CN110525483B - Locomotive transportation task-level interlocking implementation method and system based on autonomous driving - Google Patents
Locomotive transportation task-level interlocking implementation method and system based on autonomous driving Download PDFInfo
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- CN110525483B CN110525483B CN201910727252.7A CN201910727252A CN110525483B CN 110525483 B CN110525483 B CN 110525483B CN 201910727252 A CN201910727252 A CN 201910727252A CN 110525483 B CN110525483 B CN 110525483B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L5/00—Local operating mechanisms for points or track-mounted scotch-blocks; Visible or audible signals; Local operating mechanisms for visible or audible signals
- B61L5/10—Locking mechanisms for points; Means for indicating the setting of points
- B61L5/107—Locking mechanisms for points; Means for indicating the setting of points electrical control of points position
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Abstract
The invention discloses a task level interlocking realization method for locomotive transportation based on autonomous driving, which belongs to the technical field of railway signals.A physical section to be dispatched comprises a first track and a second track, beacons are arranged along the two tracks and at the connection part of a turnout of the two tracks, a starting signal machine is arranged at the starting section of the tracks, a front-turnout signal machine is arranged in front of the turnout, and the positions and the running directions of the first locomotive and the second locomotive in the physical section are obtained after the first locomotive and the second locomotive run through the starting signal machine and pass through the beacons; acquiring task application information of a first locomotive and a second locomotive; and controlling the turnout to be locked to open the route from the starting place to the destination of the locomotive one or the locomotive two according to the position, the running direction and the mission application information of the locomotive one and the locomotive two in the physical section. The invention realizes the interlocking of regional task levels and improves the transportation efficiency; meanwhile, excessive personnel operation is avoided, the potential safety hazard of operation is reduced, and the safety of underground operation is ensured to a certain extent.
Description
Technical Field
The invention relates to the technical field of railway signals, in particular to a task-level interlocking implementation method and system for locomotive transportation based on autonomous driving.
Background
In the transportation monitoring system of the coal mine rail electric locomotive, when 2 locomotives travel on the same rail in the same direction, the distance of not less than 100m must be kept; before the locomotive is started, the door of the locomotive must be closed and a driving signal is sent out; when the locomotive runs, a driver is strictly prohibited to stretch out the head or the body of the driver outside the locomotive; when the driver leaves the seat, the power supply of the motor is cut off, and the control handle is taken down; the car lamp can not be turned off when the car is temporarily stopped on the transportation line.
In the application process of the rail transportation autonomous dispatching monitoring system, the requirements can be met through system control prevention and personnel management constraints. However, due to the complexity of different mine roadway environments, certain technical difficulties exist in the aspects of interlocking control and scheduling management.
Disclosure of Invention
The object of the present invention is to overcome the drawbacks of the background art mentioned above, and to improve the efficiency of transportation.
In order to achieve the above object, the present invention provides a method for implementing a mission cascade lock for locomotive transportation based on autonomous driving, which is used for scheduling a locomotive running in a physical section, where the physical section to be scheduled includes a first track and a second track, beacons are disposed along the two tracks and at a connection portion of a switch of the two tracks, starting end semaphores are disposed at starting sections of the first track and the second track, and a switch front semaphore is disposed in front of the switch, and includes:
after the first locomotive and the second locomotive run through the initial end signal machine and pass through the beacon, acquiring the position and the running direction of the first locomotive and the second locomotive in a physical section;
acquiring task application information of a first locomotive and a second locomotive, wherein the task application information comprises a starting place, a destination and a path section; and controlling the turnout to be locked to open the route from the starting place to the destination of the locomotive one or the locomotive two according to the position, the running direction and the mission application information of the locomotive one and the locomotive two in the physical section.
Further, the controlling the turnout to block the route from the starting place to the destination of the locomotive one or the locomotive two according to the position, the running direction and the mission application information of the locomotive one and the locomotive two in the physical section comprises the following steps:
if the first locomotive and the second locomotive are respectively positioned on a first track and a second track and the destinations in the task application information are the same, judging whether the priority of materials carried by the first locomotive and the second locomotive are the same according to a preset journey task priority; if the priorities of the materials carried by the first locomotive and the second locomotive are the same, preferentially opening a route from a starting place to a destination for the locomotive applying for a task first;
if the priorities of the materials carried by the first locomotive and the second locomotive are different, the locomotive with the high priority is preferentially provided with an access from the starting place to the destination.
Further, if the priorities of the materials carried by the first locomotive and the second locomotive are different, and the low-priority locomotive applies for a task first, whether the position of the low-priority locomotive in the physical section is at a turnout is judged;
if yes, opening a route from the starting place to the destination of the locomotive with high priority after the locomotive with low priority drives through the turnout; if not, controlling the locomotive with low priority to stop, and opening a route from the starting place to the destination of the locomotive with high priority;
after the high priority locomotive passes through the turnout, an initial to destination route of the low priority locomotive is opened.
Further, when the priorities of the materials carried by the first locomotive and the second locomotive are different, the method further comprises the following steps:
if the access AC distance exceeds the set distance, the access of the locomotive I is withdrawn to the front of the turnout, the BC access of the locomotive II is opened, and the access of the locomotive I is opened again after the standby locomotive II drives through the turnout;
wherein, the route AC is the distance from the first track a point to the second track C point of the locomotive one, and the route BC is the distance from the second track B point to the second track C point of the locomotive two.
Further, the controlling the turnout to block the route from the starting place to the destination of the locomotive one or the locomotive two according to the position, the running direction and the mission application information of the locomotive one and the locomotive two in the physical section comprises the following steps:
and if the first locomotive and the second locomotive are both positioned on the first track or the second track and the destination in the mission application information is the same, arranging the front locomotive and the rear locomotive to sequentially travel to the destination according to the positions of the first locomotive and the second locomotive in the physical section.
Furthermore, the turnout is a single turnout or a single symmetrical turnout or a three turnout or a cross crossover or a cross turnout.
Furthermore, the beacons are arranged along the two rails and at intervals at the connecting part of the turnouts of the two rails.
On the other hand, adopt a task cascade lock implementation system based on locomotive transportation of independently driving, including first track and second track, the connection part of two track lines and two track switches all is provided with the beacon, the section of initiating of first track and second track all sets up the top semaphore to set up the semaphore before the switch, semaphore all is connected with the host computer before top semaphore and the switch, the host computer includes information acquisition module and switch lock control module, wherein:
the information acquisition module is used for acquiring the position and the running direction of the first locomotive and the second locomotive in a physical section and acquiring the mission application information of the first locomotive and the second locomotive, wherein the mission application information comprises a starting place, a destination and a path section;
the turnout locking control module is used for controlling the turnout locking to open the route from the starting place to the destination of the locomotive one or the locomotive two according to the position, the running direction and the mission application information of the locomotive one and the locomotive two in the physical section.
Further, the switch lockout control module includes a priority judging unit and a switch lockout unit, wherein:
the priority judging unit is used for judging whether the priority of the materials carried by the first locomotive and the second locomotive is the same according to the preset journey task priority if the first locomotive and the second locomotive are respectively positioned on a first track and a second track and the destinations in the task application information are the same;
the turnout locking unit is used for preferentially opening a route from a starting place to a destination for the locomotive which applies for a task first when the output result of the priority judging unit is yes;
and the priority judging unit is used for giving priority to opening a route from the starting place to the destination to the locomotive with high priority when the output result of the priority judging unit is negative.
The system further comprises a position judging module connected with the priority judging unit, and the position judging module is connected with the turnout locking unit;
the position judging module is used for judging whether the position of the locomotive with low priority in the physical section is at a turnout or not when the result output by the judging unit is that the priorities of the materials carried by the locomotive I and the locomotive II are different and the locomotive with low priority applies for a task first;
the turnout locking unit is used for opening an access from a starting place to a destination of a locomotive with high priority after waiting for the locomotive with low priority to drive through a turnout when the output result of the position judging module is yes;
and the turnout locking unit is used for controlling the locomotive with low priority to stop and opening the route from the starting place to the destination of the locomotive with high priority when the output result of the position judging module is negative. And opening an approach from the starting place to the destination of the locomotive with low priority after the locomotive with high priority drives through the turnout.
Compared with the prior art, the invention has the following technical effects: according to the invention, corresponding access opening is made according to the position information task travel information of the locomotive under different conditions, so that regional task level interlocking is realized, and the transportation efficiency is improved; meanwhile, excessive personnel operation is avoided, the potential safety hazard of operation is reduced, and the safety of underground operation is ensured to a certain extent.
Drawings
The following detailed description of embodiments of the invention refers to the accompanying drawings in which:
FIG. 1 is a schematic flow diagram of a mission cascade lock implementation method for autonomous-drive-based locomotive transport;
FIG. 2 is a schematic diagram of physical blocks.
Detailed Description
To further illustrate the features of the present invention, refer to the following detailed description of the invention and the accompanying drawings. The drawings are for reference and illustration purposes only and are not intended to limit the scope of the present disclosure.
As shown in fig. 1, the present embodiment discloses a mission cascade lock implementation system for locomotive transportation based on autonomous driving, which is used for scheduling a locomotive running in a physical section, where the physical section to be scheduled includes a first track and a second track, beacons are disposed along the two tracks and at a connection portion of a switch between the two tracks, start signals are disposed at starting sections of the first track and the second track, and a signal machine before the switch is disposed, and the mission cascade lock implementation system includes the following steps S1 to S3:
s1, after the locomotive I and the locomotive II pass the initial end signal machine and pass the beacon, acquiring the position and the running direction of the locomotive I and the locomotive II in the physical section;
specifically, the beacon is an identification card which is arranged along a track, and the current position of the locomotive can be determined by reading position information when a vehicle passes by. After the locomotive passes through the two beacons in sequence, the system can know the direction of the vehicle according to the numbers of the two beacons. For example, first passing beacon 1 and then passing beacon 2, the direction is considered to be forward, and vice versa.
S2, acquiring mission application information of the locomotive I and the locomotive II, wherein the mission application information comprises a starting place, a destination and a path section;
and S3, controlling the turnout to close to open the route from the starting place to the destination of the locomotive one or the locomotive two according to the position, the running direction and the mission application information of the locomotive one and the locomotive two in the physical section.
The beacons are arranged along the track and at the connection part of the turnout, the beacons are mainly arranged at the key positions of the front and the back of the turnout and the curve, the beacons are arranged in other sections according to positioning requirements, and the interval range is 400-1000 meters. When the locomotive passes by, the position information of the locomotive can be read, and after the locomotive passes by the signal machine at the starting end and passes through a beacon, the position and running direction information of the section where the locomotive is located can be obtained. The starting signal is used for reminding that the front of the coming train is a physical section, and when the starting signal is lighted in red, the locomotive is not allowed to enter the physical section. The signal machine before the switch is used for indicating whether the coming vehicles in different directions can drive into the switch or not.
Further, the above step S3: controlling the turnout to block to open the route from the starting place to the destination of the locomotive one or the locomotive two according to the position, the running direction and the mission application information of the locomotive one and the locomotive two in the physical section, comprising the following sub-steps S31 to S33:
s31, if the first locomotive and the second locomotive are respectively located on a first track and a second track and the destinations in the mission application information are the same, judging whether the priorities of the materials carried by the first locomotive and the second locomotive are the same according to a preset journey mission priority;
s32, if the priorities of the materials carried by the first locomotive and the second locomotive are the same, preferentially opening a route from a starting place to a destination for the locomotive applying for a mission;
and S33, if the priorities of the materials carried by the first locomotive and the second locomotive are different, opening an access from the starting place to the destination preferentially for the locomotive with high priority.
It should be noted that, since the locomotives have different transportation requirements, such as transporting materials, tools, ores, etc., the priority of the specific transportation requirements depends on the actual requirements of the mine. The system identifies that the locomotive priority is primarily priority data sent by the locomotive, which is initially a read local profile, i.e., a preset priority. When the locomotive runs and works dynamically, a command for improving the priority can be sent artificially according to the actual situation, and the locomotive can be upgraded after the locomotive agrees by a corresponding administrator.
Further, in the above step S33: if the priorities of the materials carried by the first locomotive and the second locomotive are different, the method further comprises the following steps:
s331, judging whether the locomotive with low priority applies for a task first, if so, executing a step S332, and if not, preferentially opening a route from a starting place to a destination for the locomotive with high priority;
s332, judging whether the locomotive with the low priority is positioned at a turnout in a physical section; if yes, go to step S333, otherwise go to step S334;
s333, opening a route from the starting place to the destination of the locomotive with high priority after the locomotive with low priority drives through the turnout;
s334, controlling the locomotive with low priority to stop, and opening a route from the starting place to the destination of the locomotive with high priority;
after the high priority locomotive passes through the turnout, an initial to destination route of the low priority locomotive is opened.
As shown in fig. 2, a specific physical segment is taken as an example to specifically describe a task-level interlocking implementation method for mine rail transportation: the physics district section includes first track and second track, and first track is provided with switch one, and the second track is provided with switch two, and semaphore one is the top semaphore, and semaphore two, semaphore three, semaphore four and semaphore five are semaphore before the switch, and first track and second track interval along the line are provided with the beacon, and switch one and switch two connecting portion are provided with the beacon.
It should be noted that the first turnout and the second turnout are single turnout or single symmetrical turnout or three turnout or cross crossover or crossover turnout
If the driver of the locomotive I applies for the task of the destination C at the point A, after the system inquires that no vehicle occupies the section, the turnout I and the turnout II are set to be in reverse positions, and the turnout is locked to open the route from the point A to the point C. If the locomotive I does not reach the point C, the locomotive II applies for the task of the point C at the point B, and the turnout can be unlocked and a new route is opened only by waiting for the locomotive I to reach the point C.
If the first locomotive and the second locomotive respectively apply for the travel task at the point C at the point A, B, the judgment is carried out according to the preset travel task priority, and if the material tasks carried by the first locomotive and the second locomotive have the same priority, the system preferentially opens a route for the locomotive which applies for the task first.
If the first locomotive has higher task priority than the second locomotive, the system opens the route for the first locomotive, and when the first locomotive passes through the second turnout, the route for the second locomotive is arranged.
If the priority of the locomotive two is higher than that of the locomotive one and the locomotive two applies for the task first, the system opens the route for the locomotive two first and arranges the route for the locomotive one when the locomotive two passes through the turnout two.
If the priority of the second locomotive is higher than that of the first locomotive, the first locomotive applies for the mission first. At this point the system determines where the locomotive is. If the first locomotive drives into the second turnout, the route of the second locomotive is arranged when the first locomotive drives through the second turnout. If the locomotive I does not drive into the turnout II, the system is stopped emergently, and when the locomotive II drives through the turnout II, the route of the locomotive I is arranged.
If locomotive one and locomotive three respectively apply for the mission at point A, D. At the moment, the locomotive in front runs first and the locomotive in back runs to the point C in turn at a certain distance L without considering the priority of the travel tasks of the two locomotives. The distance L refers to a safe running distance of the railway locomotive, but the mine locomotive runs at a speed which is not as fast as a ground train, so that the distance has no fixed value. Generally, the length of a train locomotive comprises a locomotive head and a train wagon, and is about 20 m.
Further, if the distance of the route AC exceeds a set distance (for example, exceeds 9km, the speed of the underground locomotive does not exceed 5m/s according to the national standard, and the maximum speed is calculated), the route of the locomotive i is withdrawn to the front of the turnout, and the route of the locomotive i is opened again after the standby locomotive i passes the turnout. When the distance of the AC is long, the second locomotive needs to wait for the second locomotive to drive away from the section, so that the route BC can be acquired, and the working efficiency is affected. At the moment, corresponding reactions are made and corresponding routes are opened by analyzing different conditions of the first locomotive before and after the first locomotive drives into the second turnout and task priorities of the first locomotive and the second locomotive.
It should be noted that the system identifies that the locomotive priority is mainly based on the priority data sent by the locomotive, and the data is initially a read local configuration file, i.e. a preset priority. During dynamic operation, commands for increasing or decreasing the priority can be sent manually according to actual conditions, and upgrading or degrading can be carried out after the corresponding administrator locomotive agrees. The difference between the manager locomotive and the common locomotive is set through a configuration file.
Particularly, the technical difficulty of setting the dynamic priority is that when a plurality of locomotives run on a track, any one of the routes is changed, so that the routes of other locomotives are influenced, and factors such as data delay influence a point switch machine and a signal machine. The scheme adopts a special network and a wired and wireless matching mode to reduce the influence caused by data delay to the maximum extent. And simultaneously, the configuration information of the priority (the information consists of two parts, the priority is preset locally for the locomotive, and the priority is changed manually by a driver) is sent to the interlocking control module in real time, and the interlocking control software recalculates the route for a plurality of locomotives by using a scheduling algorithm. Furthermore, when the communication fails or the driver cancels the priority change, the system calculates and opens the corresponding access according to the local preset priority of the locomotive. Therefore, the scheme is essentially dynamic priority, and is more flexible and closer to practical use.
This embodiment has still disclosed a task cascade lock implementation system based on locomotive transportation of independently driving, including first track and second track, the joint part of two track lines and two track switches all is provided with the beacon, the section of initiating of first track and second track all sets up the top semaphore to set up the semaphore before the switch, semaphore all is connected with the host computer before top semaphore and the switch, the host computer includes information acquisition module and switch lock control module, wherein:
the information acquisition module is used for acquiring the position and the running direction of the first locomotive and the second locomotive in a physical section and acquiring the mission application information of the first locomotive and the second locomotive, wherein the mission application information comprises a starting place, a destination and a path section;
the turnout locking control module is used for controlling the turnout locking to open the route from the starting place to the destination of the locomotive one or the locomotive two according to the position, the running direction and the mission application information of the locomotive one and the locomotive two in the physical section.
Further, the switch lockout control module includes a priority judging unit and a switch lockout unit, wherein:
the priority judging unit is used for judging whether the priority of the materials carried by the first locomotive and the second locomotive is the same according to the preset journey task priority if the first locomotive and the second locomotive are respectively positioned on a first track and a second track and the destinations in the task application information are the same;
the turnout locking unit is used for preferentially opening a route from a starting place to a destination for the locomotive which applies for a task first when the output result of the priority judging unit is yes;
and the priority judging unit is used for giving priority to opening a route from the starting place to the destination to the locomotive with high priority when the output result of the priority judging unit is negative.
The system further comprises a position judging module connected with the priority judging unit, and the position judging module is connected with the turnout locking unit;
the position judging module is used for judging whether the position of the locomotive with low priority in the physical section is at a turnout or not when the result output by the judging unit is that the priorities of the materials carried by the locomotive I and the locomotive II are different and the locomotive with low priority applies for a task first;
the turnout locking unit is used for opening an access from a starting place to a destination of a locomotive with high priority after waiting for the locomotive with low priority to drive through a turnout when the output result of the position judging module is yes;
and the turnout locking unit is used for controlling the locomotive with low priority to stop and opening the route from the starting place to the destination of the locomotive with high priority when the output result of the position judging module is negative. And opening an approach from the starting place to the destination of the locomotive with low priority after the locomotive with high priority drives through the turnout.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The utility model provides a task cascade lock implementation method of locomotive transportation based on autonomous driving, its characterized in that for the locomotive of operation in the physical section is dispatched, should wait to dispatch the physical section and include first track and second track, two track lines and the connecting portion of two track switches all are provided with the beacon, the starting section of first track and second track all sets up the starting end semaphore to set up the semaphore before the switch in front of, include:
after the first locomotive and the second locomotive run through the initial end signal machine and pass through the beacon, acquiring the position and the running direction of the first locomotive and the second locomotive in a physical section;
acquiring task application information of a first locomotive and a second locomotive, wherein the task application information comprises a starting place, a destination and a path section;
controlling the turnout block to open the route from the starting place to the destination of the locomotive one or the locomotive two according to the position, the running direction and the mission application information of the locomotive one and the locomotive two in the physical section, comprising:
if the priorities of the materials carried by the locomotive I and the locomotive II are different, and the locomotive with the low priority applies for a task first, judging whether the position of the locomotive with the low priority in the physical section is at a turnout;
if yes, opening a route from the starting place to the destination of the locomotive with high priority after the locomotive with low priority drives through the turnout;
if not, controlling the locomotive with low priority to stop, and opening a route from the starting place to the destination of the locomotive with high priority;
after the high priority locomotive passes through the turnout, an initial to destination route of the low priority locomotive is opened.
2. The method for implementing mission cascade lock for locomotive transportation based on autonomous driving according to claim 1, wherein said controlling the turnout to block to open the route from the start to the destination of the first locomotive or the second locomotive according to the position, the running direction and the mission application information of the first locomotive and the second locomotive in the physical section comprises:
if the first locomotive and the second locomotive are respectively positioned on a first track and a second track and the destinations in the task application information are the same, judging whether the priority of materials carried by the first locomotive and the second locomotive are the same according to a preset journey task priority;
if the priorities of the materials carried by the first locomotive and the second locomotive are the same, preferentially opening a route from a starting place to a destination for the locomotive applying for a task first;
if the priorities of the materials carried by the first locomotive and the second locomotive are different, the locomotive with the high priority is preferentially provided with an access from the starting place to the destination.
3. The method for implementing mission cascade lock for locomotive transportation based on autonomous driving of claim 1, wherein when the priorities of the materials carried by the first locomotive and the second locomotive are different, the method further comprises:
if the access AC distance exceeds the set distance, the access of the locomotive I is withdrawn to the front of the turnout, the BC access of the locomotive II is opened, and the access of the locomotive I is opened again after the standby locomotive II drives through the turnout;
wherein, the route AC is the distance from the first track a point to the second track C point of the locomotive one, and the route BC is the distance from the second track B point to the second track C point of the locomotive two.
4. The method for implementing mission cascade lock for locomotive transportation based on autonomous driving according to claim 1, wherein said controlling the turnout to block to open the route from the start to the destination of the first locomotive or the second locomotive according to the position, the running direction and the mission application information of the first locomotive and the second locomotive in the physical section comprises:
and if the first locomotive and the second locomotive are both positioned on the first track or the second track and the destination in the mission application information is the same, arranging the front locomotive and the rear locomotive to sequentially travel to the destination according to the positions of the first locomotive and the second locomotive in the physical section.
5. The mission cascade lock implementation method for locomotive transport based on autonomous driving of any one of claims 1 to 4, characterized in that the turnout is a single turnout or a single symmetrical turnout or a three turnout or a cross crossover or a cross switch.
6. The method for implementing mission cascade lock for autonomous-based locomotive transportation according to any one of claims 1 to 4, wherein the beacons are provided along the two tracks and at intervals at the connection portion of the two track switches.
7. The utility model provides a task cascade lock implementation system based on locomotive transportation of independently driving, a serial communication port, including first track and second track, the connection portion of two track lines and two track switches all is provided with the beacon, the section of starting on first track and second track all sets up the top semaphore to set up semaphore before the switch, semaphore all with the host computer connection before top semaphore and the switch, the host computer includes information acquisition module and switch lock control module, wherein:
the information acquisition module is used for acquiring the positions and the running directions of the first locomotive and the second locomotive in a physical section and acquiring the mission application information of the first locomotive and the second locomotive, wherein the mission application information comprises a starting place, a destination and a path section;
the turnout locking control module is used for controlling turnout locking to open an access from a starting place to a destination of the locomotive I or the locomotive II according to the position, the running direction and the task application information of the locomotive I and the locomotive II in a physical section, wherein the turnout locking control module comprises a priority judging unit, a position judging module and a turnout locking unit, the priority judging unit is connected with the position judging module, and the position judging module is connected with the turnout locking unit
The position judging module is used for judging whether the position of the locomotive with low priority in a physical section is at a turnout or not when the priority judging unit outputs a result that the priorities of materials carried by the locomotive I and the locomotive II are different and the locomotive with low priority applies for a task first;
the turnout locking unit is used for opening an access from a starting place to a destination of a locomotive with high priority after waiting for the locomotive with low priority to drive through a turnout when the output result of the position judging module is yes;
the turnout locking unit is used for controlling the locomotive with low priority to stop and opening the route from the starting place to the destination of the locomotive with high priority when the output result of the position judging module is negative; and opening an approach from the starting place to the destination of the locomotive with low priority after the locomotive with high priority drives through the turnout.
8. The system of claim 7, wherein the priority determining unit is configured to determine whether the priority of the material carried by the first locomotive and the second locomotive is the same according to a preset trip task priority if the first locomotive and the second locomotive are located on a first track and a second track, respectively, and the destinations in the mission application information are the same;
the turnout locking unit is used for preferentially opening a route from a starting place to a destination for the locomotive which applies for a task first when the output result of the priority judging unit is yes;
and the priority judging unit is used for giving priority to opening a route from the starting place to the destination to the locomotive with high priority when the output result of the priority judging unit is negative.
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| JP6572215B2 (en) * | 2014-07-31 | 2019-09-04 | 東日本旅客鉄道株式会社 | Interlocking device |
| CN107901954A (en) * | 2017-11-21 | 2018-04-13 | 江苏中机矿山设备有限公司 | A kind of mining monorail crane Unmanned Systems |
| CN108248642A (en) * | 2018-01-24 | 2018-07-06 | 兖州煤业股份有限公司 | A kind of signal control method and system in mining region |
| CN109249963B (en) * | 2018-09-07 | 2020-10-23 | 中铁武汉勘察设计研究院有限公司 | Interlocking route control method and system for rail power flat car cluster |
| CN109591856A (en) * | 2018-12-04 | 2019-04-09 | 马鞍山钢铁股份有限公司 | A kind of automatic triggering system of enterprise railway shunting route manipulation command |
| CN109625039B (en) * | 2018-12-27 | 2020-12-18 | 合肥工大高科信息科技股份有限公司 | Autonomous dispatching system and method for transportation of mine transport locomotive |
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