CN109131362B - Intelligent rail train warehouse-in and warehouse-out automatic auxiliary guiding system and method - Google Patents
Intelligent rail train warehouse-in and warehouse-out automatic auxiliary guiding system and method Download PDFInfo
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- CN109131362B CN109131362B CN201811076524.3A CN201811076524A CN109131362B CN 109131362 B CN109131362 B CN 109131362B CN 201811076524 A CN201811076524 A CN 201811076524A CN 109131362 B CN109131362 B CN 109131362B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000003287 optical effect Effects 0.000 claims abstract description 102
- 238000004891 communication Methods 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000010276 construction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L1/00—Devices along the route controlled by interaction with the vehicle or vehicle train, e.g. pedals
- B61L1/02—Electric devices associated with track, e.g. rail contacts
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- 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
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L3/00—Devices along the route for controlling devices on the vehicle or vehicle train, e.g. to release brake, to operate a warning signal
- B61L3/02—Devices along the route for controlling devices on the vehicle or vehicle train, e.g. to release brake, to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control
- B61L3/08—Devices along the route for controlling devices on the vehicle or vehicle train, e.g. to release brake, to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically
Abstract
The invention discloses an automatic auxiliary guiding system for entering and exiting a intelligent rail train, which is arranged by combining a plurality of parallel parking lines and an entering and exiting line positioned on a straight line, and is characterized by comprising a signal transmitting and receiving source (1) and a signal receiver (2), wherein the signal transmitting and receiving source is arranged on the intelligent rail train (3) and is used for transmitting an entering and exiting signal, the signal receiver is used for receiving information of a control center, an optical sensor used for sensing whether a vehicle is parked on the parking line or not is arranged on a turning part, which is close to the entering and exiting line, of each parking line, an optical sensor used for sensing whether the vehicle is parked on the entering and exiting line or not is also arranged on an inlet of each entering and exiting line, and the optical sensors are connected with the control center. The invention also discloses an intelligent rail train in-out automatic auxiliary guiding method. The invention can solve the problem of low identification precision of the train in-out warehouse and realize automatic auxiliary guidance.
Description
Technical Field
The invention belongs to the technical field of intelligent rail train guiding, and particularly relates to an intelligent rail train entering and exiting automatic auxiliary guiding system and method.
Background
The intelligent rail train is a multi-group rubber-tired vehicle running in two directions. The full-axle steering control technology is adopted, and the driving is electronically restrained through active safety control, vehicle-mounted signal control, machine vision and the like, so that the rail-like driving under the virtual rail is realized. The intelligent rail system has the characteristics of low noise, low vibration, rapid acceleration and deceleration, strong climbing capacity, low maintenance cost, small turning radius (minimum 15 m) and the like, and is an advanced, economical and environment-friendly traffic mode. The intelligent rail train does not need to lay a physical rail, and adopts a virtual rail mode to guide the vehicle to run. By adopting the mode, the track laying quantity can be reduced, and the number of turnouts in the vehicle base can be reduced.
Because the virtual stock lines are too many in the intelligent rail train parking lot, the recognition accuracy of the train is not high, errors caused by recognition errors can occur in the train entering and exiting, and difficulty is increased for the train entering and exiting. At present, most urban rail transit enters and exits by using a rail guide and manual driving as an auxiliary mode.
By using the method, the construction period is prolonged, and the construction cost is increased. Meanwhile, when the train enters and exits from the storehouse, a driver is required to assist the train to enter and exit from the storehouse, so that the operation cost is increased, and the management is inconvenient. Therefore, it is currently needed to design an automatic guiding system for entering and exiting a warehouse of a train to solve the inconvenience caused by manual driving when the current train enters and exits the warehouse.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides an automatic auxiliary guiding system for intelligent rail train entering and exiting, which is provided with a signal transmitting and receiving source and a signal receiver which are arranged on a train body, wherein optical sensors for sensing whether vehicles exist on the parking line and the exiting line or not are arranged on the parking line and the exiting line, and the optical sensors, a control center and the signal receiver are coordinated to assist in completing the intelligent rail train entering and exiting operation, so that the problem of low train identification precision caused by excessive virtual stock lines is solved, resources are saved, and efficiency is improved.
In order to achieve the above object, as one aspect of the present invention, the present invention provides an intelligent rail train in-out automatic auxiliary guidance system, which is provided in combination with a plurality of parallel parking lines and in-out lines positioned on a straight line, and comprises a signal transmitting and receiving source for transmitting in-out signals and a signal receiver for receiving information of a control center, which are arranged on the intelligent rail train;
the optical sensors used for sensing whether vehicles stop on the parking lines or not are arranged at the turning positions, which are close to the garage entering and exiting lines, on each parking line, the optical sensors used for sensing whether vehicles stop on the garage entering and exiting lines or not are also arranged at the entrance positions of each garage entering and exiting line, the optical sensors are connected with the control center, and the information used for feeding back whether vehicles stop or not to the control center so as to guide the garage entering and exiting of the train is provided.
Further, cameras are arranged on the optical sensors, and the cameras of the optical sensors on the parking line are aligned to the direction of parking line warehouse entry.
Further, the cameras of the optical sensors on the warehouse-in and warehouse-out line are aligned to the warehouse-in direction.
Further, the optical sensors comprise a plurality of optical sensors, wherein the optical sensors arranged on the parking line are arranged in parallel.
Further, the sensors arranged on the warehouse-in and warehouse-out lines are arranged on a straight line at intervals.
As another aspect of the present invention, there is provided an automatic auxiliary guidance method for entering and exiting a warehouse of an intelligent rail train, comprising the steps of:
s1, the train transmits information to a control center through a signal transmitting and receiving source;
s2, when the train enters a garage to park, an optical sensor on a parking line senses whether the vehicle is parked on the parking line and feeds information back to a control center;
when the train goes out of the warehouse, an optical sensor on the warehouse-in and warehouse-out line senses whether a vehicle is stopped on the warehouse-in and warehouse-out line and feeds information back to a control center;
and S3, the control center sends the parking information to the signal receiver, and the signal receiver controls the train to go out and go in according to the received information.
Further, in step S2, the optical sensor senses that the vehicle is stopped, and the control center does not turn on the optical sensor; the optical sensor senses that the vehicle is not stopped, and the control center turns on the optical sensor.
Further, in step S2, when the plurality of optical sensors sense that the vehicle is parked thereon, none of the plurality of optical sensors is turned on.
Further, in step S2, after the optical sensor is turned off without being turned on, communication feedback with the control center is stopped.
Further, in step S2, the optical sensor is turned off until the vehicle on the parking line or the in-out garage line requests to go out garage, and the control center turns on the optical sensor thereon again, so as to communicate the communication feedback between the optical sensor and the control center, so as to indicate that there is a vacancy therein.
In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:
(1) The intelligent rail train in-out warehouse auxiliary guiding system is characterized in that a signal transmitting and receiving source and a signal receiver are arranged on a train body, optical sensors for sensing whether vehicles exist on the parking line and the in-out warehouse line or not are arranged on the parking line and the in-out warehouse line, and the optical sensors, a control center and the signal receiver are in coordination to assist in completing in-out warehouse operation of the intelligent rail train, so that the problem of low train identification precision due to excessive virtual stock lines is solved, resources are saved, and efficiency is improved.
(2) According to the intelligent rail train warehouse-in and warehouse-out auxiliary guide system, the cameras are arranged on the parking line and the optical sensors on the warehouse-in and warehouse-out line, the cameras of the optical sensors on the parking line are aligned to the inlet direction of the parking line, and the cameras of the optical sensors on the warehouse-in and warehouse-out line are aligned to the warehouse-in direction, so that whether vehicles are parked on the parking line and the warehouse-in and warehouse-out line or not can be accurately sensed.
(3) According to the intelligent rail train in-out auxiliary guiding method, the signal transmitting and receiving source is used for transmitting the in-out request, whether the vehicle is stopped or not is sensed through the plurality of optical sensors which are correspondingly arranged, the vehicle is guided to enter and exit after being fed back to the control center, and the in-out operation of the intelligent rail train is guided in an auxiliary mode through coordination, so that the problem that the identification accuracy of the train is low due to the fact that virtual stock lines are too many is solved, and the method is easy to operate and high in efficiency.
(4) According to the intelligent rail train in-and-out auxiliary guiding method, after the optical sensor is not opened or closed, communication feedback with the control center is stopped, so that the number of parking lines and in-and-out lines processed by the control center is reduced, and guiding efficiency is improved; and when the vehicle on the parking line or the in-out garage line requests to go out of the garage, the control center opens the optical sensor on the parking line or the in-out garage line, so that communication feedback of the optical sensor and the control center is communicated, and a vacancy is indicated on the communication feedback, so that the control process is more scientific and has higher efficiency.
Drawings
FIG. 1 is a schematic diagram of an intelligent rail train system in an embodiment of the invention;
FIG. 2 is a schematic diagram of a combination of a park wire and an optical sensor according to an embodiment of the invention;
fig. 3 is a thread diagram of the intelligent rail train in-out garage auxiliary guiding system in the embodiment of the invention.
Like reference numerals refer to like structures or elements throughout, and wherein: 1-signal transmitting and receiving source, 2-signal receiver, 3-intelligent rail train, 4-first entering and exiting line, 5-first parking line, 41-first optical sensor, 51-second optical sensor, 6-second entering and exiting line, 7-second parking line, 61-third optical sensor and 71-fourth optical sensor.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The automatic auxiliary guiding system for entering and exiting the warehouse comprises a receiving and transmitting structure arranged on a train and a sensing structure arranged on a track, and realizes automatic auxiliary guiding for entering and exiting the warehouse of the train through the interaction of the sensing structure and the receiving and transmitting structure.
Fig. 1 is a schematic diagram of an intelligent rail train system according to an embodiment of the present invention. As shown in fig. 1, the transceiver structure comprises a signal transmitting and receiving source 1 and a signal receiver 2, wherein the signal transmitting and receiving source 1 and the signal receiver 2 are connected with a control center through signals, when a train needs to enter or leave the warehouse, parking information is sent to the control center, the control center waits for giving out parking information inside and outside the warehouse, the parking information inside and outside the warehouse is sent to the signal receiver 2, the train enters or leaves the warehouse according to the information received by the signal receiver 2, and the signal transmitting and receiving source 1, the signal receiver 2 and the control center work cooperatively to finish automatic guiding warehouse entering or leaving operation of the train. The content of the signal connection transmission control among the signal transmitting and receiving source 1, the control center and the signal receiver 2 is a widely-used technical means which is already mature in the field, and is not the focus of the invention.
FIG. 2 is a schematic diagram of a combination of a park wire and an optical sensor according to an embodiment of the invention. As shown in fig. 2, the sensor structure is set in combination with the parking lines, the sensor structure includes a plurality of optical sensors, each optical sensor is provided with a camera, the parking lines are a plurality of parallel arranged parking lines, each parking line inlet section is correspondingly provided with an entering and exiting line, the entering and exiting lines are all on a straight line, the setting of the sensors on the two parking lines and the entering and exiting line is enumerated in this embodiment, and the setting modes of the other parking lines and the entering and exiting line are identical to the setting modes of the other parking lines and the entering and exiting line. The first entering and exiting line 4 and the first parking line 5 are vertically arranged, an arc-shaped turn is arranged at the joint, the first optical sensor 41 is arranged on the first entering and exiting line 4, the second optical sensor 51 is arranged on the first parking line 5, and preferably, the second optical sensor 51 is arranged on the first parking line 5 and is close to the turn and used for sensing whether a vehicle is parked on the first parking line 5. The second entering and exiting line 6 and the second stopping line 7 are vertically arranged, an arc-shaped turn is arranged at the joint, a third optical sensor 61 is arranged on the second entering and exiting line 6, a fourth optical sensor 71 is arranged on the second stopping line 7, and preferably, the fourth optical sensor 71 is arranged on the second stopping line 7 and is close to the turn for sensing whether a vehicle is stopped on the second stopping line 7. The optical sensors are connected with the control center, and the optical sensors sense whether vehicles stop on the parking line and the garage entering and exiting line or not, so that the information is fed back to the control center, and the control center feeds back the information to the signal receiver 2 so as to quickly assist the train to enter the parking garage, thereby achieving the purposes of saving resources and improving the working efficiency.
Preferably, the first optical sensor 41 and the third optical sensor 61 are disposed at the entrance of the access line; further, the cameras on the first optical sensor 41 and the third optical sensor 61 are miniature cameras, and the miniature cameras are aligned with the direction of warehouse entry, so that whether the vehicle stops on the warehouse entry and exit line can be sensed accurately.
Preferably, the cameras on the second optical sensor 51 and the fourth optical sensor 71 are also micro cameras, and the micro cameras are aligned with the direction of parking line storage, so as to accurately sense whether the vehicle is parked on the parking line.
As another aspect of the present invention, as shown in fig. 3, an automatic auxiliary guiding method for entering and exiting a warehouse of an intelligent rail train is provided, which comprises the following steps:
s1, the train transmits information to a control center through a signal transmitting and receiving source 1;
wherein the information includes a request for warehouse entry and a request for warehouse exit;
s2, when the train enters a garage to park, an optical sensor on a parking line senses whether the vehicle is parked on the parking line and feeds information back to a control center;
in this embodiment, the second optical sensor 51 recognizes that no train is parked on the first stop line 5, and feeds back information to the control center, and the control center turns on the second optical sensor 51. When the second optical sensor 51 recognizes that the train is parked on the first parking line 5, information is fed back to the control center, and the control center does not turn on the second optical sensor 51;
at the same time, the fourth optical sensor 71 recognizes that no train is parked on the second parking line 7, feeds back information to the control center, and the control center sends a command to the train, which completes the warehouse entry operation according to the command. When the trains are parked on both the first and second parking lines 5 and 7, the second and fourth optical sensors 51 and 71 are not turned on;
when the train goes out of the warehouse, an optical sensor on the warehouse-in and warehouse-out line senses whether a vehicle is stopped on the warehouse-in and warehouse-out line and feeds information back to a control center;
in this embodiment, when the first optical sensor 41 recognizes that no vehicle is operating on the first input/output line 4, information is fed back to the control center, the control center turns on the first optical sensor 41, and when the first optical sensor 41 recognizes that no vehicle is operating on the first input/output line 4, information is fed back to the control center, so that the control center does not turn on the first optical sensor 41; when the third optical sensor 61 recognizes that no vehicle is operating on the second entering and exiting line 6, information is fed back to the control center, the control center turns on the third optical sensor 61, when the third optical sensor 61 recognizes that the vehicle is operating on the second entering and exiting line 6, information is fed back to the control center, and the control center does not turn on the third optical sensor 61;
wherein, the optical sensor senses that the vehicle is stopped, and the control center does not open the optical sensor; when the optical sensor senses that the vehicle is not stopped, the control center turns on the optical sensor;
after the optical sensor is not opened or closed, communication feedback with the control center is stopped, so that the number of parking lines and garage entering and exiting lines processed by the control center is reduced, and the guiding efficiency is improved; and the control center opens the optical sensor on the parking line or the vehicle on the in-out line until the parking line or the vehicle on the in-out line requests to go out of the garage, so that communication feedback of the optical sensor and the control center is communicated to indicate that a vacancy exists on the optical sensor.
And S3, the control center sends the parking information to the signal receiver 2, and the signal receiver 2 controls the train to go out and go in according to the received information.
According to the information of the optical sensor, the parking lines or the in-out garage lines can be used for knowing which vehicles are parked on, and which vehicles are not parked on the parking lines or the parking lines, so that the accurate parking, ex-warehouse or parking waiting of the train can be facilitated, the train can be quickly assisted to enter the garage, and the purposes of saving resources and improving the working efficiency are achieved.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (7)
1. An intelligent rail train in-out automatic auxiliary guiding system is combined with a plurality of parallel parking lines and in-out warehouse lines positioned on a straight line, and is characterized by comprising a signal transmitting and receiving source (1) and a signal receiver (2), wherein the signal transmitting and receiving source is arranged on an intelligent rail train (3) and used for transmitting in-out warehouse signals, and the signal receiver is used for receiving control center information;
an optical sensor for sensing whether a vehicle is parked on the parking line or not is arranged on the turning part, which is close to the parking line and is connected with the parking line, of each parking line, an optical sensor for sensing whether a vehicle is parked on the parking line or not is also arranged on the entrance part of each parking line, and the optical sensors are connected with the control center and are used for feeding back information of whether the vehicle is parked or not to the control center so as to guide the parking of the train;
the optical sensor senses that the vehicle is not stopped, and the control center turns on the optical sensor;
the optical sensor senses that the vehicle is stopped, and the control center cannot open the optical sensor; after the optical sensor is not opened, namely closed, communication feedback with the control center is stopped until the parking line or the vehicle on the in-out line requests to go out of the garage, the control center opens the optical sensor on the parking line or the vehicle on the in-out line, so that communication feedback between the optical sensor and the control center is realized, and a vacancy is indicated on the communication feedback.
2. The intelligent rail train entering and exiting automatic auxiliary guide system according to claim 1, wherein cameras are arranged on the optical sensors, and the cameras of the optical sensors on the parking line are aligned to the direction of entering the parking line.
3. The automatic auxiliary guidance system for entering and exiting a rail train according to claim 2, wherein the cameras of the optical sensors on the entering and exiting line are aligned with the entering direction.
4. The intelligent rail train entering and exiting automatic auxiliary guiding system according to claim 1, wherein the optical sensors comprise a plurality of optical sensors, wherein the optical sensors arranged on the parking line are arranged in parallel.
5. The automatic auxiliary guidance system for entering and exiting a rail train according to claim 1, wherein the sensors arranged on the entering and exiting line are arranged on a straight line at intervals.
6. An automatic auxiliary guiding method for intelligent rail train entering and exiting warehouse, characterized in that the automatic auxiliary guiding system for intelligent rail train entering and exiting warehouse is used for guiding, and comprises the following steps:
s1, the train transmits information to a control center through a signal transmitting and receiving source (1);
s2, when the train enters a garage to park, an optical sensor on a parking line senses whether the vehicle is parked on the parking line and feeds information back to a control center;
when the train goes out of the warehouse, an optical sensor on the warehouse-in and warehouse-out line senses whether a vehicle is stopped on the warehouse-in and warehouse-out line and feeds information back to a control center;
and S3, the control center sends the parking information to the signal receiver (2), and the signal receiver (2) controls the train to enter and exit according to the received information.
7. The automatic auxiliary guidance method for entering and exiting a smart rail train according to claim 6, wherein in step S2, the plurality of optical sensors are not turned on when the plurality of optical sensors sense that the vehicle is stopped thereon.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811076524.3A CN109131362B (en) | 2018-09-14 | 2018-09-14 | Intelligent rail train warehouse-in and warehouse-out automatic auxiliary guiding system and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811076524.3A CN109131362B (en) | 2018-09-14 | 2018-09-14 | Intelligent rail train warehouse-in and warehouse-out automatic auxiliary guiding system and method |
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| CN109131362A CN109131362A (en) | 2019-01-04 |
| CN109131362B true CN109131362B (en) | 2023-11-28 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112441089B (en) * | 2019-08-30 | 2022-03-18 | 比亚迪股份有限公司 | Train dispatching control method, platform and system, intelligent carriage and medium |
| CN112441078A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Train and automatic parking control method and device thereof |
| CN112406971A (en) * | 2020-12-11 | 2021-02-26 | 淮阴师范学院 | Redundant light transmission system for rail transit |
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| CN109131362A (en) | 2019-01-04 |
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