CN112124373B - Real-time train control method and device - Google Patents
Real-time train control method and device Download PDFInfo
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- CN112124373B CN112124373B CN202010888646.3A CN202010888646A CN112124373B CN 112124373 B CN112124373 B CN 112124373B CN 202010888646 A CN202010888646 A CN 202010888646A CN 112124373 B CN112124373 B CN 112124373B
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Abstract
The embodiment of the invention provides a real-time train control method and a real-time train control device, wherein the method comprises the following steps: the train control system of a first jurisdiction to which a train belongs at too early and late time currently receives an automatic control command sent by a train operation diagram system and a manual control command sent by a train control display system, and whether the manual control command or the automatic control command is sent to an automatic train operation system ATO is judged so that the automatic train operation system ATO can control the train to operate, each jurisdiction on a train operation route is provided with a set of train control system, and the train control systems of adjacent jurisdictions can carry out command interaction. The embodiment of the invention interacts with the trains at the early and late points through the train control system of each jurisdiction area on the train running line, thereby controlling the running of the trains at the early and late points in real time, and the train control system sends corresponding train control commands to the automatic train operation system ATO according to the current state of the control commands, thereby avoiding the conflict caused by the simultaneous issuing of various commands.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a real-time train control method and device.
Background
An Automatic Train Control (ATC) system of an urban rail transit system generally includes an Automatic Train Protection (ATP), an Automatic Train Operation (ATO), and an Automatic Train monitoring (ATS). In an ATC (automatic train control) urban rail transit control signal system, the issuing of platform commands is realized through an ATS (automatic train control system) subsystem. In the current subway system, a platform is a basic unit for storing various train control commands, and the station stop time, the next station operation grade, the train buckling, the stop jumping and the train departure countdown are managed by taking the platform as a unit. Under the normal operation condition, the urban rail transit information system is usually set in the operation state of automatic control, and a traffic dispatcher is in the operation supervision state. When the train deviates from the current day plan due to any reason such as man-made, line or train faults, the train in the ATS subsystem automatically adjusts the stop time and the operation level, or maintains daily operation by using the operations of train locking and jump stopping.
At present, when urban rail transit is in a peak period, the running interval of a train is close to minutes, and the phenomena of train delay and the like are easy to occur. Therefore, train operation adjustment by train control is required. Train control refers to manual or automatic train control according to the intention of a dispatcher or planning of a running chart. The current train operation adjustment refers to a process of restoring the train to an orderly operation state as soon as possible by reasonably determining and optimizing a train operation schedule again when the train is interfered and cannot operate according to an original plan. In terms of the adjustment mode, the train operation adjustment is divided into manual adjustment and adjustment according to a diagram. Because the effect of manual adjustment depends on the experience and the capability of the dispatcher to a great extent, and the actual effect after the train operation adjustment is difficult to predict, the manual adjustment has great limitation, and the working strength of the train dispatcher is also increased. On the one hand, the delay of the train is easy to spread to cause the delay of a plurality of trains on the next under the condition that the train interval is small; on the other hand, due to the restriction of the front and rear trains, it is more difficult to return to the right even after the late.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a real-time train control method and device.
Specifically, the embodiment of the invention provides the following technical scheme:
in a first aspect, an embodiment of the present invention provides a train real-time control method, including:
the train operation diagram system sends an automatic control command to a train control system of a first jurisdiction according to the operation time and position information of the trains at the early and late points; the train control system of the first jurisdiction is a train control system of the first jurisdiction to which the trains at morning and evening belong currently;
when detecting that the manual control command is triggered, the train control display system sends the manual control command to a train control system of a first jurisdiction; the train control display system is used for displaying the running time and position information of the train at the early and late points;
the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to the state of the train control command so as to enable the automatic train operation system ATO to control the operation of the early and late trains;
the train control system comprises a train running route, a train control system and a manual control command, wherein each jurisdiction on the train running route is provided with one train control system, the train control systems of adjacent jurisdictions can carry out command interaction, the automatic control command comprises an automatic stop time command and an automatic interval running grade command, the manual control command comprises a manual stop time command, a manual interval running grade command, a manual skip stop execution command, a manual skip stop cancellation command, a manual car-buckling execution command and a manual car-buckling cancellation command, and the train control command comprises a car-buckling command, a skip stop command, a running grade command and a stop time command.
Further, if the train in the early-late department runs to a second jurisdiction adjacent to the first jurisdiction, the train control system in the second jurisdiction sends a command to the train in the early-late department so as to inform the first jurisdiction that the train in the early-late department has entered the second jurisdiction, and the train control system in the second jurisdiction controls the train to run; and if the train control system of the first jurisdiction has sent the train control command to train at the morning and evening point, the train control system of the first jurisdiction sends the train control information of the train leaving the first jurisdiction at the morning and evening point to the train control system of the second jurisdiction.
Further, if the train control command is a train-fastening command, the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train driving system ATO according to the state of the train control command, including:
if a manual car-fastening execution command is received in an initial state of the car-fastening command or a waiting state of the car-fastening command, the manual car-fastening execution command is sent to an Automatic Train Operation (ATO) system; if the manual car-fastening execution command is issued for more than the preset times and the ATO state of the automatic train driving system is a non-car-fastening state, alarming and prompting are carried out;
if a manual car-holding canceling command is received in a waiting state of the car-holding command or an execution state of the car-holding command, the manual car-holding canceling command is sent to an Automatic Train Operation (ATO); and if the manual car-fastening canceling order is issued for more than the preset times and the ATO state of the automatic train driving system is the car-fastening state, giving an alarm prompt.
Further, if the train control command is a jump stop command, the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to an automatic train operation system ATO according to the state of the train control command, including:
if a manual jump stop execution command is received in a jump stop command initial state or a jump stop command waiting state, the manual jump stop execution command is sent to an Automatic Train Operation (ATO) system; if the number of times exceeds the preset number of times under the manual jump stop execution command and the ATO state of the automatic train driving system is non-jump stop, alarming and prompting are carried out;
if receiving a manual jump stop canceling command in a jump stop command waiting state or a jump stop command executing state, sending the manual jump stop canceling command to an Automatic Train Operation (ATO); and if the manual jump stop canceling command is issued for more than the preset times and the ATO state of the automatic train driving system is jump stop, alarming and prompting.
Further, if the train control command is an interval operation level command, the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to an automatic train operation system ATO according to the state of the train control command, including:
if the automatic interval operation level command is received in the initial state of the interval operation level command or the waiting state of the planned operation level command and no manual interval operation level command is received within the preset time, the automatic interval operation level command is sent to an automatic train operation system (ATO);
and if the manual interval operation level command is received in the interval operation level command initial state or the planned interval operation level command waiting state, sending the manual interval operation level command to an automatic train operation system (ATO).
Further, if the train control command is a stop time command, the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train driving system ATO according to the state of the train control command, including:
if the automatic stop time command is received in the stop time command initial state and the manual stop time command is not received in the preset time, the automatic stop time command is sent to an Automatic Train Operation (ATO) system;
if the manual stop time command is received when the stop time command is in an initial state or a planned stop command waiting state, the manual stop time command is sent to an Automatic Train Operation (ATO) system;
if the train leaves the first jurisdiction at the early or late point, the stop time command state in the train control system of the first jurisdiction is recovered to the initial state.
Further, if the train at the early-late point fails to communicate during the operation period, the train control system of the jurisdiction to which the train at the early-late point currently belongs empties the train control information at the early-late point; and after the trains at the morning and evening points recover communication, updating the control commands in real time according to the operation chart, and after entering the next jurisdiction, issuing the control commands by the train control system of the next jurisdiction to control the trains at the morning and evening points to operate.
In a second aspect, an embodiment of the present invention provides a train real-time control device, including: the system comprises a train operation diagram system, a train control display system, a train control system of a first jurisdiction and an Automatic Train Operation (ATO) system;
the train operation diagram system sends an automatic control command to a train control system of a first jurisdiction according to the operation time and position information of the trains at the early and late points; the train control system of the first jurisdiction is a train control system of the first jurisdiction to which the trains at morning and evening belong currently;
when detecting that the manual control command is triggered, the train control display system sends the manual control command to a train control system of a first jurisdiction; the train control display system is used for displaying the running time and position information of the train at the early and late points;
the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to the state of the train control command so as to enable the automatic train operation system ATO to control the operation of the early and late trains;
the train control system comprises a train running route, a train control system and a manual control command, wherein each jurisdiction on the train running route is provided with one train control system, the train control systems of adjacent jurisdictions can carry out command interaction, the automatic control command comprises an automatic stop time command and an automatic interval running grade command, the manual control command comprises a manual stop time command, a manual interval running grade command, a manual skip stop execution command, a manual skip stop cancellation command, a manual car-buckling execution command and a manual car-buckling cancellation command, and the train control command comprises a car-buckling command, a skip stop command, a running grade command and a stop time command.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor implements the steps of the train real-time control method according to the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the train real-time control method according to the first aspect.
According to the train real-time control method and device provided by the embodiment of the invention, the train control system of the first jurisdiction to which the train belongs at morning and evening receives the automatic control command sent by the train operation diagram system and the manual control command sent by the train control display system, so that the train control system of the first jurisdiction judges the priority of the manual control command and the automatic control command according to the state of the train control command in the current system, and selects one of the manual control command or the automatic control command to be sent to the automatic train driving system ATO, so that the automatic train driving system ATO of the train controls the train to operate, the conflict caused after the manual control command and the automatic control command are simultaneously sent to the automatic train driving system ATO is avoided, and the control efficiency is improved. Meanwhile, each jurisdiction area on the train running line is provided with a set of train control system, and the train control systems of adjacent jurisdiction areas can carry out command interaction, so that the early-late train can interact with the corresponding train control system in real time in any jurisdiction area to control the early-late train to run. Therefore, the train control system in each jurisdiction area on the train running line carries out interactive control commands with the early-late trains, so that the early-late train running can be controlled in real time, and after receiving the manual train control commands and the automatic train control commands sent by the early-late trains, the train control system can judge whether the manual train control commands or the automatic train control commands are sent to the automatic train driving system ATO according to the current state of the control commands, so that the conflict caused when the manual train control commands and the automatic train control commands are simultaneously sent to the automatic train driving system ATO is avoided, and the control efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a real-time train control method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a train control system provided in accordance with a first embodiment of the present invention;
FIG. 3 is a schematic view of a state transition of a car-fastening command according to a first embodiment of the present invention;
FIG. 4 is a state transition diagram of a jump stop command according to a first embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the state transition of the inter-zone run level command according to the first embodiment of the present invention;
FIG. 6 is a schematic diagram of the time to stop command state transition provided by the first embodiment of the present invention;
fig. 7 is a schematic structural diagram of a real-time train control device according to a second embodiment of the invention;
fig. 8 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a train real-time control method according to a first embodiment of the present invention, and as shown in fig. 1, the train real-time control method according to the first embodiment of the present invention includes the following steps:
In this step, it should be noted that, basic units of various train control commands are stored in the platform control system of the current rail transit, such as stop time, next station operation grade, train buckling, jump stop, departure countdown are managed by taking platforms as units, however, the control system between each platform cannot perform command interaction, so that when a train enters the next platform from the current platform, the next platform cannot know the control command sent by the current platform to the train, and therefore cannot control the train operation in real time, which results in early/late train operation, and further affects the operation of subsequent trains. For example, when a train is located at a platform a, the platform a sends a command with a speed of 50km/h to a platform B according to information such as a running path of the train, but after the train leaves the platform a, a train is late in the platform B, and the train cannot update the command information, so that the running speed is kept to be 50km/h, and the train cannot be adjusted and controlled to run in real time.
Therefore, in the embodiment, the train is controlled by one train control system arranged in each jurisdiction on the train running route, and the train control systems in adjacent jurisdictions can perform command interaction, so that the train can receive the control command of the train control system in real time and control the train in real time.
Specifically, fig. 2 is a schematic diagram of a train control system according to a first embodiment of the present invention, as shown in fig. 2, when a train at an early-late point travels to a first jurisdiction, a working plan is dynamically calculated by a working diagram system in an ATS according to real-time position information of the train at the early-late point, and then an adjusted operation level command and a stop time command are issued to a train control system in the first jurisdiction in time after the train at the early-late point adjusts the working plan in real time relative to the information at the early-late point planned on the day, and the train control system in the first jurisdiction is responsible for issuing a control command to the train at the early-late point to control the train to operate; the automatic control command comprises an automatic stop time command and an automatic interval operation level command. When a train enters a next jurisdiction (a second jurisdiction) from a first jurisdiction, a train control system in the second jurisdiction is responsible for issuing a control command to a train at an early-late point, and the train control system in the second jurisdiction can interact with the train control system in the first jurisdiction, so that the train control system in the second jurisdiction can acquire the control command issued by the train control system in the first jurisdiction to the train at the early-late point, and the problem that a next platform cannot acquire the control command issued by a current platform to the train at the early-late point after the train at the early-late point is driven out of the current platform in the traditional method is avoided, and the train cannot be adjusted and controlled according to the real-time condition.
Therefore, compared with the traditional method, the train control system of each jurisdiction controls the train, and the train control systems of adjacent jurisdictions can perform command interaction, so that the next jurisdiction knows the control command issued by the train control system of the previous jurisdiction to the trains at morning and evening points, and can adjust the operation of the trains at morning and evening points and issue the corresponding control command to the trains at morning and evening points according to the real-time condition.
In this step, the train operation adjustment can be divided into a chart adjustment and a manual adjustment, wherein the chart adjustment is that the operation chart system in the ATS dynamically adjusts the operation mode of the train according to the real-time position information of the train, and the manual adjustment is that a dispatcher manually sets the operation grade, the stop time, the train holding and the jump stopping operation on the interface of the train control display system according to the current actual operation condition of the train at the morning and evening points displayed by the train control display system, and sends a manual control command to the train control system, so that the train control system issues a corresponding train control command to the train at the morning and evening points. The manual control command comprises a manual stop time command, a manual interval operation level command, a manual skip stop execution command, a manual skip stop cancellation command, a manual car-taking execution command and a manual car-taking cancellation command.
In this step, since the train control system in the first jurisdiction may receive the automatic control command in step 110 and the manual control command in step 120, if the automatic control command and the manual control command are simultaneously sent to the ATO, command collision may be caused, so that the ATO cannot determine which command to control the train, thereby reducing the control efficiency.
Therefore, in this embodiment, after receiving the automatic control command and the manual control command, the train control system in the first jurisdiction may determine the priorities of the automatic control command and the manual control command according to the state of the train control command in the current train control system, and select one of the commands to be sent to the ATO, so that the ATO controls the train to operate.
Therefore, in the embodiment, the train control system can judge the priority of the automatic control command and the manual control command, and further select one of the automatic control command and the manual control command to send to the ATO, so that command conflict caused by the fact that the ATO receives the automatic control command and the manual control command at the same time is avoided, and the train control efficiency is improved.
In addition, as shown in fig. 2, in the embodiment, the train control system performs command interaction with other systems, so as to adjust and control the train operation, specifically, the ATO receives the section operation level, the station stop time, the car-holding, the jump stop, the early departure and the ATO automatic turn-back mode command issued by the train control system; the departure indicator receives stop time, a car-buckled state and a stop-jumping command issued by a train control system; the operation diagram system sends an automatic stop time command and an automatic interval operation grade command to the train control system; the train control display system sends a manual platform control command to the train control system; the train identification and tracking system sends the ATO state information, the train position information and the train stability stopping information of the train to a train control system; the computer sends the presentation information to the train control system in an interlocking manner. Therefore, the train control system realizes manual adjustment according to the manual interval operation grade and the manual stop time issued by the train control display system. And realizing adjustment according to the running chart according to the automatic interval running grade and the automatic station stopping time issued by the running chart system. And predicting the position of the train according to the train identification and tracking system and the interlocking system and by combining train number information and occupation information, and judging the time of entering the station, stopping stably, exiting the station, between the stations and the like to serve as a train control command updating time judgment condition.
According to the real-time train control method provided by the embodiment of the invention, the train control system of the first jurisdiction to which the train belongs at morning and evening receives the automatic control command sent by the train operation diagram system and the manual control command sent by the train control display system, so that the train control system of the first jurisdiction judges the priority of the manual control command and the automatic control command according to the state of the train control command in the current system, and selects one of the manual control command or the automatic control command to be sent to the automatic train operation system ATO, so that the automatic train operation system ATO of the train controls the train to operate, the conflict caused by the fact that the manual control command and the automatic control command are simultaneously issued to the automatic train operation system ATO of the train is avoided, and the control efficiency is improved. Meanwhile, each jurisdiction area on the train running line is provided with a set of train control system, and the train control systems of adjacent jurisdiction areas can carry out command interaction, so that the early-late train can interact with the corresponding train control system in real time in any jurisdiction area to control the early-late train to run. Therefore, the train control system in each jurisdiction area on the train running line carries out interactive control commands with the early-late trains, so that the early-late train running can be controlled in real time, and after receiving the manual train control commands and the automatic train control commands sent by the early-late trains, the train control system can judge whether the manual train control commands or the automatic train control commands are sent to the automatic train driving system ATO according to the current state of the control commands, so that the conflict caused when the manual train control commands and the automatic train control commands are simultaneously sent to the automatic train driving system ATO is avoided, and the control efficiency is improved.
Based on the content of the foregoing embodiment, as an optional embodiment, if the early-late train runs to a second jurisdiction adjacent to the first jurisdiction, the train control system of the second jurisdiction sends a command to the early-late train to notify the first jurisdiction that the early-late train has entered the second jurisdiction, and the train control system of the second jurisdiction controls the train to run; and if the train control system of the first jurisdiction has sent the train control command to train at the morning and evening point, the train control system of the first jurisdiction sends the train control information of the train leaving the first jurisdiction at the morning and evening point to the train control system of the second jurisdiction.
In this step, if the early-late train runs to a second jurisdiction adjacent to the first jurisdiction, the first jurisdiction needs to transfer the jurisdiction of the early-late train to the second jurisdiction, and the jurisdiction is ended until the next jurisdiction arrives at the station.
Specifically, the train control system of the second jurisdiction sends a command to the trains at the morning and evening points to inform the first jurisdiction that the trains at the morning and evening points enter the second jurisdiction, and the train control system of the second jurisdiction controls the trains to run; and if the train control system of the first jurisdiction has sent the train control command to the morning and evening trains, in order to ensure that the second jurisdiction can adjust and control the morning and evening trains according to the real-time condition, the train control system of the second jurisdiction needs to acquire the information of the control trains when the morning and evening trains leave the first jurisdiction, thereby accurately mastering the control state when the morning and evening trains leave the first jurisdiction, accurately adjusting the running mode of the morning and evening trains in real time according to the control state, and issuing the corresponding control command to the morning and evening trains.
Therefore, in the embodiment, the train control system issues a request according to a control command period of the ATS and a Vehicle-mounted Controller (VOBC) in interconnection and interworking, adds a platform jurisdiction, and gives the train to the natural station jurisdiction after the train enters the station, and the jurisdiction is ended until the next natural station enters the station. After joining the platform jurisdiction, the train control command can be assigned in real time and give the train, compare in can only assign the command mode at the platform among the traditional approach, can't realize the command interaction between the platform, and this embodiment has expanded the order and has assigned the opportunity to guarantee to control early or late train operation in real time.
According to the train real-time control method provided by the embodiment of the invention, if the early-late train runs to a second jurisdiction adjacent to the first jurisdiction, a train control system of the second jurisdiction sends a command to the early-late train to inform the first jurisdiction that the early-late train has entered the second jurisdiction, and the train control system of the second jurisdiction controls the train to run, so that the early-late train is controlled to run in real time; and if the train control system of the first jurisdiction has sent the train control order to the train at morning and evening, the train control system of the first jurisdiction sends the train control information of the train leaving the first jurisdiction to the train control system of the second jurisdiction, thus make the second jurisdiction accurately grasp the control state of the train leaving the first jurisdiction at morning and evening, and adjust the operation mode of the train at morning and evening accurately and in real time according to the control state, and issue the corresponding control order to the train at morning and evening.
Based on the content of the foregoing embodiment, as an optional embodiment, if the train control command is a train-fastening command, the train control system in the first jurisdiction determines whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to a state of the train control command, including:
if a manual car-fastening execution command is received in an initial state of the car-fastening command or a waiting state of the car-fastening command, the manual car-fastening execution command is sent to an Automatic Train Operation (ATO) system; if the manual car-fastening execution command is issued for more than the preset times and the ATO state of the automatic train driving system is a non-car-fastening state, alarming and prompting are carried out;
if a manual car-holding canceling command is received in a waiting state of the car-holding command or an execution state of the car-holding command, the manual car-holding canceling command is sent to an Automatic Train Operation (ATO); and if the manual car-fastening canceling order is issued for more than the preset times and the ATO state of the automatic train driving system is the car-fastening state, giving an alarm prompt.
In this step, in order to avoid command collision caused when the ATO receives the automatic control command and the manual control command at the same time, the train control system needs to determine the state of the control command in the current system according to the received control command, and select one of the automatic control command and the manual control command to send to the ATO, so that the ATO controls the operation of the train at the early and late points.
Specifically, fig. 3 is a schematic diagram illustrating a state transition of a car-out command according to a first embodiment of the present invention, and as shown in fig. 3, if a car-control command received by a train control system is a car-out command and a manual car-out execution command is received when the car-out command is in an initial state or a waiting state, the manual car-out execution command is sent to an ATO; if the manual vehicle-fastening execution command is issued for more than the preset times and the ATO state is non-vehicle-fastening, indicating that the command is not successfully issued, then alarming and prompting are carried out; if receiving a manual car-fastening canceling command in a car-fastening command waiting state or a car-fastening command executing state, sending the manual car-fastening canceling command to the ATO; and if the manual car-buckling canceling command is issued for more than the preset times and the ATO state is car-buckling, indicating that the command is not successfully issued, carrying out alarm prompting.
According to the real-time train control method provided by the embodiment of the invention, when the train control system receives the train-fastening command, the train-fastening command state in the current system can be judged, whether a manual train-fastening execution command or a manual train-fastening cancellation command is sent to the ATO is judged, the conflict caused by the fact that the ATO receives multiple commands at the same time is avoided, and the issuing efficiency of the train control command is improved.
Based on the content of the foregoing embodiment, as an optional embodiment, if the train control command is a jump stop command, the train control system in the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to a state of the train control command, including:
if a manual jump stop execution command is received in a jump stop command initial state or a jump stop command waiting state, the manual jump stop execution command is sent to an Automatic Train Operation (ATO) system; if the number of times exceeds the preset number of times under the manual jump stop execution command and the ATO state of the automatic train driving system is non-jump stop, alarming and prompting are carried out;
if receiving a manual jump stop canceling command in a jump stop command waiting state or a jump stop command executing state, sending the manual jump stop canceling command to an Automatic Train Operation (ATO); and if the manual jump stop canceling command is issued for more than the preset times and the ATO state of the automatic train driving system is jump stop, alarming and prompting.
In this step, fig. 4 is a schematic diagram illustrating a state transition of a jump stop command according to a first embodiment of the present invention, as shown in fig. 4, if a train control command received by a train control system is a jump stop command and a manual jump stop execution command is received in an initial state of the jump stop command or a waiting state of the jump stop command, the manual jump stop execution command is sent to an ATO; if the manual jump stop execution command is issued for more than the preset times, and the ATO state is non-jump stop, indicating that the command is not issued successfully, then alarming and prompting are carried out; if receiving an artificial skip stop cancellation command in a skip stop command waiting state or a skip stop command execution state, sending the artificial skip stop cancellation command to the ATO; and if the manual jump stop cancellation command is issued for more than the preset times and the ATO state is jump stop, indicating that the command is not issued successfully, giving an alarm.
According to the real-time train control method provided by the embodiment of the invention, when the train control system receives the jump stop command, the state of the jump stop command in the current system can be judged, whether an artificial jump stop execution command or an artificial jump stop cancellation command is sent to the ATO is judged, the conflict caused by the fact that the ATO receives multiple commands at the same time is avoided, and the issuing efficiency of the train control command is improved.
Based on the content of the foregoing embodiment, as an optional embodiment, if the train control command is a zone operation level command, the train control system in the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to a state of the train control command, including:
if the automatic interval operation level command is received in the initial state of the interval operation level command or the waiting state of the planned operation level command and no manual interval operation level command is received within the preset time, the automatic interval operation level command is sent to an automatic train operation system (ATO);
and if the manual interval operation level command is received in the interval operation level command initial state or the planned interval operation level command waiting state, sending the manual interval operation level command to an automatic train operation system (ATO).
In this step, fig. 5 is a schematic diagram illustrating a state transition of an interval operation level command according to a first embodiment of the present invention, as shown in fig. 5, if a train control system receives a train control command that is an interval operation level command and receives an automatic interval operation level command when the interval operation level command is in an initial state or a scheduled operation level command waiting state, since the priority of the manual interval operation level command is higher than that of the automatic interval operation level command, if the manual interval operation level command is not received within a preset time, the automatic interval operation level command is sent to an ATO of a train automatic driving system; and if the command of the artificial interval running grade is received in the initial state of the interval running grade command or the waiting state of the command of the planned interval running grade, the command of the artificial interval running grade is sent to an automatic train operation system ATO because the priority of the command of the artificial interval running grade is higher than that of the command of the automatic interval running grade.
According to the real-time train control method provided by the embodiment of the invention, when the train control system receives the interval running grade command, the state of the interval running grade command in the current system can be judged, whether the manual interval running grade command or the automatic interval running grade command is sent to the ATO is judged, the conflict caused by the fact that the ATO receives multiple commands at the same time is avoided, and the issuing efficiency of the train control command is improved.
Based on the content of the foregoing embodiment, as an optional embodiment, if the train control command is a stop time command, the train control system in the first jurisdiction determines whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to a state of the train control command, including:
if the automatic stop time command is received in the stop time command initial state and the manual stop time command is not received in the preset time, the automatic stop time command is sent to an Automatic Train Operation (ATO) system;
if the manual stop time command is received when the stop time command is in an initial state or a planned stop command waiting state, the manual stop time command is sent to an Automatic Train Operation (ATO) system;
if the train leaves the first jurisdiction at the early or late point, the stop time command state in the train control system of the first jurisdiction is recovered to the initial state.
In this step, fig. 6 is a schematic diagram illustrating a state transition of a stop time command according to a first embodiment of the present invention, as shown in fig. 6, if a train control system receives a train control command that is the stop time command, receives an automatic stop time command in an initial state of the stop time command, and does not receive a manual stop time command within a preset time, the automatic stop time command is sent to an ATO of a train automatic driving system because the priority of the manual stop time command is higher than that of the automatic stop time command; if the manual stop time command is received when the stop time command is in an initial state or a planned stop command waiting state, and the priority of the manual stop time command is higher than that of the automatic stop time command, the manual stop time command is sent to an automatic train operation system (ATO); if the train leaves the first jurisdiction at the early or late point, the stop time command state in the train control system of the first jurisdiction is recovered to the initial state.
According to the real-time train control method provided by the embodiment of the invention, when the train control system receives the stop time command, the stop time command state in the current system can be judged, and whether the manual stop time command or the automatic stop time command is sent to the ATO or not is judged, so that the conflict caused by the fact that the ATO receives multiple commands at the same time is avoided, and the issuing efficiency of the train control command is improved.
Therefore, the train control system introduces the state machine management of vehicle buckling, jumping stop, operation level and stop time, divides the vehicle buckling command state into an initial state, a vehicle buckling command waiting state, a vehicle buckling command cancelling waiting state and a vehicle buckling command issuing state, divides the vehicle buckling command state into an initial state, a jumping stop command waiting state, a jumping stop command cancelling waiting state and a jumping stop command issuing state, divides the operation level command state into an initial state, a planned operation level waiting state, a manual operation level waiting state and an operation level issuing state, and divides the stop time command state into an initial state, a planned stop time waiting state, a manual stop time waiting state and a stop time issuing state. Then, manual control command issuing of the train control display system, automatic stop time command and automatic interval running grade command issuing of the running chart system, departure, stable stopping, arrival and command issuing overtime of the train are divided into events, and the events can trigger the command state transition. And finally, dividing the commands of vehicle-taking-out, vehicle-taking-out cancellation, skip stop cancellation, operation level and station-stopping time into actions, and triggering the actions when the command state is transferred from waiting to issuing.
Based on the content of the above embodiment, as an optional embodiment, if the early-late train fails to communicate during the operation period, the train control system of the jurisdiction to which the early-late train currently belongs clears the early-late train control information; and after the trains at the morning and evening points recover communication, updating the control commands in real time according to the operation chart, and after entering the next jurisdiction, issuing the control commands by the train control system of the next jurisdiction to control the trains at the morning and evening points to operate.
In this step, if the train at the morning and evening point fails in the operation process, in order to ensure that the train information can be updated in time when the train at the morning and evening point recovers communication again, and a train control system corresponding to the jurisdiction is added, in this embodiment, when the train at the morning and evening point fails to communicate in the operation period, the train control system of the jurisdiction to which the train at the morning and evening point currently belongs clears the train control information at the morning and evening point, so that the train at the morning and evening point with the fault is not controlled any more; and after the trains at the morning and evening points recover communication, updating the control commands in real time according to the operation chart, and after entering the next jurisdiction, issuing the control commands by the train control system of the next jurisdiction to control the trains at the morning and evening points to operate.
Therefore, in the embodiment, an interval vehicle adding response mechanism is introduced to ensure that the command cannot be issued due to the loss of the platform administration area after the platform interval of the early-late point train is failed, and the control command of the administration area is searched and updated in real time according to the early-late point running chart after the early-late point train recovers communication, so that the command is issued in a compensation manner.
According to the real-time train control method provided by the embodiment of the invention, if the early-late train fails to communicate during the operation period, the early-late train updates the control command in real time according to the operation diagram after the early-late train recovers the communication, and the train control system of the next jurisdiction issues the control command after the early-late train enters the next jurisdiction so as to control the operation of the early-late train, so that the operation of the late train can be efficiently controlled in real time.
Fig. 7 is a schematic structural diagram of a real-time train control device according to a second embodiment of the present invention, and as shown in fig. 7, the real-time train control device according to the second embodiment of the present invention includes: a train diagram system 710, a train control display system 720, a train control system 730 of a first jurisdiction, and a train automatic driving system ATO 740;
the train working diagram system 710 sends an automatic control command to the train control system 730 of the first jurisdiction according to the time and position information of the train working at the morning and the evening; the train control system 730 of the first jurisdiction is a train control system of the first jurisdiction to which the trains at morning and evening belong currently;
when detecting that the manual control command is triggered, the train control display system 720 sends the manual control command to the train control system 730 in the first jurisdiction; the train control display system 720 is used for displaying the running time and position information of the trains at the early and late points;
the train control system 730 of the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train driving system ATO740 according to the state of the train control command, so that the automatic train driving system ATO740 controls the train to run at the early and late points;
the train control system comprises a train running route, a train control system and a manual control command, wherein each jurisdiction on the train running route is provided with one train control system, the train control systems of adjacent jurisdictions can carry out command interaction, the automatic control command comprises an automatic stop time command and an automatic interval running grade command, the manual control command comprises a manual stop time command, a manual interval running grade command, a manual skip stop execution command, a manual skip stop cancellation command, a manual car-buckling execution command and a manual car-buckling cancellation command, and the train control command comprises a car-buckling command, a skip stop command, a running grade command and a stop time command.
The train real-time control device of the present embodiment may be used to execute the train real-time control method of the first embodiment, and the principle and technical effects are similar, and will not be described in detail here.
Fig. 8 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention, and as shown in fig. 8, the electronic device may include: a processor (processor)810, a communication Interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication Interface 820 and the memory 830 communicate with each other via the communication bus 840. The processor 810 may invoke logic instructions in the memory 830 to perform a train real-time control method comprising: the train operation diagram system sends an automatic control command to a train control system of a first jurisdiction to which the train at the morning and evening points currently belongs according to the operation time and position information of the train at the morning and evening points; when detecting that the manual control command is triggered, the train control display system sends the manual control command to a train control system of a first jurisdiction; the train control display system is used for displaying the running time and position information of the train at the early and late points; the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to the state of the train control command so as to enable the automatic train operation system ATO to control the operation of the early and late trains; the train control system comprises a train running route, a train control system and a manual control command, wherein each jurisdiction on the train running route is provided with one train control system, the train control systems of adjacent jurisdictions can carry out command interaction, the automatic control command comprises an automatic stop time command and an automatic interval running grade command, the manual control command comprises a manual stop time command, a manual interval running grade command, a manual skip stop execution command, a manual skip stop cancellation command, a manual car-buckling execution command and a manual car-buckling cancellation command, and the train control command comprises a car-buckling command, a skip stop command, a running grade command and a stop time command.
In addition, the logic instructions in the memory 830 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer, the computer is capable of executing the train real-time control method provided by the above-mentioned method embodiments, the method includes: the train operation diagram system sends an automatic control command to a train control system of a first jurisdiction to which the train at the morning and evening points currently belongs according to the operation time and position information of the train at the morning and evening points; when detecting that the manual control command is triggered, the train control display system sends the manual control command to a train control system of a first jurisdiction; the train control display system is used for displaying the running time and position information of the train at the early and late points; the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to the state of the train control command so as to enable the automatic train operation system ATO to control the operation of the early and late trains; the train control system comprises a train running route, a train control system and a manual control command, wherein each jurisdiction on the train running route is provided with one train control system, the train control systems of adjacent jurisdictions can carry out command interaction, the automatic control command comprises an automatic stop time command and an automatic interval running grade command, the manual control command comprises a manual stop time command, a manual interval running grade command, a manual skip stop execution command, a manual skip stop cancellation command, a manual car-buckling execution command and a manual car-buckling cancellation command, and the train control command comprises a car-buckling command, a skip stop command, a running grade command and a stop time command.
In still another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to perform the train real-time control method provided in the foregoing embodiments, where the method includes: the train operation diagram system sends an automatic control command to a train control system of a first jurisdiction to which the train at the morning and evening points currently belongs according to the operation time and position information of the train at the morning and evening points; when detecting that the manual control command is triggered, the train control display system sends the manual control command to a train control system of a first jurisdiction; the train control display system is used for displaying the running time and position information of the train at the early and late points; the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to the state of the train control command so as to enable the automatic train operation system ATO to control the operation of the early and late trains; the train control system comprises a train running route, a train control system and a manual control command, wherein each jurisdiction on the train running route is provided with one train control system, the train control systems of adjacent jurisdictions can carry out command interaction, the automatic control command comprises an automatic stop time command and an automatic interval running grade command, the manual control command comprises a manual stop time command, a manual interval running grade command, a manual skip stop execution command, a manual skip stop cancellation command, a manual car-buckling execution command and a manual car-buckling cancellation command, and the train control command comprises a car-buckling command, a skip stop command, a running grade command and a stop time command.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A real-time train control method is characterized by comprising the following steps:
the train operation diagram system sends an automatic control command to a train control system of a first jurisdiction according to the operation time and position information of the trains at the early and late points; the train control system of the first jurisdiction is a train control system of the first jurisdiction to which the trains at morning and evening belong currently;
when detecting that the manual control command is triggered, the train control display system sends the manual control command to a train control system of a first jurisdiction; the train control display system is used for displaying the running time and position information of the train at the early and late points;
the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to the state of the train control command so as to enable the automatic train operation system ATO to control the operation of the early and late trains;
the train control system comprises a train running route, a train control system and a manual control command, wherein each jurisdiction on the train running route is provided with one train control system, the train control systems of adjacent jurisdictions can carry out command interaction, the automatic control command comprises an automatic stop time command and an automatic interval running grade command, the manual control command comprises a manual stop time command, a manual interval running grade command, a manual skip stop execution command, a manual skip stop cancellation command, a manual car-buckling execution command and a manual car-buckling cancellation command, and the train control command comprises a car-buckling command, a skip stop command, a running grade command and a stop time command.
2. The real-time train control method according to claim 1, further comprising:
if the train in the early-late department runs to a second jurisdiction adjacent to the first jurisdiction, a train control system in the second jurisdiction sends a command to the train in the early-late department so as to inform the first jurisdiction that the train in the early-late department has entered the second jurisdiction, and the train control system in the second jurisdiction controls the train to run; and if the train control system of the first jurisdiction has sent the train control command to train at the morning and evening point, the train control system of the first jurisdiction sends the train control information of the train leaving the first jurisdiction at the morning and evening point to the train control system of the second jurisdiction.
3. The real-time train control method according to claim 1, wherein if the train control command is a train-fastening command, the train control system in the first jurisdiction judges whether to send an automatic control command or a manual control command to an Automatic Train Operation (ATO) system according to a state of the train control command, comprising:
if a manual car-fastening execution command is received in an initial state of the car-fastening command or a waiting state of the car-fastening command, the manual car-fastening execution command is sent to an Automatic Train Operation (ATO) system; if the manual car-fastening execution command is issued for more than the preset times and the ATO state of the automatic train driving system is a non-car-fastening state, alarming and prompting are carried out;
if a manual car-holding canceling command is received in a waiting state of the car-holding command or an execution state of the car-holding command, the manual car-holding canceling command is sent to an Automatic Train Operation (ATO); and if the manual car-fastening canceling order is issued for more than the preset times and the ATO state of the automatic train driving system is the car-fastening state, giving an alarm prompt.
4. The real-time train control method according to claim 1, wherein if the train control command is a jump stop command, the train control system in the first jurisdiction judges whether to send an automatic control command or a manual control command to an automatic train operation system ATO according to a state of the train control command, comprising:
if a manual jump stop execution command is received in a jump stop command initial state or a jump stop command waiting state, the manual jump stop execution command is sent to an Automatic Train Operation (ATO) system; if the number of times exceeds the preset number of times under the manual jump stop execution command and the ATO state of the automatic train driving system is non-jump stop, alarming and prompting are carried out;
if receiving a manual jump stop canceling command in a jump stop command waiting state or a jump stop command executing state, sending the manual jump stop canceling command to an Automatic Train Operation (ATO); and if the manual jump stop canceling command is issued for more than the preset times and the ATO state of the automatic train driving system is jump stop, alarming and prompting.
5. The real-time train control method according to claim 1, wherein if the train control command is a zone operation level command, the train control system in the first jurisdiction judges whether to send an automatic control command or a manual control command to an automatic train operation system ATO according to a state of the train control command, comprising:
if the automatic interval operation level command is received in the initial state of the interval operation level command or the waiting state of the planned operation level command and no manual interval operation level command is received within the preset time, the automatic interval operation level command is sent to an automatic train operation system (ATO);
and if the manual interval operation level command is received in the interval operation level command initial state or the planned interval operation level command waiting state, sending the manual interval operation level command to an automatic train operation system (ATO).
6. The real-time train control method according to claim 1, wherein if the train control command is a stop time command, the train control system in the first jurisdiction judges whether to send an automatic control command or a manual control command to an Automatic Train Operation (ATO) system according to a state of the train control command, comprising:
if the automatic stop time command is received in the stop time command initial state and the manual stop time command is not received in the preset time, the automatic stop time command is sent to an Automatic Train Operation (ATO) system;
if the manual stop time command is received when the stop time command is in an initial state or a planned stop command waiting state, the manual stop time command is sent to an Automatic Train Operation (ATO) system;
if the train leaves the first jurisdiction at the early or late point, the stop time command state in the train control system of the first jurisdiction is recovered to the initial state.
7. The real-time train control method according to claim 1, wherein if the early-late train fails to communicate during operation, the train control system of the jurisdiction to which the early-late train currently belongs clears early-late train control information; and after the trains at the morning and evening points recover communication, updating the control commands in real time according to the operation chart, and after entering the next jurisdiction, issuing the control commands by the train control system of the next jurisdiction to control the trains at the morning and evening points to operate.
8. A real-time train control device, comprising: the system comprises a train operation diagram system, a train control display system, a train control system of a first jurisdiction and an Automatic Train Operation (ATO) system;
the train operation diagram system sends an automatic control command to a train control system of a first jurisdiction according to the operation time and position information of the trains at the early and late points; the train control system of the first jurisdiction is a train control system of the first jurisdiction to which the trains at morning and evening belong currently;
when detecting that the manual control command is triggered, the train control display system sends the manual control command to a train control system of a first jurisdiction; the train control display system is used for displaying the running time and position information of the train at the early and late points;
the train control system of the first jurisdiction judges whether to send an automatic control command or a manual control command to the automatic train operation system ATO according to the state of the train control command so as to enable the automatic train operation system ATO to control the operation of the early and late trains;
the train control system comprises a train running route, a train control system and a manual control command, wherein each jurisdiction on the train running route is provided with one train control system, the train control systems of adjacent jurisdictions can carry out command interaction, the automatic control command comprises an automatic stop time command and an automatic interval running grade command, the manual control command comprises a manual stop time command, a manual interval running grade command, a manual skip stop execution command, a manual skip stop cancellation command, a manual car-buckling execution command and a manual car-buckling cancellation command, and the train control command comprises a car-buckling command, a skip stop command, a running grade command and a stop time command.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the steps of the train real-time control method according to any one of claims 1 to7 are implemented when the processor executes the program.
10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the train real-time control method according to any one of claims 1 to 7.
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| CN113635946B (en) * | 2021-08-06 | 2023-06-06 | 卡斯柯信号有限公司 | Method, equipment and storage medium for preventing train operation destination from error |
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