CN112441076B - Rail vehicle and control method and control system thereof - Google Patents
Rail vehicle and control method and control system thereof Download PDFInfo
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- CN112441076B CN112441076B CN201910804410.4A CN201910804410A CN112441076B CN 112441076 B CN112441076 B CN 112441076B CN 201910804410 A CN201910804410 A CN 201910804410A CN 112441076 B CN112441076 B CN 112441076B
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- 238000004590 computer program Methods 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 8
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
- B61L23/04—Control, warning or like safety means along the route or between vehicles or trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
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Abstract
The invention discloses a rail vehicle and a control method and a control system thereof, wherein the control method comprises the following steps: detecting whether an obstacle exists in the running direction of the rail vehicle to obtain obstacle detection information; detecting whether the rail vehicle collides or not to obtain collision detection information; and controlling the rail vehicle according to the obstacle detection information and the collision detection information. The control method of the rail vehicle can perform safety protection treatment when the rail vehicle is about to collide and the collision happens, and is simple and easy to implement.
Description
Technical Field
The invention relates to the technical field of rail vehicles, in particular to a control method of a rail vehicle, a control system of the rail vehicle and the rail vehicle.
Background
With the gradual improvement of the operation speed of the rail vehicle, the safety design of the rail vehicle is more and more emphasized. Therefore, how to prevent the rail vehicle from malfunctioning to ensure the safe operation of the rail vehicle, and how to reduce the loss of the rail vehicle caused by collision when the rail vehicle cannot avoid the impending collision is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The present invention is directed to solving, at least in part, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a control method for a rail vehicle, which is capable of performing safety protection processing when the rail vehicle is about to collide and when the rail vehicle collides, and which is simple and easy to implement.
A second object of the invention is to propose a control system for a rail vehicle.
A third object of the invention is to propose a computer-readable storage medium.
A fourth object of the invention is to propose a rail vehicle.
In order to achieve the above object, a first embodiment of the present invention provides a control method for a rail vehicle, including the following steps: detecting whether an obstacle exists in the running direction of the rail vehicle to obtain obstacle detection information; detecting whether the rail vehicle collides or not to obtain collision detection information; and controlling the rail vehicle according to the obstacle detection information and the collision detection information.
The control method of the rail vehicle provided by the embodiment of the invention can be used for carrying out safety protection treatment when the rail vehicle is about to collide and the collision happens, and is simple and easy to implement.
In order to achieve the above object, a second aspect of the present invention provides a control system for a rail vehicle, including: an obstacle detection device for detecting whether an obstacle exists in a traveling direction of the rail vehicle, and generating obstacle information when the obstacle exists in the traveling direction of the rail vehicle; the collision detection device is used for detecting whether the rail vehicle collides or not and generating collision information when the rail vehicle collides; and the control device is respectively connected with the obstacle detection device and the collision detection device and is used for controlling the rail vehicle according to the obstacle information and the collision information.
The control system of the rail vehicle provided by the embodiment of the invention can perform safety protection treatment when the rail vehicle is about to collide and the collision happens, and is simple and easy to implement.
In order to achieve the above object, a third aspect of the present invention provides a computer readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the control method of the rail vehicle of the above embodiment.
The computer-readable storage medium according to an embodiment of the present invention is capable of performing a safety protection process when a collision of a rail vehicle is about to occur and when a collision of the rail vehicle occurs when a stored computer program corresponding to the above-described control method of the rail vehicle is executed by a processor.
In order to achieve the above object, a fourth aspect of the present invention provides a rail vehicle, which includes the control system of the rail vehicle of the above embodiment.
The rail vehicle provided by the embodiment of the invention adopts the control system of the rail vehicle, so that the safety protection treatment can be carried out when the rail vehicle is about to collide and the collision happens, and the control system is simple and easy to implement.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a control method for a rail vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a control method of a rail vehicle according to one embodiment of the invention;
FIG. 3 is a schematic block diagram of a method of implementing control of a rail vehicle according to an example of the present invention;
FIG. 4 is a flow chart of a method of controlling a rail vehicle according to another embodiment of the present invention;
FIG. 5 is a flow chart of a control method of a rail vehicle according to yet another embodiment of the present invention;
FIG. 6 is a block diagram of a control system for a rail vehicle according to one embodiment of the present invention;
fig. 7 is a block diagram of a control system of a railway vehicle according to another embodiment of the present invention;
fig. 8 is a block diagram of a control system of a railway vehicle according to yet another embodiment of the present invention;
fig. 9 is a block diagram of the structure of an obstacle detecting apparatus according to an embodiment of the present invention;
fig. 10 is a block diagram of a rail vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
A rail vehicle, a control method thereof, and a control system thereof according to embodiments of the present invention are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a control method of a rail vehicle according to an embodiment of the present invention.
As shown in fig. 1, the control method of the rail vehicle includes the steps of:
and S1, detecting whether the obstacle exists in the running direction of the railway vehicle to obtain obstacle detection information.
Specifically, whether an obstacle exists in the traveling direction of the rail vehicle may be detected by an obstacle detection device, which may include a probe, such as an ultrasonic radar probe, a laser radar probe, a camera, etc., installed at a vehicle head (such as a middle lower portion of a vehicle head body), and object information (i.e., obstacle detection information) in the traveling direction of the rail vehicle is collected by the probe, and whether an obstacle exists in the traveling direction of the rail vehicle may be determined according to the obstacle detection information. The installation positions and the number of the probes can be set according to needs (the detection area can cover the range of the driving area, if four probes can be arranged, the probes are symmetrically arranged in pairs).
And S2, detecting whether the rail vehicle collides or not to obtain collision detection information.
Specifically, whether the rail vehicle collides or not may be detected by a collision detection device, which may include a collision sensor installed at a vehicle head (e.g., the foremost of a vehicle body, the front end of a bogie of the vehicle head, etc.) to detect whether the rail vehicle collides or not, thereby obtaining collision detection information.
It should be noted that, if the rail vehicle has two vehicle heads, the obstacle detection device and the collision detection device may be respectively provided with two sets to be respectively installed on the two vehicle heads.
And S3, controlling the rail vehicle according to the obstacle detection information and the collision detection information.
Specifically, when it is determined that there is an obstacle in the traveling direction of the rail vehicle according to the obstacle detection information, an imminent collision of the rail vehicle can be warned, so that even if a driver performs corresponding processing, the rail vehicle can be automatically braked, so that collision is avoided or collision loss is reduced. Meanwhile, whether the rail vehicle collides or not is judged by combining collision detection information, so that the obstacle misdetection is favorably eliminated, and the emergency treatment of the collision is favorably carried out by operation and maintenance personnel.
In one embodiment of the present invention, as shown in fig. 2, the rail vehicle is controlled to be braked and stopped when it is judged that there is an obstacle in the traveling direction of the rail vehicle based on the obstacle detection information. Therefore, collision between the rail vehicle and the obstacle can be avoided, or loss caused by collision between the rail vehicle and the obstacle can be reduced.
For example, as shown in fig. 3, an obstacle is detected by using an ultrasonic radar probe, the detection information of the probe may be transmitted to a radar controller, so that the obstacle condition may be analyzed by the radar controller according to the detection information, and obstacle information, which may include obstacle distance, size, speed, etc., may be obtained, and the radar controller may transmit the obstacle information to a control device of a rail vehicle by hard wire or network communication, etc. The control device can send a parking instruction to a traction braking unit of the railway vehicle according to the obstacle information so that the traction braking unit controls the railway vehicle to brake and park. The traction braking unit can comprise an inverter, the input end of the inverter is connected to a normal electricity utilization loop of the railway vehicle, the output end of the inverter is connected with a traction motor of the railway vehicle, the control end of the inverter is connected with the control device, and the control device controls the traction motor through the inverter.
Optionally, referring to fig. 3, the radar controller may further be connected to a reminder (e.g., a buzzer), which may be installed in the cab, and when an obstacle in the traveling direction of the rail vehicle is detected, the radar controller may control the buzzer to operate so as to remind the driver or other operation and maintenance personnel to take corresponding measures for treatment or safety protection.
Wherein, referring to fig. 3, when the obstacle detection device including the radar controller, the ultrasonic radar probe and the buzzer is powered by the independent power supply, a switch (i.e. the bypass switch in fig. 3) can be connected in the power supply loop of the obstacle detection device, and the switch can be arranged in the cab and can be manually controlled; when the obstacle in the running direction of the rail vehicle is detected, the buzzer works, but the operation and maintenance personnel determine that the obstacle does not exist in the running direction of the rail vehicle, the obstacle detection device is judged to have a fault, and at the moment, a switch in a power supply loop of the obstacle detection device can be manually switched off, so that the obstacle detection device stops working.
Furthermore, after the rail vehicle is controlled to brake and stop due to the existence of the obstacle in the running direction of the rail vehicle, if the rail vehicle is judged not to collide within the preset time according to the collision detection information, the rail vehicle is controlled to start running.
Wherein, the preset time can be a fixed value, such as being estimated in advance according to a certain distance (such as the farthest) detectable static obstacle and the normal running speed of the rail vehicle; it may also be a variable, for example, the preset time may be estimated according to a distance between the rail vehicle and the current obstacle, a speed of the rail vehicle, and the like, for example, if the obstacle is stationary, the distance between the obstacle and the rail vehicle is s, the time for the rail vehicle to travel after braking is t, and the preset time may be a value greater than or equal to t.
Specifically, after the rail vehicle is braked and stopped due to the obstacle in front, if the rail vehicle collision is not detected within the preset time, the track of the obstacle before the collision may be deviated or the detected obstacle has no threat, and at this time, the rail vehicle can be controlled to start running so as to ensure the running efficiency of the rail vehicle.
As shown in fig. 4, after it is determined that an obstacle exists in the traveling direction of the rail vehicle and the rail vehicle is controlled to stop, if it is determined that the rail vehicle collides within a preset time period according to the collision detection information, first prompt information is generated to prompt an operation and maintenance worker that the rail vehicle collides.
For example, after the rail vehicle is braked and stopped due to an obstacle in front of the rail vehicle, if a collision of the rail vehicle is detected within a preset time, a first prompt message, such as "collision occurs, please deal with in time! At the moment, the operation and maintenance personnel can perform corresponding treatment according to the collision condition, if the collision is serious, passengers are evacuated in time; the running is not influenced by slight collision, and the running of the rail vehicle is continuously controlled.
Alternatively, when it is determined that an obstacle exists in the traveling direction of the rail vehicle, data such as the distance between the obstacle and the rail vehicle, the size of the obstacle, the traveling speed of the obstacle, and the traveling direction of the obstacle may be acquired first based on the obstacle detection information.
Specifically, if it is determined according to the data that the rail vehicle is not in collision with the obstacle when the rail vehicle is running in the current state, for example, the obstacle is small and can pass smoothly from the bottom of the rail vehicle, and if the obstacle moves at a certain angle (e.g., 90 °) relative to the rail vehicle, and the obstacle has left when the rail vehicle is running to the current position of the obstacle, the rail vehicle can be controlled to maintain the running state before the obstacle is detected. If it is determined from the data that the rail vehicle does not collide with the obstacle after being decelerated at a certain deceleration, the rail vehicle may be controlled to be decelerated at the deceleration. And if the rail vehicle is judged to be incapable of avoiding the collision with the obstacle according to the data, the rail vehicle can be directly controlled to brake and stop.
In an embodiment of the present invention, as shown in fig. 5, before the rail vehicle is determined to be collided according to the collision detection information, if it is determined that there is no obstacle in the traveling direction of the rail vehicle, second prompt information is generated to prompt an operation and maintenance person to check an obstacle detection device for detecting whether there is an obstacle in the traveling direction of the rail vehicle.
For example, before the rail vehicle collides, the obstacle detecting device may have a fault if no obstacle is detected in front of the rail vehicle, and a second prompt message, such as "radar abnormality, please deal with it in time! ", at this point, the operation and maintenance personnel can manually open the switch in the power supply loop of the obstacle detection device. Alternatively, referring to fig. 3, a control terminal of a switch in the power supply circuit of the obstacle detecting device may be connected to the radar controller, and the radar controller may control the switch to be turned off if it is determined that there is no obstacle in the traveling direction of the rail vehicle before it is determined that the rail vehicle collides based on the collision detection information.
In one embodiment of the invention, when the rail vehicle is judged to be in collision according to the collision detection information, the electric connection between the safety circuit and the normal electric circuit of the rail vehicle is also controlled to be disconnected. Therefore, control failure caused by software signal communication delay can be avoided.
Specifically, the safety circuit may refer to a circuit to which a safety component (e.g., a fuse, a lightning arrester, etc.) is connected, and the normal-use circuit may refer to a circuit to which a load (e.g., a traction motor of a rail vehicle) is connected. On one hand, the safety loop and the normal electricity utilization loop can be power supply branches where the traction motor is located at the same time, namely the power supply branches can be powered by a vehicle-mounted power battery and comprise the safety loop, the normal electricity utilization loop of the traction motor and a switch (such as a relay) between the safety loop and the normal electricity utilization loop which are connected in series, and when the switch is disconnected, only the power supply connection of the traction motor is disconnected; on the other hand, the safety circuit and the normal power utilization circuit can be a total power supply circuit of the rail vehicle at the same time, namely the total power supply circuit can be powered by a vehicle-mounted power battery and comprises the safety circuit, the normal power utilization circuit of the traction motor and a switch (such as a disconnecting switch, a high-speed circuit breaker and the like) between the safety circuit and the normal power utilization circuit, wherein the safety circuit and the normal power utilization circuit are connected in series, and when the switch is disconnected, the power supply connection of all loads of the rail vehicle is disconnected.
As shown in fig. 3, the electrical connection between the safety circuit and the normal electric circuit of the rail vehicle can be established by means of a switch, i.e. the switch is connected between the safety circuit and the normal electric circuit, and the control terminal of the switch can be connected to the output terminal of the crash sensor, which can be triggered when the crash sensor emits crash information. The switch can be a normally closed switch or a normally open switch, if the switch is the normally closed switch, the switch is closed when the rail vehicle normally runs, and the electric circuit of the whole vehicle is normal; when the collision sensor detects a collision, the collision information sent by the collision sensor triggers the switch to be switched off, so that the safety loop is enabled, and the railway vehicle is braked and stopped.
Alternatively, referring to fig. 3, the collision detecting means may be further connected to a control means, and collision information is output to the control means when the collision detecting means detects a collision of the rail vehicle. On one hand, the control device can detect whether a switch connected between the safety circuit and the normal electricity utilization circuit is disconnected or not, and if not, a switch disconnection command is sent out to trigger the switch to be disconnected so as to control the rail vehicle to brake and stop. On the other hand, the control device can also directly send an emergency braking command to the traction brake unit to control the rail vehicle to brake for parking.
In summary, according to the control method of the rail vehicle in the embodiment of the present invention, obstacle detection and collision detection can be achieved through simple devices (such as the ultrasonic radar probe and the obstacle sensor), so that safety protection processing can be performed when the rail vehicle is about to collide and is collided.
Further, the present invention proposes a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above-mentioned control method of a rail vehicle.
When the computer readable storage medium of the embodiment of the invention is used for storing a computer program corresponding to the control method of the rail vehicle and is executed by the processor, the safety protection processing can be carried out when the rail vehicle is about to collide and the collision occurs, and the influence of false alarm caused by single detection fault on driving is small.
Fig. 6 is a block diagram of a control system of a railway vehicle according to an embodiment of the present invention.
As shown in fig. 6, the control system 100 of the rail vehicle includes: an obstacle detecting device 110, a collision detecting device 120, and a control device 130.
The obstacle detection device 110 is configured to detect whether an obstacle exists in a traveling direction of the rail vehicle, and generate obstacle information when the obstacle exists in the traveling direction of the rail vehicle. The collision detection device 120 is configured to detect whether a rail vehicle has collided, and generate collision information when the rail vehicle has collided. The control device 130 is connected to the obstacle detecting device 110 and the collision detecting device 120, respectively, and the control device 130 is configured to control the rail vehicle according to the obstacle information and the collision information.
In an embodiment of the present invention, the control device 130 is specifically configured to: when the obstacle information is received, controlling the rail vehicle to brake and stop; and after the obstacle information is received and the rail vehicle is controlled to brake and stop, if the collision information is not received within the preset time, the rail vehicle is controlled to start running.
Further, as shown in fig. 7, the control system 100 of the rail vehicle may further include a prompting device 140 connected to the control device 130.
The control device 130 is further configured to, after receiving the obstacle information and controlling the rail vehicle to brake and stop, control the prompt device 140 to send a first prompt message to remind an operation and maintenance worker that the rail vehicle collides if the collision information is received within a preset time; and before receiving the collision information, if the obstacle information is not received, controlling the prompting device 140 to send out second prompting information to remind the operation and maintenance personnel to check the obstacle detecting device.
In one embodiment of the present invention, as shown in fig. 8, the control system 100 of the rail vehicle may further include a first controllable switch 150. The first controllable switch 150 is connected between the safety circuit and the normal power circuit of the rail vehicle, and the control end of the first controllable switch 150 is connected to the collision detecting device 120.
In this embodiment, the collision detection device 120 is further configured to trigger the first controllable switch 150 to operate to disconnect the electrical connection between the safety circuit and the normal circuit after the collision information is generated.
In one embodiment of the present invention, as shown in fig. 9, the obstacle detecting device 110 may include an ultrasonic radar probe 111, a prompter 112, and a radar controller 113.
The ultrasonic radar probe 111 is arranged at the middle lower part of a locomotive body of the railway vehicle; the prompter 112 is arranged in a cab of the railway vehicle; the radar controller 113 is respectively connected with the ultrasonic radar probe 111, the prompter 112 and the control device 130, and the radar controller 113 is used for judging whether an obstacle exists in the running direction of the rail vehicle according to the detection information of the ultrasonic radar probe 111, generating obstacle information and controlling the prompter 112 to send out early warning information when the obstacle exists, and sending the obstacle information to the control device 130.
Further, as shown in fig. 9, the obstacle detecting device 110 may be powered by an independent power source, and the obstacle detecting device 110 may further include a second controllable switch 114. The second controllable switch 114 is connected in the power supply loop of the obstacle detecting device 110, and a control terminal of the second controllable switch 114 is connected to the radar controller 113.
The radar controller is further configured to control the second controllable switch 114 to disconnect the power supply loop when the control device 130 controls the prompting device 140 to send out the second prompting information.
It should be noted that the above description of the specific embodiment of the control method of the rail vehicle is also applicable to the control system of the rail vehicle according to the embodiment of the present invention.
In summary, the control system of the rail vehicle according to the embodiment of the present invention can perform safety protection processing when the rail vehicle is about to collide and when the rail vehicle collides, and is simple and easy to implement, and the influence of false alarm caused by a single detection fault on driving is small.
Fig. 10 is a block diagram of a rail vehicle according to an embodiment of the present invention.
As shown in fig. 10, the rail vehicle 1000 includes the control system 100 of the rail vehicle according to the above embodiment of the present invention.
The rail vehicle provided by the embodiment of the invention adopts the control system of the rail vehicle, can perform safety protection processing when the rail vehicle is about to collide and the collision occurs, is simple and easy to realize, and has small influence on driving caused by false alarm caused by single detection fault.
In addition, other configurations and functions of the rail vehicle according to the embodiment of the present invention are known to those skilled in the art, and are not described herein in detail to reduce redundancy.
It should be noted that the logic and/or steps shown in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (12)
1. A control method for a rail vehicle, characterized by comprising the steps of:
detecting whether an obstacle exists in the running direction of the rail vehicle to obtain obstacle detection information;
detecting whether the rail vehicle collides or not to obtain collision detection information;
controlling the rail vehicle according to the obstacle detection information and the collision detection information; the controlling the rail vehicle according to the obstacle detection information and the collision detection information includes:
when the obstacle in the running direction of the rail vehicle is judged to exist according to the obstacle detection information, controlling the rail vehicle to brake and stop;
judging whether the rail vehicle collides or not according to the collision detection information within preset time after the rail vehicle is controlled to brake and stop by the obstacle in the running direction of the rail vehicle;
before the rail vehicle is judged to be collided according to the collision detection information, if the rail vehicle is judged not to have the obstacle in the running direction, second prompt information is generated to remind operation and maintenance personnel to check an obstacle detection device for detecting whether the obstacle exists in the running direction of the rail vehicle.
2. The rail vehicle control method according to claim 1, wherein the controlling the rail vehicle based on the obstacle detection information and the collision detection information further includes:
and after the rail vehicle is controlled to brake and stop, if the rail vehicle is judged not to collide within the preset time according to the collision detection information, the rail vehicle is controlled to start to run.
3. The control method of a railway vehicle according to claim 2, wherein the controlling the railway vehicle based on the obstacle detection information and the collision detection information further comprises:
and after the obstacle is judged to exist in the running direction of the rail vehicle and the rail vehicle is controlled to brake and stop, if the rail vehicle is judged to collide within the preset time according to the collision detection information, first prompt information is generated so as to remind operation and maintenance personnel that the rail vehicle collides.
4. The control method of a railway vehicle according to claim 1, characterized in that, when it is determined that the railway vehicle has collided with based on the collision detection information, the electrical disconnection between the safety circuit and the normal use circuit of the railway vehicle is also controlled.
5. A control system for a rail vehicle, comprising:
an obstacle detection device for detecting whether an obstacle exists in a traveling direction of the rail vehicle, and generating obstacle information when the obstacle exists in the traveling direction of the rail vehicle;
the collision detection device is used for detecting whether the rail vehicle collides or not and generating collision information when the rail vehicle collides;
the control device is respectively connected with the obstacle detection device and the collision detection device and is used for controlling the rail vehicle according to the obstacle information and the collision information;
the control device is specifically configured to: receiving the obstacle information, and controlling the rail vehicle to brake and stop when judging that an obstacle exists in the running direction of the rail vehicle according to the obstacle information; after the barrier information is received and the rail vehicle is controlled to brake and stop, whether the rail vehicle collides is judged according to whether the collision information is received within the preset time;
and the control device is also used for controlling the prompt device to send second prompt information to remind operation and maintenance personnel to check the obstacle detection device before the collision information is received and if the obstacle information is not received.
6. The control system of a rail vehicle according to claim 5, characterized in that the control device is further configured to:
and after the obstacle information is received and the rail vehicle is controlled to brake and stop, if the collision information is not received within the preset time, the rail vehicle is controlled to start running.
7. The control system of a railway vehicle as claimed in claim 5, characterized in that the control device is further configured to:
after the obstacle information is received and the rail vehicle is controlled to brake and stop, if the collision information is received within the preset time, the prompting device is controlled to send out first prompting information so as to remind operation and maintenance personnel that the rail vehicle collides.
8. The control system of a rail vehicle as claimed in claim 5, further comprising;
the first controllable switch is connected between a safety circuit and a normal power utilization circuit of the railway vehicle, and the control end of the first controllable switch is connected with the collision detection device;
the collision detection device is further used for triggering the first controllable switch to act after the collision information is generated so as to break the electric connection between the safety loop and the normal circuit.
9. The control system of a railway vehicle as claimed in claim 5, wherein the obstacle detecting device comprises:
the ultrasonic radar probe is arranged at the middle lower part of a headstock body of the railway vehicle;
the prompter is arranged in a cab of the railway vehicle;
the radar controller is used for judging whether obstacles exist in the running direction of the rail vehicle according to detection information of the ultrasonic radar probe, generating obstacle information and controlling the prompter to send out early warning information when the obstacles exist, and sending the obstacle information to the control device.
10. The control system of a railway vehicle as claimed in claim 9, wherein the obstacle detecting device is powered by an independent power source, the obstacle detecting device further comprising:
the second controllable switch is connected in a power supply loop of the obstacle detection device, and a control end of the second controllable switch is connected with the radar controller;
and the radar controller is also used for controlling the second controllable switch to disconnect the power supply loop when the control device controls the prompting device to send out second prompting information.
11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of controlling a rail vehicle according to any one of claims 1 to 4.
12. A rail vehicle, characterized in that it comprises a control system of a rail vehicle according to any one of claims 5-10.
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| CN113281784A (en) * | 2021-06-24 | 2021-08-20 | 中车长春轨道客车股份有限公司 | Obstacle detection method and system for railway vehicle |
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