present invention;
fig. 4 shows a schematic flow chart of a manual intervention control flow of the parking equipment in the autonomous mode of the parking controller control system in the embodiment of the invention;
fig. 5 is a control flow diagram of a parking brake control system in an execution mode according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present invention introduces a method for controlling a parking device, and the parking device control system can determine the supported control mode through the system configuration, and the system will not switch to the unsupported control mode. For example, if the system configuration does not support the execution mode without connecting to the external control system as in the parking brake control system of fig. 2, the system cannot be switched to the execution mode by means of an operator request.
The parking device control system issues a braking or releasing control command to the parking device equipment through any one of an autonomous mode, an execution mode and an isolation mode to realize control over the parking device equipment, wherein the execution mode, the autonomous mode and the isolation mode can be switched with each other.
In this embodiment, the execution mode, the autonomous mode, and the isolation mode are mutually switched by an operator application, specifically, the switching between the autonomous mode and the execution mode is executed by the operator application through an operating machine of the parking control system, and the switching between the autonomous mode or the execution mode and the isolation mode is executed by the operator application through a manual operating panel of the parking control system. Preferably, there are switching buttons on the operator and the manual operating panel for the operator to switch the control mode of the parking brake control system.
In this embodiment, the mutual switching among the execution mode, the autonomous mode, and the isolation mode is requested by an operator to be switched under a certain switching condition, where the switching condition is at least related to system configuration and/or station operating conditions and/or system states, for example, the parking control system is currently in the autonomous mode, but if the station operating conditions at this time are mainly controlled by an external control system, the operator may switch the parking control system from the autonomous mode to the execution mode, and at this time, the parking control system only receives and executes a parking equipment control command issued by the external control system, but the parking control system does not actively generate the control command. Similarly, when the external control system fails and the parking device control system cannot adopt the execution mode, the operator can switch the parking device control system to the autonomous mode, and the parking device control system actively generates and issues a parking device control command.
In this embodiment, the yard conditions are related to (but not limited to) external marshalling yard conditions, for example, the marshalling yard has an external control system, and so on, and thus the yard conditions at least include the external control system and the external yard information system. The system state is related to at least a system failure, e.g., a control master failure, an external control system failure, etc.
In this embodiment, in the autonomous mode, automatic control and manual intervention control may be performed on the parking equipment, and the automatic control and the manual intervention control are performed for each parking equipment and may be switched. And when the parking device is in manual intervention control, an operator executes an operator application command through the operating machine to switch the manual intervention control into automatic control. When the parking device equipment is under automatic control, an operator executes an operator application command through the operating machine to switch the automatic control into manual intervention control, preferably, according to a human control priority principle, as long as the operator directly controls the parking device equipment on the operating machine, the parking device is directly switched into the manual intervention control.
In this embodiment, the parking device is under automatic control, and the parking device control system first determines whether the parking device meets an automatic control condition before executing the automatic control, and if the parking device meets the automatic control condition, continues to execute the automatic control, and if the parking device does not meet the automatic control condition, outputs an alarm prompt message that the automatic mode cannot be implemented. Thus, the parking brake control system is able to automatically generate and execute commands and also automatically execute inspection conditions when the parking brake device is under automatic control. The checking condition may include (but is not limited to) control host exception, external station information system exception, channel communication exception for acquiring station information, or whether an automatic control mode is supported in system configuration, etc.; for example, if the external station information system is abnormal, if the parking lot information cannot be obtained in time by the parking lot control system, the parking lot device control command cannot be output correctly.
In this embodiment, the initialization mode of the parking controller control system for starting up is an autonomous mode, and the initialization control mode of the parking controller control system is an automatic control mode. The parking device control system has the advantages that the initialization control mode is automatic control, the automatic control efficiency of the parking device control system is effectively improved, and the workload of workers is reduced.
In this embodiment, the parking controller control system uses the parking controller control system as a control subject in an autonomous mode, and a control host of the parking controller control system communicates with an external station information system and/or an external control system, so that the parking controller control system receives and analyzes station signal device status, zone status, and station blocking information collected by the external station information system and/or the external control system, wherein the control host sends the station signal device status, the zone status, and the station blocking information to the operating machine through an ethernet network and displays the station signal device status, the zone status, and the station blocking information on the operating machine.
Further, the parking device may be controlled automatically or manually in an autonomous mode of the parking device system, taking the parking device a and the parking device B as an example, in the autonomous mode, the parking device control system may control the parking device a automatically, may control the parking device B manually, or may control both in the same mode.
Taking the automatic control of the parking device control system on the parking device equipment A as an example, the control of the parking device control system on the parking device equipment A takes a control host as a control main body;
as shown in fig. 3: the specific control steps are as follows:
s101, the control host receives and analyzes station signal equipment states, section states and station track blocking information collected by an external station information system and/or an external control system;
s102, the control host automatically issues a control command of the parking equipment A according to the station signal equipment state, the section state and the station track blocking information and sends the control command to the drive acquisition unit;
s103, the driving acquisition unit receives a control command of the parking device A and drives the parking device A to act through a relay circuit;
s104, the stopper device A performs braking or relieving.
Taking the example that the parking device control system controls the parking device B for manual intervention, the control of the parking device control system on the parking device B takes an operating machine as a control main body;
as shown in fig. 4, the specific control steps are as follows:
s201, the operating machine receives station yard signal equipment state, section state and station track blocking information sent by a control host;
s202, the operating machine displays the station yard signal equipment state, the section state and the station track blocking information;
s203, an operator manually issues a control command of the parking device B according to the display information of the operating machine and sends the control command to the control host;
s204, the control host receives and sends a control command of the parking device B to a driving acquisition unit;
s205, the driving acquisition unit receives a control command of the parking device B and drives the parking device B to act through a relay circuit;
s206, the stopper device B performs braking or relieving.
Thus, the parking brake control system is in an autonomous mode, the parking brake control system supporting the parking brake device to select one or a combination of automatic control and manual intervention control, such that the control efficiency of the parking brake device is optimized.
In this embodiment, in the manual intervention control process, the control host only receives and executes the control command issued by the operating machine.
In this embodiment, the parking controller control system uses the external control system as a control subject in the execution mode;
as shown in fig. 5, the specific control steps are as follows:
s301, the external control system receives and analyzes station yard signal equipment state, section state and station track blocking information;
s302, the external control system automatically issues a control command of the parking equipment according to the station signal equipment state, the section state and the station track blocking information and sends the control command to the control host;
s303, the control host receives and sends the control command of the parking device equipment to a drive acquisition unit;
s304, the driving acquisition unit receives a control command of the parking device and drives the parking device to operate through a relay circuit;
s305, the stopper device executes braking or relieving.
In this embodiment, the external control system is connected to the control host in the parking device control system through an ethernet, the control command issued by the external control system is executed through the control host, and the console displays information such as a station yard signal device status, a zone status, a station track blockage, and the like from the external control system.
In this embodiment, in the execution mode of the parking device control system, the control host sends the information indicating the parking device or the information indicating the scattered relay devices, which is acquired by the drive acquisition unit, to the external control system, so that the external control system controls braking or releasing of the parking device.
In this embodiment, when the parking device control system is in the autonomous mode or the execution mode, the control host sends the parking device action information or the scattered relay device information acquired by the drive acquisition unit to the operation machine.
In this embodiment, in the isolation mode, the operator directly issues a control command for braking or releasing the parking device through the manual operation panel, and the control command for braking or releasing the parking device is directly applied to the parking device through the relay circuit, where the control host is in an operating state, but the control of the parking device and the like is cut off.
In this embodiment, when the parking controller control system fails to control the parking controller device in the autonomous mode and the execution mode, the operator applies for entering the isolation mode through the manual operation panel, taking the control host as an example of failure, the mode of the parking controller control system may be switched to the isolation mode under the application of the operator, and when the failure is eliminated and the autonomous mode and the execution mode of the parking controller control system are recovered to be normal, the operator may apply for recovering the autonomous mode control or the execution mode control of the parking controller control system on the parking controller through the manual operation panel. Preferably, the fault condition may also be failure of other components.
As shown in fig. 2, the embodiment of the present invention introduces a parking device control system, where the parking device control system includes a TWT _ HOST control unit, a TWT _ MMI manipulator, and a drive acquisition unit, the TWT _ HOST control unit is connected to the TWT _ MMI manipulator through an ethernet, and the TWT _ HOST control unit is further connected to the drive acquisition unit, where the parking device control system is referred to as TWT for short, and the TWT _ HOST control unit is a core component that undertakes logical operations of parking device control; the TWT _ MMI manipulator is responsible for man-machine conversation; the driving acquisition unit is responsible for inputting acquisition information and outputting a control result of the parking device.
The driving acquisition unit of the parking device control system is connected to the parking device equipment and the scattered relay equipment through a relay circuit so as to drive and acquire information of the parking device action and the scattered relay equipment; preferably, the drive collection unit communicates with the relay circuit, the drive collection unit controls the parking equipment and the scattered relay equipment by sending a switching value signal to drive the relay circuit, and the relay circuit also sends the action information of the parking equipment and the scattered relay equipment information to the drive collection unit through the switching value signal.
The driving acquisition unit sends acquired information of the action of the parking device and the scattered relay equipment to the TWT _ HOST control HOST, and the TWT _ HOST control HOST sends the information of the action of the parking device and the scattered relay equipment to the TWT _ MMI operating machine through the Ethernet for displaying so that an operator can monitor the state of the station yard in real time.
The system for controlling the parking device further comprises a manual operation panel, wherein the manual operation panel is directly connected to the parking device and the scattered relay equipment thereof through a relay circuit, so that an operator can directly issue a control command through the operation panel to control the parking device equipment or the scattered relay equipment. Preferably, the manual operation panel is directly provided with control buttons of each parking device, and an operator can directly brake or relieve the parking devices through the control buttons; or a control panel is arranged on the manual operation panel, and each parking device control button is displayed on the control panel so that an operator can control the braking or relieving of the parking device. Further preferably, the upper parking device button of the manual operation panel also receives and displays the real-time state of the on-site parking device and the scattered relay device.
The parking device control system is also connected with an external control system and/or an external station information system, and the external control system and the external station information system are used for acquiring station information. Wherein, the external control system can also automatically issue a control command of the parking equipment according to the collected station information,
furthermore, the TWT _ HOST control HOST is connected with an external control system through an ethernet, and the TWT _ HOST control HOST can receive and execute a control command of the parking equipment sent by the external control system, and also can send parking equipment actions or scattered relay equipment information acquired by the drive acquisition unit to the external control system; the TWT _ MMI operating machine can acquire the station yard information acquired by the external control system through the TWT _ HOST control HOST.
The TWT _ HOST control HOST can also be connected with an external station yard information system through an Ethernet or an RS232/422 serial port. Preferably, when the parking controller control system is connected to the external station yard information system through the ethernet, the TWT _ MMI operator may receive the station yard information collected by the external station yard information system through the TWT _ HOST control HOST.
In this embodiment, the station yard information at least includes station yard signal equipment status, zone status and station track blocking information.
In this embodiment, the external yard information system at least includes an interlock system and a hump automation system.
In this embodiment, a human-computer interaction interface is provided on the operating machine, the autonomous mode, the execution mode, and the isolation mode are all displayed on the human-computer interaction interface, and preferably, the human-computer interaction interface may remind an operator of a control mode of a current parking control system through (but not limited to) different states or different indicator lights.
In this embodiment, the human-computer interaction interface is at least provided with a system state area, and the system state is used for displaying a control mode, a network connection mode, a connection state of the parking device and the like of the parking device control system.
The human-computer interaction interface is further provided with a display area and an alarm prompt area, the display area displays a stop, an annunciator, a turnout and the like, an operator can visually see the states of the stop annunciator, the turnout and the stop, and preferably, when the stop is displayed in red, the stop is displayed in an abnormal position state. The alarm prompt area is used for prompting alarm information in the operation process of the parking device control system.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A method for controlling a parking device, wherein a parking device control system issues a control command to a parking device in any one of an autonomous mode, an execution mode, and an isolated mode,
the immobilizer control system may determine its control mode by system configuration,
the system comprises a parking device control system, an external station information system and/or an external control system, wherein the parking device control system is communicated with the external station information system and/or the external control system in an autonomous mode, receives and analyzes station information sent by the external station information system and/or the external control system, and issues a control command to parking device equipment according to the station information;
the system comprises a parking device control system, a parking device control system and a parking device equipment, wherein the parking device control system is communicated with an external control system in an execution mode, the external control system receives and analyzes station information, issues a control command to the parking device control system according to the station information, and then issues the control command to the parking device equipment; and
when the parking device control system is in an isolation mode, an operator directly issues a control command to the parking device equipment through a manual operation panel of the parking device control system;
the autonomous mode, the execution mode and the isolation mode can be switched with each other, wherein the switching between the autonomous mode and the execution mode is executed by an operator through an operator application of the parking device control system, and the switching between the autonomous mode or the execution mode and the isolation mode is executed by an operator through a manual operation panel application of the parking device control system.
2. The parker control method according to claim 1, wherein the autonomous mode includes automatic control and manual intervention control, and the manual intervention control and automatic control are switchable;
under the automatic control, a control host of the parking device control system receives and analyzes station information sent by an external station information system and/or an external control system, and automatically issues a control command to the parking device equipment according to the station information;
and under the control of the manual intervention, the operator issues a control command to the parking device through the operating machine.
3. The stopper control method according to claim 1 or 2, wherein the yard information includes at least yard signal device status, zone status, and station block information.
4. The parking brake control method according to claim 1 or 2, wherein the initialization mode of the parking brake control system is an autonomous mode, and the initialization control mode of the parking brake control system is automatic control in the autonomous mode.
5. The method according to claim 2, wherein the immobilizer control system first judges whether the immobilizer device meets an automatic control condition before executing the automatic control, continues the automatic control if the automatic control condition is met, and outputs an alarm notice that the automatic mode cannot be implemented if the automatic control condition is not met.
6. The stopper control method according to claim 5, wherein the automatic control condition includes at least that the channel communication for acquiring the yard information supporting the automatic control mode in the system configuration is normal.
7. The parking brake control method according to claim 1, wherein the control host of the parking brake control system is in a cut-off state in the isolated mode.
8. The method according to claim 1, wherein in the execution mode of the immobilizer control system, a control host of the immobilizer control system receives and executes a immobilizer device control command issued by an external control system, and the control host transmits the received immobilizer device representation information to the external control system.
9. A control system of a parking device comprises a control host, an operating machine, a drive acquisition unit, a manual operation panel and a relay circuit, wherein the control host is respectively connected with the operating machine and the drive acquisition unit, and the drive acquisition unit and the manual operation panel are both connected with the relay circuit,
the control host is also respectively connected with an external control system and/or an external station information system and used for interacting station information and parking equipment control information;
the operating machine can display an autonomous mode, an execution mode and an isolation mode and is used for matching station working conditions, wherein the control mode of the parking device control system can be determined through system configuration;
the driving acquisition unit is used for driving the brake or release of the parking device equipment and/or acquiring the representation information of the parking device equipment according to a control command issued by the parking device control system in the autonomous mode and/or the isolation mode;
the manual operation panel is used for issuing a control command to the parking device in an isolation mode;
the switching between the autonomous mode and the execution mode is executed by an operator through an operator application of the parking control system, and the switching between the autonomous mode or the execution mode and the isolation mode is executed by an operator through a manual operation panel of the parking control system.
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|---|---|---|---|---|
| CN1201956C (en) * | 2003-03-05 | 2005-05-18 | 北京全路通信信号研究设计院 | Automatic control system and method of parking device |
| CN1241776C (en) * | 2003-06-10 | 2006-02-15 | 武汉理工大学 | Locomotive anti-slide apparatus |
| CN1256255C (en) * | 2004-01-05 | 2006-05-17 | 北京全路通信信号研究设计院 | Marshalling station comprehensive integrated automation system |
| CN200942785Y (en) * | 2005-06-15 | 2007-09-05 | 朱庆红 | Station signal interlocking arrival-advance track anti-slide automatic control system |
| JP2012135147A (en) * | 2010-12-22 | 2012-07-12 | Mitsubishi Electric Corp | Device and method for automatically stopping train |
| CN106394537B (en) * | 2016-10-31 | 2018-11-06 | 中车株洲电力机车有限公司 | The control method and system of heavy haul train and heavy haul train brake |
| CN206537271U (en) * | 2017-03-20 | 2017-10-03 | 荆楚理工学院 | A kind of intelligent check piece control system |
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2018
- 2018-09-14 CN CN201811072169.2A patent/CN109116760B/en active Active
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