CN110687863A - Virtualization integrated control system and method for rail transit comprehensive backup disk - Google Patents
Virtualization integrated control system and method for rail transit comprehensive backup disk Download PDFInfo
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- CN110687863A CN110687863A CN201910928585.6A CN201910928585A CN110687863A CN 110687863 A CN110687863 A CN 110687863A CN 201910928585 A CN201910928585 A CN 201910928585A CN 110687863 A CN110687863 A CN 110687863A
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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
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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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
- G05B2219/10—Plc systems
- G05B2219/13—Plc programming
- G05B2219/13125—Use of virtual, logical connections
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Abstract
The invention relates to a virtualization integrated control system and a virtualization integrated control method for a rail transit comprehensive backup disk, wherein the system comprises a programmable controller, and the virtualization integrated control system further comprises: the system comprises a comprehensive backup panel driving module, a comprehensive monitoring system, a comprehensive monitoring subsystem simulation simulator, an interlocking acquisition driving module, a simulation platform interface middleware and a comprehensive backup panel interface; the programmable controller is connected with the integrated backup disk driving module and the integrated backup disk interface respectively, the integrated backup disk driving module is connected with the interlocking acquisition driving module through the simulation platform interface middleware on the one hand, and is connected with the integrated monitoring system through the integrated monitoring subsystem simulation simulator on the other hand, and the programmable controller is further connected with the signal equipment. Compared with the prior art, the invention has the advantages of high integration level, cost and time saving, strong function, strong expandability, universality and the like.
Description
Technical Field
The invention relates to the field of rail transit, in particular to a virtualization integrated control system and method for a rail transit comprehensive backup disk.
Background
The traditional integrated backup panel (IBP panel) is composed of an IBP mosaic panel and a PLC (programmable logic controller), wherein the PLC is only responsible for acquisition and driving of BAS specialties, other specialties such as signal, entrance guard, gate and platform gate are directly connected with the IBP panel through hard wires, and particularly, the signal part needs to be interlocked with the interlocking to form complex interlocking logic. With the development of rail transit, rail transit signal technology has obtained breakthrough development. The large system integration well links signals with comprehensive monitoring and other specialties, and the problems of complex interfaces and low communication are solved. The system integration becomes the inevitable trend of the development of urban rail transit in the future by the characteristics of high automation degree, high safety level, low operation cost and the like.
The traditional comprehensive backup simulation system has low expansibility and high equipment cost, and the systems do not have an integrated linkage function. In the subway accident case which occurs in recent years in China, many accidents occur due to the problem that the mutual cooperation and coordination of all systems are not in place, and the problem of complex troubleshooting of the systems is difficult.
At present, a signal system is transferred to a full-automatic unmanned integrated system, the requirements on the safety and the stability of the signal system are higher and higher, the requirements on the safety and the stability of signals and other professional products are high, the requirements on a comprehensive backup disk system are also improved, the safety and the stability of the products cannot be accurately output in a test verification stage, a complete virtualization integrated control system of the comprehensive backup disk of the rail transit does not exist at present, and therefore, how to develop a complete virtualization integrated control system of the comprehensive backup disk of the rail transit is a problem which needs to be solved at present.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a virtualization integrated control system and method for a rail transit integrated backup disk.
The purpose of the invention can be realized by the following technical scheme:
a virtualization integrated control system of a rail transit integrated backup panel comprises a programmable controller, and further comprises:
the comprehensive backup disk driving module is used for respectively communicating with the programmable controller, the interlocking acquisition driving module and the comprehensive monitoring system;
the comprehensive monitoring system is used for carrying out real-time centralized monitoring and coordinated linkage on electromechanical equipment and subsystems of the rail transit;
the comprehensive monitoring subsystem simulator is used for realizing the communication between the comprehensive monitoring system and the comprehensive backup disk drive module;
the interlocking acquisition driving module is used for acquiring and setting code bits of the interlocking board card;
the simulation platform interface middleware is used for realizing the communication between the interlocking acquisition driving module and the comprehensive backup disc driving module;
the comprehensive backup panel interface is used for displaying the rail traffic state and generating a control signal;
the programmable controller is connected with a comprehensive backup disk drive module and a comprehensive backup disk interface respectively, the comprehensive backup disk drive module is connected with an interlocking acquisition drive module through a simulation platform interface middleware on the one hand, and is connected with a comprehensive monitoring system through a comprehensive monitoring subsystem simulation simulator on the other hand, the programmable controller is also connected with a signal device, so that subsystems monitored by the comprehensive monitoring system, devices controlled by interlocking plate clamps and the signal device are integrated together, and the linkage of each part is realized through the comprehensive backup disk drive module.
Further, the signal device includes at least one of an emergency stop button, a zone block button, a platform door, and a gate.
Furthermore, the integrated monitoring subsystem simulator is also used for simulating subsystems monitored by the integrated monitoring system in rail transit, and the subsystems comprise at least one of a signal system, an electric power automatic system, an electric power monitoring system, an automatic fire alarm system, an access control system, a broadcasting system, a passenger information system, a rail transit video monitoring system, a platform door system, a radio station system, an automatic stereoscopic warehouse system and front-end processor simulation of the rail transit integrated monitoring system, so that the function of the integrated monitoring subsystem simulator is improved.
Furthermore, the actual interface mode, communication protocol, logic association and physical characteristics of the subsystem simulated by the integrated monitoring subsystem simulator are consistent with those of the corresponding subsystem, scene simulation of a plurality of simulated subsystems can be realized according to scene requirements, data change and data association relation conforming to actual operation conditions are generated, the simulated subsystem is also consistent with a data point table and data contents of a communication data packet of the integrated monitoring system, and dynamic loading of the simulated subsystems can be realized.
Further, the integrated monitoring subsystem simulation simulator is further used for carrying out simulation operation on the simulated subsystems, and the simulation operation comprises at least one of data change, batch data change and simulation program harmony data change of the subsystems.
Further, the control signal generated by the comprehensive backup panel interface comprises at least one of a fire signal, an escalator signal, a station environmental control signal and a tunnel ventilation signal.
Furthermore, the comprehensive backup disk driving module realizes communication with the programmable controller by collecting and driving input/output point positions of the programmable controller.
Furthermore, the integrated monitoring system performs real-time centralized monitoring on the rail transit electromechanical equipment, specifically, performs real-time centralized monitoring and control on the broadcast information and clock information of the power equipment, the fire alarm information and equipment thereof, the station environmental control equipment, the interval environmental control equipment, the environmental parameters, the platform door equipment, the flood gate prevention equipment, the escalator equipment, the lighting equipment, the access control equipment, the automatic ticket selling and checking equipment, the broadcast and closed circuit television equipment and the passenger information display system;
the coordination linkage is specifically used for coordinating and interacting the rail transit subsystems under the night non-operation condition, the day normal operation condition, the emergency condition and the important equipment failure condition.
This is a common function of the prior art comprehensive monitoring system.
The application of the virtualization integrated control system of the rail transit comprehensive backup disk is divided into an acquisition process and a driving process which run in parallel.
Further, the acquisition process specifically includes, if a signal device or a comprehensive backup panel interface generates a message, transmitting the message to a comprehensive backup panel drive module through a programmable controller, determining whether the message is a switching value change in the comprehensive backup panel drive module, further determining whether the message is a signal message if the message is a switching value change, transmitting the message to an interlock acquisition drive module if the message is a signal message, and otherwise transmitting the message to a comprehensive monitoring system; the signal message is a message generated by the signal equipment;
the driving process specifically includes that if the interlocking acquisition driving module or the comprehensive monitoring system generates a driving message, the driving message is transmitted to the programmable controller through the comprehensive backup disc driving module, and the corresponding signal equipment is driven through the programmable controller.
Compared with the prior art, the invention has the following advantages:
(1) the integration level is high: the virtual integrated control system integrates the integrated monitoring system and the interlocking acquisition driving module through the integrated backup disk driving module, and the programmable controller is also connected with the signal equipment, so that the rail transit electromechanical equipment and the subsystem monitored by the integrated monitoring system, the equipment controlled by the interlocking acquisition driving module through an interlocking plate card and the signal equipment connected with the programmable controller are integrated together, and the problems of difficult, complex and frequent interfaces among the systems in the past are solved.
(2) Cost and time are saved: most of the traditional data testing of the comprehensive backup disk system is finished on line, which greatly reduces the problem discovery rate and increases the potential accident potential. If the test center additionally purchases equipment as a positive line to meet the test, the cost and the time are greatly increased, the reusability of the equipment is not high, and the virtualization integrated control system adopts a virtualization technology: the interlocking acquisition driving module is used for acquiring and setting code bits of the interlocking board card, and the comprehensive monitoring subsystem simulator is used for realizing communication between the comprehensive monitoring system and the comprehensive backup disc driving module and between the comprehensive monitoring system and the programmable controller, the interlocking acquisition driving module and the comprehensive monitoring system respectively, so that the cost, the time and the space occupancy rate of equipment are greatly saved.
(3) Powerful, the scalability is strong: the virtualization integrated control system integrates the comprehensive monitoring system and the signal equipment, has great convenience for station data testing, and can configure different testing environments according to different projects.
(4) Universality: the existing comprehensive backup disk system is a train control system for a specific manufacturer and a specific model and has no universality. When different systems are tested, equipment needs to be replaced again and a large amount of development work is needed, so that the efficiency of the test work is influenced.
(5) The virtual integrated control system is used for in-plant verification tests of practical subway lines such as Shanghai subway No. 10 lines, Chengdu subway No. 9 lines and the like, the release quality of the subway line signal system is guaranteed, the test efficiency is obviously improved, the cost of test equipment is effectively reduced, and the virtual integrated control system of the rail transit comprehensive backup panel is the development direction of a future rail transit signal system test verification platform.
Drawings
FIG. 1 is a schematic structural diagram of a virtualization integrated control system of a rail transit integrated backup panel according to the present invention;
fig. 2 is a schematic structural diagram of a virtualization integrated control system of a rail transit integrated backup panel according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of the acquisition process of the present invention;
fig. 4 is a flow chart illustrating the driving process of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1
As shown in fig. 1, the embodiment is a virtualization integrated control system for a rail transit integrated backup disk, and includes an interlock acquisition driver module (CIAdapter), an integrated monitoring system (ISCS), an integrated backup disk driver module (IBPDriver), a simulation platform interface middleware (FEPSever), an integrated monitoring subsystem simulation simulator (iscsubibsim), an integrated backup disk interface (IBP _ HMI), and a Programmable Logic Controller (PLC).
The programmable controller is respectively in communication connection with the programmable controller and the comprehensive backup panel interface, the programmable controller is in communication connection with the comprehensive backup panel driving module, the comprehensive backup panel driving module is connected with the interlocking acquisition driving module through the simulation platform interface middleware on one hand, and is connected with the comprehensive monitoring system through the comprehensive monitoring subsystem simulation simulator on the other hand. The programmable controller is also connected with a signal device, and the signal device comprises a platform door, an emergency stop button (ESP), a zone block button (SPKS) and a gate. The platform door in this embodiment is referred to as a platform door or a screen door.
The above components are described in detail below:
1. integrated backup disc driving module
The integrated backup disk driving module collects and drives the I/O point positions of the programmable controller to indirectly complete the collection driving control of the integrated backup disk interface, communicates with the interlocking collection driving module through the simulation platform interface middleware and communicates with the integrated monitoring system through the simulation simulator of the integrated monitoring subsystem.
2. Simulation simulator of comprehensive monitoring subsystem
The simulation simulator of the integrated monitoring subsystem simulates each subsystem (hereinafter referred to as simulated subsystem) monitored by the integrated monitoring system by acquiring IO, AO, DO and AO code bits of the integrated monitoring system, the simulated subsystem comprises an EMCS (environmental monitoring system), a PSCADA (power monitoring system), an FAS (fire automatic alarm system), a BAS (equipment monitoring system), an ACS (access control system), a PA (broadcasting system), a PIS (passenger information system), a CCTV (track traffic video monitoring system), a PSD (platform door system), a RADIO (RADIO station system), an RS (automatic stereo warehouse system) and other professional and FEP (front end processor) simulation of an ISCS (integrated monitoring system) besides a signal system, and has the functions that an interface mode is consistent with the simulated subsystem, a communication protocol is consistent with the simulated subsystem, a data point table of a communication data packet is consistent with the configuration of the integrated monitoring system, the data content is also kept consistent, and the comprehensive monitoring imitated subsystem can be dynamically loaded; the logic association and the physical characteristics are consistent with those of the emulated subsystems, scene simulation of the emulated subsystems is realized according to scene requirements, data change and data association relation conforming to actual operation conditions are generated, simulation operation can be performed on simulation programs of the emulated subsystems through a centralized control interface, and the operation comprises the following steps: data changes, batch data changes, coordination (including simultaneous changes, related changes, etc.) of simulation programs of multiple simulated subsystems, and the like.
3. Integrated backup panel interface
The comprehensive backup panel interface is combined with the touch screen and used for man-machine interaction, rail traffic states are displayed, control signals are generated, all functions of the comprehensive backup panel are achieved, the interface comprises signals, platform doors, fire fighting, escalators, gate machines, entrance guards, station environment control and tunnel ventilation, and the signals display the states of emergency stop buttons and area blocking buttons. As shown in fig. 2, the integrated backup panel interface in this embodiment includes a workstation and three touch screens, the workstation is in communication connection with the programmable controller and the three touch screens, and states of signals, fire fighting, escalator, door control, station environment control (environment control) and tunnel ventilation (tunnel) are displayed on the touch screens and can be set by touching.
4. Interlocking acquisition driving module
The interlocking acquisition driving module is mainly used for assisting the setting and reading of interlocking code bits by the simulation trackside equipment, sending a control command through the programmable controller and driving and acquiring the code bits of the interlocking I/O board card. The method has the functions of receiving VIIB (interlocking input code bit) setting information sent by the simulation trackside equipment, sending VOOB (interlocking output code bit) state information to the simulation trackside equipment, controlling and sending reading input and setting output commands to the programmable controller, receiving and sending communication information through Ethernet and the like.
5. Integrated monitoring system
The main functions of the comprehensive subway monitoring system comprise a real-time centralized monitoring function of electromechanical equipment and a coordination linkage function among all systems. On one hand, the basic functions of real-time centralized monitoring and control of broadcasting information, clock information and the like of power equipment, fire alarm information and equipment thereof, station environment control equipment, interval environment control equipment, environmental parameters, platform door equipment, flood gate prevention equipment, escalator equipment, lighting equipment, access control equipment, automatic ticket selling and checking equipment, broadcasting and closed-circuit television equipment, a passenger information display system and the like can be realized through the comprehensive monitoring system; on the other hand, through the comprehensive monitoring system, high-level functions such as coordination and interaction among related system equipment under the night non-operation condition, the day normal operation condition, the emergency condition and the important equipment failure condition can be realized.
The application of the virtualization integrated control system of the comprehensive backup disk comprises an acquisition process and a driving process, wherein the two processes are performed in parallel in the actual operation process, the two processes are separately explained below, the receiving and transmitting process of an interface middleware of a simulation platform is omitted in the explanation, the interface middleware of a signal platform only plays a role of a gateway for forwarding messages, and the two processes are explained below:
(1) acquisition process
As shown in fig. 3, during the operation of the system, the platform door transmits its own state to the interlock acquisition driving module and the programmable controller in real time, and the emergency stop button, the zone blocking button and the comprehensive backup panel interface transmit the state to the programmable controller in real time.
When the platform door acts, the interlocking acquisition driving module can directly acquire the state of the platform door, and the programmable controller can also acquire the state of the platform door and display the opening and closing state on the comprehensive backup panel interface in the form of an indicator lamp;
when the emergency stop button is pressed down by a person, the programmable controller transmits the state of the emergency stop button to the comprehensive backup panel driving module, and the comprehensive backup panel driving module transmits the state to the interlocking acquisition driving module, so that the train in the area can be stopped emergently until the emergency stop button is released;
when the region blocking button is pressed by a person, the programmable controller transmits the state of the region blocking button to the comprehensive backup panel driving module and then transmits the state to the interlocking acquisition driving module, at the moment, the region is blocked, all vehicles in the region stop emergently, and vehicles outside the region are prohibited from driving until the region blocking button is released;
the programmable controller can also transmit the states of the emergency stop button and the region blocking button to a comprehensive backup panel interface at the same time, and the states of the emergency stop button and the region blocking button are displayed on the comprehensive backup panel interface in real time, so that a platform dispatcher can monitor the states of the two devices in real time;
when the gate machine acts, the programmable controller collects the state of the gate machine and transmits the information to the comprehensive backup disk driving module, the comprehensive backup disk driving module transmits the information to the comprehensive monitoring subsystem simulation simulator, and the comprehensive monitoring subsystem simulation simulator transmits the information to the comprehensive monitoring system;
when someone presses the button switch on the comprehensive backup panel interface, the programmable controller transmits the action state to the comprehensive backup panel driving module, the comprehensive backup panel driving module judges whether the action state is a signal message, if the action state is triggered by the button switch of the signal device, the information is sent to the interlocking acquisition driving module, and if the action state is not triggered by the button switch of the signal device, the information is sent to the comprehensive monitoring subsystem simulator, and the comprehensive monitoring subsystem simulator displays the information on the interface of the comprehensive monitoring subsystem and sends the state message to the comprehensive monitoring system.
(2) Driving procedure
As shown in fig. 4, when the train enters the station and stops accurately, the interlocking acquisition driving module issues a door opening instruction, the platform door is opened, and the train is ready to be dispatched, the interlocking acquisition driving module issues a door closing instruction, and the platform door is closed;
when an ATS (automatic train monitoring system) issues a car-buckling command, an interlocking acquisition driving module transmits the car-buckling command to a comprehensive backup panel driving module, the comprehensive backup panel driving module drives a programmable controller to light a car-buckling indicator lamp on a comprehensive backup panel interface, the interlocking acquisition driving module also transmits route information to the comprehensive backup panel driving module, and the route state is updated on the comprehensive backup panel interface in real time;
when the comprehensive monitoring equipment changes, such as fire, elevator and the like, the simulation simulator of the comprehensive monitoring subsystem sends the state information to the comprehensive backup panel driving module, and then the state information is transmitted to the programmable controller, and the state information is updated on the interface of the comprehensive backup panel in real time.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A virtualization integrated control system of a rail transit integrated backup disk comprises a programmable controller, and is characterized by further comprising:
the comprehensive monitoring system is used for carrying out real-time centralized monitoring and coordinated linkage on electromechanical equipment and subsystems of the rail transit;
the interlocking acquisition driving module is used for acquiring and setting code bits of the interlocking board card;
the comprehensive backup disk driving module is used for respectively communicating with the programmable controller, the interlocking acquisition driving module and the comprehensive monitoring system;
the comprehensive monitoring subsystem simulator is used for realizing the communication between the comprehensive monitoring system and the comprehensive backup disk drive module;
the simulation platform interface middleware is used for realizing the communication between the interlocking acquisition driving module and the comprehensive backup disc driving module;
the comprehensive backup panel interface is used for displaying the rail traffic state and generating a control signal;
the programmable controller is connected with the integrated backup disk driving module and the integrated backup disk interface respectively, the integrated backup disk driving module is connected with the interlocking acquisition driving module through the simulation platform interface middleware on the one hand, and is connected with the integrated monitoring system through the integrated monitoring subsystem simulation simulator on the other hand, and the programmable controller is further connected with the signal equipment.
2. The integrated control system for virtualization of a rail transit integrated backup pad according to claim 1, wherein the signal device comprises at least one of an emergency stop button, a zone block button, a platform door, a screen door, and a gate.
3. The integrated control system for the virtualization of the rail transit integrated backup pad according to claim 1, wherein the integrated monitoring subsystem simulator is further configured to simulate subsystems monitored by the integrated monitoring system in rail transit, the subsystems comprising at least one of a signal system, a power automation system, a power monitoring system, an automatic fire alarm system, an access control system, a broadcasting system, a passenger information system, a rail transit video monitoring system, a platform door system, a radio station system, an automated stereoscopic warehouse system, and a front-end processor simulation of the rail transit integrated monitoring system.
4. The integrated control system for the virtualization of the rail transit integrated backup pad according to claim 3, wherein the subsystem simulated by the integrated monitoring subsystem simulator is consistent with the actual interface mode, communication protocol, logic association and physical characteristics of the corresponding subsystem, and the simulated subsystem is also consistent with the data point table and data content of the communication data packet of the integrated monitoring system.
5. The integrated control system for the virtualization of the rail transit integrated backup pad according to claim 3, wherein the integrated monitoring subsystem simulation simulator is further configured to perform simulation operations on the simulated subsystems, the simulation operations including at least one of data changes, batch data changes, and simulation program coordination data changes of the plurality of subsystems.
6. The system of claim 1, wherein the control signals generated by the integrated backup panel interface include at least one of fire signals, escalator signals, station environmental control signals, and tunnel ventilation signals.
7. The integrated virtualization control system for the rail transit integrated backup disc according to claim 1, wherein the integrated backup disc driving module is used for realizing communication with the programmable controller by collecting and driving input/output points of the programmable controller.
8. The integrated control system for the virtualization of the rail transit integrated backup panel according to claim 1, wherein the integrated monitoring system performs real-time centralized monitoring on rail transit electromechanical devices, specifically, performs real-time centralized monitoring and control on broadcast information and clock information of electric power devices, fire alarm information and devices thereof, station environment control devices, zone environment control devices, environmental parameters, platform door devices, flood gate prevention devices, escalator devices, lighting devices, entrance guard devices, automatic ticket selling and checking devices, broadcast and closed-circuit television devices, and passenger information display systems;
the coordination linkage is specifically used for coordinating and interacting the rail transit subsystems under the night non-operation condition, the day normal operation condition, the emergency condition and the important equipment failure condition.
9. An application of the virtualization integrated control system of the rail transit integrated backup disc according to claim 1, wherein the application is divided into an acquisition process and a driving process which run in parallel.
10. The integrated virtualization control system for a rail transit integrated backup disc according to claim 9, wherein the collection process specifically includes, if a signal device or an integrated backup disc interface generates a message, transmitting the message to an integrated backup disc drive module through a programmable controller, determining in the integrated backup disc drive module whether the message is a switching value change, further determining whether the message is a signal message if the message is a switching value change, transmitting the message to an interlock collection drive module if the message is a signal message, or transmitting the message to an integrated monitoring system if the message is a signal message; the signal message is a message generated by the signal equipment;
the driving process specifically includes that if the interlocking acquisition driving module or the comprehensive monitoring system generates a driving message, the driving message is transmitted to the programmable controller through the comprehensive backup disc driving module, and the corresponding signal equipment is driven through the programmable controller.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111338236A (en) * | 2020-04-21 | 2020-06-26 | 中车青岛四方车辆研究所有限公司 | Subway vehicle combined test system based on semi-physical simulation technology |
| CN111627310A (en) * | 2020-05-25 | 2020-09-04 | 卡斯柯信号有限公司 | Intelligent subway demonstration and verification device and method based on full-automatic unmanned driving |
| CN111708318A (en) * | 2020-06-23 | 2020-09-25 | 卡斯柯信号有限公司 | Rail transit platform door integration test device and method |
| CN111986538A (en) * | 2020-09-21 | 2020-11-24 | 中铁第四勘察设计院集团有限公司 | Urban railway train operation comprehensive simulation training system and structure |
| CN113075877A (en) * | 2021-03-09 | 2021-07-06 | 北京和利时系统工程有限公司 | Track traffic integrated monitoring system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111338236A (en) * | 2020-04-21 | 2020-06-26 | 中车青岛四方车辆研究所有限公司 | Subway vehicle combined test system based on semi-physical simulation technology |
| CN111338236B (en) * | 2020-04-21 | 2023-08-08 | 中车青岛四方车辆研究所有限公司 | Subway vehicle combined test system adopting semi-physical simulation technology |
| CN111627310A (en) * | 2020-05-25 | 2020-09-04 | 卡斯柯信号有限公司 | Intelligent subway demonstration and verification device and method based on full-automatic unmanned driving |
| CN111627310B (en) * | 2020-05-25 | 2023-04-07 | 卡斯柯信号有限公司 | Intelligent subway demonstration and verification device and method based on full-automatic unmanned driving |
| CN111708318A (en) * | 2020-06-23 | 2020-09-25 | 卡斯柯信号有限公司 | Rail transit platform door integration test device and method |
| CN111986538A (en) * | 2020-09-21 | 2020-11-24 | 中铁第四勘察设计院集团有限公司 | Urban railway train operation comprehensive simulation training system and structure |
| CN113075877A (en) * | 2021-03-09 | 2021-07-06 | 北京和利时系统工程有限公司 | Track traffic integrated monitoring system |
| CN113075877B (en) * | 2021-03-09 | 2022-11-18 | 北京和利时系统工程有限公司 | Track traffic integrated monitoring system |
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