CN113320571B - Intelligent continuous-hanging control method for railway plane shunting - Google Patents
Intelligent continuous-hanging control method for railway plane shunting Download PDFInfo
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Abstract
The invention relates to an intelligent continuous control method for railway plane shunting, which comprises the following steps that 1, vehicle-mounted self-control equipment generates a propelling running path of a current hook plan according to shunting positions, shunting operation plans and line map data; step 2, the vehicle-mounted automatic control equipment generates a speed control curve according to the condition of the target distance and the condition of the front of the train, automatically controls the dispatching whistle and starts propulsion, controls the dispatching machine to perform propulsion operation according to the speed limit of the distances of ten, five and three, performs intrusion parking protection on two sides of the train, and controls the train to finish connection and hanging at a low speed when approaching the target train set; step 3, controlling the reverse trial pulling of the machine adjustment, judging whether the continuous hanging is successful, and repeatedly controlling the continuous hanging and trial pulling of the machine adjustment if the continuous hanging is unsuccessful; step 4, starting parking protection, informing an operator to connect a hose and recycle intelligent car taking equipment, and after judging that the operator leaves, releasing the parking protection and controlling air charging; the method can realize automatic continuous control of the railway shunting machine and is an important basis for realizing plane shunting automation.
Description
Technical Field
The invention relates to the technical field of railway plane shunting, in particular to an intelligent continuous hanging control method for railway plane shunting.
Background
The plane shunting continuous hanging operation is an important link of the transportation production operation of a railway technical station, and adopts a railway shunting locomotive, namely a shunting locomotive, to hang one or more dispersed trucks in a top-feeding propulsion mode; in the propulsion process, a train set which is already connected can exist in front of a shunting machine, a driver cannot observe the situation in front of a train, a driver needs to estimate the distance between the shunting machine and a target train set by visual inspection, ten-car, five-car, three-car and connecting-hanging parking signaling is input through a plane shunting platform, and a vehicle-mounted plane shunting system controls the speed of the train to be below a specified speed limit through a vehicle-mounted LKJ according to the distance between the vehicle-mounted plane shunting system and the target train set and finally parks the train in front of the target train set; after the train set is hung, a shunting group person controls the shunting machine to carry out parking protection through a plane shunting platform, after the shunting machine is forbidden to move, the shunting group person enters between two vehicles to carry out hose connection operation, and after leaving, the shunting group person releases the parking protection through the plane shunting platform.
The present operation has the following four prominent problems: firstly, the manual car taking by the personnel in front of the train is pushed by the train, so that the accuracy is low, and the potential safety hazard of invasion of personnel around the train cannot be comprehensively mastered; secondly, parking protection is easy to be neglected by manually initiating parking by a shunting group personnel; thirdly, the driver controls the machine adjustment to carry out various continuous hanging operations relatively complex, and the labor intensity is high; fourthly, individual drivers fear overspeed, the manual control speed and the speed limit difference value are larger, and the coupling efficiency is affected.
With the development of intelligent perception, high-bandwidth wireless transmission, automatic driving and other technologies, automatic ranging, automatic protection and automatic driving in the plane shunting operation coupling process are possible; the automatic driving technology is applied to urban rail transit and inter-urban railway routes, and has high difficulty in realization due to relatively complex railway plane shunting operation process, but is not widely applied; patent documents which do not find the same technology as the present invention through patent search report that the patent with certain relation to the present invention mainly has the following 1:
the patent number is CN101117128A, the patent name is station dispatching automatic driving system, the patent discloses a station dispatching automatic driving system, the dispatching is realized in the whole station according to the dispatching operation plan, the ground dispatching route is matched with automatic control, and the dispatching is automatically controlled to run; the system still needs personnel to manually input ten, five and three vehicle distance information in the planar shunting linkage process by using the planar shunting platform in the automatic driving process, or calculates the linkage distance by using a mode that the personnel uses a hand-held machine to link a stop point of a target vehicle group, and the system does not relate to a method for controlling a trial pulling process and judging a linkage result, does not describe an automatic air charging control method, and is difficult to realize absolute unmanned of the shunting.
Disclosure of Invention
The invention provides an intelligent continuous hanging control method for railway plane shunting, which can effectively solve the problems in the background technology.
In order to solve the problems, the invention adopts the following technical scheme: an intelligent continuous control method for railway plane shunting comprises the following steps:
step 1: the ground monitoring center sends shunting operation plans and dynamic line map data to the vehicle-mounted automatic control equipment, and the vehicle-mounted automatic control equipment combines the locally stored static line map data to generate a propelling running path of a current hook plan according to the shunting position, the shunting operation plan execution progress and the line map data;
step 2: after the intelligent car-taking equipment is installed and started, the car-mounted automatic control equipment sets a running direction according to a running path, obtains a speed limit point and a parking point in real time according to a target distance condition and a car train front condition, generates and updates a speed control curve in real time, automatically controls a car train to send out a whistle and start propulsion after confirming that the car train is free from running, controls the car train to run according to speed limit of ten, five and three car distances, carries out intrusion parking protection on two sides of the car train, and controls the car train to finish continuous hanging at a low speed when approaching a target car train;
step 3: the vehicle-mounted automatic control equipment controls the machine to blast, and then automatically and reversely tries to pull for a distance at a low speed and stops; judging whether the coupling is successful or not according to the distance between the couplers at two sides of the coupling point, and repeatedly controlling the machine adjusting to execute the automatic coupling and trial pulling processes if the coupling is unsuccessful;
step 4: after the test pulling is successful, the vehicle-mounted automatic control equipment starts parking protection, and an operator is informed of hose connection and recovery of intelligent car taking equipment through the intelligent flat-adjustment hand table; after judging that the operator leaves, stopping the vehicle to protect; judging whether air charging is needed according to whether the hose is connected or not, and controlling the air charging.
As a further preferable scheme of the invention, the ground monitoring center in the step 1 obtains shunting operation plans and dynamic line map data from an external system information interface, and retrieves static line map data from a local storage; the dynamic line map data comprises the route information, the state of a signal machine, the direction of a turnout, the occupation condition of a track section, the state of a movable anti-slip device for placing a stock track and a fixed anti-slip device, and the static line map data comprises the positions of a line, a gradient, the signal machine, the turnout, the track section, a dead-end line earth shield, a track scale, a first stop point and the fixed anti-slip device.
As a further preferable scheme of the invention, the vehicle-mounted automatic control equipment in the step 1 can obtain the high-precision position of the dispatching machine through satellite positioning, and judge the section where the dispatching machine is positioned by combining the track section position to obtain the initial section of the propulsion path; the vehicle-mounted automatic control equipment can obtain a termination section of the propulsion path through a target stock track of a shunting operation plan current hook plan; the vehicle-mounted self-control equipment can obtain the propulsion path by matching the starting section and the ending section of the propulsion path with the approach of the self-tuning machine.
As a further preferable scheme of the present invention, the step 2 of setting the running direction means that if the current running direction of the dispatching machine is opposite to the direction of the propulsion path, the running direction of the dispatching machine needs to be switched; the target distance condition comprises the distance from the front end of the train to the target train set, and the distance between a specified parking place and an emergency parking place, wherein the specified parking place comprises a closing signal machine, a dead end line earth shield and a one-time parking point; the emergency parking place is a vertical projection point of personnel in front of the train and foreign matters on a front line; the front situation of the train is the positions of personnel and foreign matters which invade the line limit in front of the train operation and the positions of the external personnel on two sides of the line in a certain distance in front of the train, which can be judged by intelligent train-taking equipment which is arranged at the front end of the train and utilizes video, radar and infrared technology.
As a further preferable scheme of the invention, the speed limiting points in the step 2 refer to different distance points of the front end of the train from the target train, and the different speed limiting points prescribe the highest speed of allowing the train to run; the parking point is a target car group, a specified parking place and an emergency parking place; the speed limit point and the stopping point are used for calculating and generating a speed control curve.
As a further preferable scheme of the invention, the automatic control of the dispatching machine in the step 2 is used for whistling and starting propulsion after the intelligent car-taking equipment is determined to be installed, the entrance locking information on the propulsion path is received, and the front annunciator is opened; the intrusion parking protection on two sides of the train is to immediately implement emergency braking when judging that external personnel approach the blind areas of the intelligent car-taking equipment on two sides of the train; the control train low-speed completion of the coupling means that the train runs at a low speed in front of the target train set, braking is implemented in front of the target train set, the coupling between the vehicles is completed by virtue of the freewheeling of the train, and the speed of the train after the coupling is reduced to zero.
As a further preferable scheme of the invention, in the step 3, judging whether the coupling is successfully used for the distance between the couplers at two sides of the coupling point, wherein the distance between the couplers can be obtained by intelligent car-taking equipment by utilizing video, radar and infrared technology; the judgment standard of loss of coupling is that the distance change of the couplers at two sides of the coupling point exceeds a specified value; and if the connection loss occurs, repeatedly controlling the machine switching to execute the automatic connection and trial pull processes, and starting from the step 2.
As a further preferable scheme of the invention, the parking protection in the step 4 is that the vehicle-mounted automatic control equipment controls the dispatching machine to be in a static state all the time, so that the movement of a train is avoided, and the safety of operators who connect hoses and recycle intelligent car-taking equipment is ensured.
As a further preferable scheme of the invention, the judgment of the departure of the operator in the step 4 is that the ground monitoring system judges that the intelligent leveling handrest and the positioning terminal of all operators near the train obtain real-time reliable high-precision position information, and the distance from the train is larger than a specified value.
As a further preferable scheme of the invention, the judging whether the air charging is needed in the step 4 is carried out by the vehicle-mounted self-control equipment according to whether the hose is connected or not, and the train connected with the hose needs to be charged; the vehicle-mounted automatic control equipment controls the dispatching machine to charge air to the train through the dispatching machine control equipment, and the air charging is completed when the monitored air pressure reaches a specified value.
Compared with the prior art, the invention provides an intelligent continuous hanging control method for railway plane shunting, which has the following beneficial effects:
1. the method of the invention realizes automatic sensing and automatic safety protection of train environment, can more accurately and timely obtain the distance from the target trailer in comparison with a manual visual inspection mode, avoids potential safety hazards caused by overspeed trailer connection, can comprehensively and timely master the surrounding invasion condition of the train, and automatically and timely implements effective safety protection;
2. the method realizes automatic parking protection of the equipment, and can avoid negligence caused by manually initiating the parking protection;
3. the method can automatically control the machine adjustment to carry out various complex operations in the continuous hanging process under the condition of no control, thereby reducing the labor intensity;
4. the method can automatically control the shunting machine to finish the coupling at the most reasonable propulsion speed, and improves the coupling efficiency of plane shunting operation.
Drawings
Fig. 1 is a block diagram of a railway dispatching automatic driving system of the present invention.
Fig. 2 is a flowchart of the intelligent coupling control method for railway plane shunting of the present invention.
Fig. 3 is a schematic diagram of the ground monitoring device arrangement of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
The structure of the railway dispatching automatic driving system applying the intelligent continuous control method for the railway plane dispatching is shown in fig. 1, and the railway dispatching automatic driving system comprises a ground monitoring system, intelligent car-taking equipment, vehicle-mounted automatic control equipment, an intelligent flat dispatching platform and a personnel positioning terminal.
The monitoring system obtains external system information such as an existing car system, a computer interlocking system, an intelligent anti-slip system, a derailer placement interaction platform and the like from an external information system interface through a wired Ethernet, and the monitoring system comprises: shunting operation plan, vehicle present information, dynamic route map data and the like; acquiring the position information of the operators of the intelligent leveling hand table and the personnel positioning terminal through the wireless communication network, comprising: longitude and latitude, speed, solution state and other information; the position information of personnel at two sides of the train is obtained through ground monitoring equipment arranged at fixed places around the train.
The intelligent car-taking device is adsorbed and installed in front of a car at the front end of the train by using a strong magnet, and the high-precision position of the front end of the train is obtained by using a satellite positioning technology; the distance between the train and the target train set, the distance between the couplers at two sides of the connecting points and the front information of the train are obtained through technologies such as video, radar and infrared, and the front information of the train comprises the position information of personnel and foreign matters which invade a line limit in front of the running of the train and the position information of personnel at two sides of the line in a certain distance in front of the train; the intelligent car-taking device can measure the relative positions of personnel and foreign matters in front of the line relative to the intelligent car-taking device, and the absolute positions of the personnel and the foreign matters can be obtained by superposing the relative positions and the absolute longitude and latitude positions of the intelligent car-taking device.
Each person of the shunting group is provided with an intelligent flat shunting platform, and the position information of the shunting group operators can be obtained through a satellite positioning technology; the intelligent flat dispatching platform has the functions of flat dispatching signaling transmission, dispatching operation plan execution progress input, operation content prompt and the like.
The satellite positioning system is characterized in that a personnel positioning terminal is provided for technical operators such as train inspection, cargo inspection, exhaust pipe picking and the like of the dispatching train set, temporary inspection such as work, electric work and power supply, and construction operators, and the position information of the operators is obtained through a satellite positioning technology.
The vehicle-mounted automatic control equipment obtains external system information, external personnel position information on two sides of a train and operating personnel position information from a monitoring system through a high-bandwidth wireless network; acquiring train front-end information from intelligent train-taking equipment through a high-bandwidth wireless network such as 4G, 5G or 5.8G point-to-point wireless transmission and the like; obtaining the running direction, gear, braking and hose pressure of the dispatching machine from dispatching control equipment, wherein the hose pressure is also called wind pressure; obtaining a high-precision position of the dispatching machine through a satellite positioning technology; the dispatching control device sends dispatching control sequences such as a dispatching direction, a gear, braking, whistling and the like to the dispatching direction/running/braking/whistling control system, so that dispatching control is realized.
As a specific embodiment of the present invention:
as shown in fig. 2, the invention provides an intelligent linking control method for railway plane shunting, which comprises the following steps:
step 1: the ground monitoring center sends shunting operation plans and dynamic line map data to the vehicle-mounted automatic control equipment, and the vehicle-mounted automatic control equipment combines the locally stored static line map data to generate a propelling running path of a current hook plan according to the shunting position, the shunting operation plan execution progress and the line map data;
step 2: after the intelligent car-taking equipment is installed and started, the car-mounted automatic control equipment sets a running direction according to a running path, obtains a speed limit point and a parking point in real time according to a target distance condition and a car train front condition, generates and updates a speed control curve in real time, automatically controls a car train to send out a whistle and start propulsion after confirming that the car train is free from running, controls the car train to run according to speed limit of ten, five and three car distances, carries out intrusion parking protection on two sides of the car train, and controls the car train to finish continuous hanging at a low speed when approaching a target car train;
step 3: the vehicle-mounted automatic control equipment controls the machine to blast, and then automatically and reversely tries to pull for a distance at a low speed and stops; judging whether the coupling is successful or not according to the distance between the couplers at two sides of the coupling point, and repeatedly controlling the machine adjusting to execute the automatic coupling and trial pulling processes if the coupling is failed;
step 4: after the test pulling is successful, the vehicle-mounted automatic control equipment starts parking protection, and an operator is informed of hose connection and recovery of intelligent car taking equipment through the intelligent flat-adjustment hand table; after judging that the operator leaves, stopping the vehicle to protect; judging whether air charging is needed according to whether the hose is connected or not, and controlling the air charging.
The vehicle-mounted automatic control equipment can be externally connected with a satellite receiving antenna arranged at the top end of the dispatching machine, and is matched with a differential signal received through a wireless communication network to obtain high-precision longitude and latitude coordinates of the dispatching machine, the dispatching machine is projected onto a line central line of a line map, and the section where the dispatching machine is located is judged through longitude and latitude coordinates of projection points of insulation nodes at two ends of a track section on the line central line to obtain a starting section of a propulsion path; the vehicle-mounted automatic control equipment can find and obtain a termination section of the propulsion path through the target track number of the current hook plan of the shunting operation plan; the vehicle-mounted self-control device selects the only route which is in a preparation or locking state and has the same direction as the propelling route through the starting section and the stopping section.
After receiving heartbeat information of the intelligent car taking device, the vehicle-mounted automatic control device obtains switching value of the current running direction of the car dispatching from the car dispatching control device, and if the running direction of the car dispatching is opposite to the direction of the propelling running path, the running direction of the car dispatching is required to be switched through the car dispatching control device; the vehicle-mounted automatic control equipment calculates the distance from the front end of the train to a parking point in real time, wherein the parking point comprises a target train set, a specified parking place and an emergency parking place; the distance between the front end of the train and the target train can be obtained by intelligent train-taking equipment through the ranging technologies such as video, radar, infrared and the like; the distance from the front end of the train to the specified parking place can be obtained by calculating the high-precision position of the front end of the train and the position of the specified parking place, and the position information of the specified parking place such as a turn-off signal, a dead end line earth stop, a one-time parking point and the like can be obtained from static line map data; the emergency parking place is the place of personnel on the line in front of the train, the place of foreign matters and the vertical projection points of the external personnel on two sides of the line are moved to the direction of the train for a certain distance, namely the emergency parking place, and the emergency parking place can be obtained by intelligent car getting equipment through detection technologies such as video, radar, infrared and the like.
The external personnel are personnel who do not carry intelligent leveling handboards or positioning terminals on the two sides of the front line of the train and on the two sides of the train and report positions to a monitoring system; the positions of external personnel on two sides of a front line of the train can be obtained by the following method: after receiving the position information of the personnel at the two sides of the front line of the train sent by the intelligent car-taking device, the vehicle-mounted automatic control device compares the position information with the position information of the personnel of the shunting group carrying the intelligent flat shunting platform and the position information of the technical operating personnel carrying the positioning terminal received from the monitoring system, and judges and obtains the positions of the external personnel at the two sides of the front line of the train.
The speed limiting points refer to different distance points of the front end of the train from the target train, and the different speed limiting points prescribe the highest speed of the train; the specific distances of ten vehicles, five vehicles and three vehicles refer to 110m, 55m and 33m, the speed limit value between the ten vehicles and the five vehicles is 17km/h, the speed limit value between the five vehicles and the three vehicles is 12km/h, the speed limit value between the three vehicles and the 11 m is 7km/h, and the speed limit value between the 11 m and the 0m is 5km/h.
The vehicle-mounted automatic control equipment calculates and generates a speed control curve according to the speed limit point and the parking point, wherein the speed control curve describes the change relation between the target distance and the train speed, so that the speed at the speed limit point and the parking point in the automatic driving process of the speed regulator meets the speed limit and parking requirements; besides the limiting conditions, the machine is required to meet the requirements of energy conservation, stable and safe operation, low-speed freewheeling for completing continuous hanging and the highest speed limit permitted by turnout, line and special vehicle, the vehicle-mounted self-control equipment carries out the 2 nd adjustment on the optimizing curve and modifies the optimizing curve to generate a final optimizing speed control curve which accords with multiple constraint conditions; the vehicle-mounted automatic control equipment monitors the target distance and the real-time speed value of the train in a fixed period, finds the deviation between the current speed and the final optimized speed control curve, calculates and generates a train dispatching control sequence comprising gear and brake by utilizing an automatic feedback control algorithm such as PID, fuzzy, self-adaption and the like, so that the train runs at the speed specified by the optimized speed control curve, and realizes the automatic continuous hanging of the train under the condition of meeting the target constraint of energy conservation, stability and safety.
After the approach on the walking path is locked and the annunciator in front of the dispatching machine is opened, the vehicle-mounted automatic control equipment controls the dispatching machine to whistle and starts to push after detecting that the intelligent car-taking equipment at the front end of the train is installed and the installation position is correct, and the vehicle-mounted automatic control equipment updates a speed control curve in real time according to the change conditions of a speed limiting point and a parking point in the pushing process, generates a dispatching gear and a braking control sequence according to the latest speed control curve, and controls the dispatching machine to run.
The following is an example of how to automatically generate a reasonable control sequence according to a speed control curve by using a PID feedback automatic control algorithm; the PID feedback automatic control algorithm feeds back a proportional term program, an Integral term and a differential term Derivative to an algorithm calculator by utilizing error information through comparing state information obtained by the current output quantity with state information of a reference track, and the algorithm calculator outputs the control quantity of the next control period according to the information; in the train operation process, the vehicle-mounted automatic control equipment calculates an optimal control sequence comprising a gear and a brake in real time based on the deviation of the current speed, the position and the speed control curve by using a PID feedback automatic control algorithm, and can ensure the optimization result of a system when errors exist in train grouping, loading, machine adjustment, vehicle characteristic parameters and external factors, and a train operation physical model specifically used in the optimization calculation process is as follows:
wherein,,Sis the distance that the train is traveling over,Tit is the run-time period that is run-time,xis the current position of the train and is more than or equal to 0 percentx≤S，vOr alternativelyv(x) Is the current running speed of the train,p(x) For the traction power of the train of vehicles,Mis the total weight of the traction of the train,w 0 (v) Is that the train speed isvThe basic resistance per unit of running at the time,ris the pressure reduction amount of the train tube,v 0 for the initial speed of the braking,b b (r，v，v 0 ) For the unit of resultant force of the braking,θ(s) For spacing the head of the trainsA train mass density function of the position,g(x-s) Representing distance from the head of trainsThe resistance of the line at the point is added,L e is the length of the train of vehicles and,
representing the additional resistance of the weighted unit,tthe run time of the train is indicated.
The anti-slip condition of the train can be obtained by judging the states of the movable anti-slip equipment and the fixed anti-slip device on the stock track where the train is positioned; the movable anti-slip equipment is generalized movable anti-slip equipment and comprises anti-slip iron shoes, anti-slip fasteners, handbrake, movable derailers and the like; the fixed anti-slip device is a generalized fixed anti-slip device and comprises a parking device, a fixed derailer and the like; before the train is started, whether a movable anti-slip device and a fixed anti-slip device which are in a placement state exist between the track terminal of the track up-regulator of the train to the direction of the running path or not needs to be judged, so that accidents such as shoe pulling, driving, derailment and the like are avoided.
As shown in fig. 3, the personnel conditions on both sides of the train can be obtained by ground monitoring equipment which is installed at fixed places around the train and uses technologies such as video, radar, infrared and the like; the ground monitoring equipment is connected with the monitoring system through a wired or 4G, 5G and other high-bandwidth wireless communication networks; ground monitoring equipment with changeable monitoring angles can be installed on upright posts at two sides of a station line area, so that tracking and monitoring of dispatching machines and vehicles are realized; for the situation that multiple tracks are parked side by side in a railway station, ground monitoring equipment can be arranged on a lamp bridge, so that the situation of personnel on two sides of a train can be monitored; the range of the two sides of the train is a point from the rear end of the train to the front end of the train to a certain distance before the train runs Fang Yanshen, so that the observation blind area of the intelligent car-taking equipment can be covered.
The monitoring center can receive data such as videos, radars, infrared rays and the like on two sides of the train from the ground monitoring equipment, track and position the personnel on two sides of the train and the front and rear ends of the train, calculate the relative positions of the personnel relative to the front end or the rear end of the train, and obtain the absolute positions of the front and rear ends of the train through the positioning functions of the intelligent car-taking equipment and the vehicle-mounted automatic control terminal, so that the absolute positions of the personnel on two sides of the train are obtained; the monitoring center can receive the position information of the shunting group personnel and the technical operators of the positioning terminal carrying the intelligent flat shunting platform in real time, removes the shunting group personnel and the technical operators from the personnel lists at the two sides of all the train, can obtain the positions of external personnel, and calculates the vertical distance from the point of the external personnel to the central line of the train by a calculation method based on map data.
In the propulsion process, the vehicle-mounted automatic control equipment receives the position information of external personnel on two sides of the train sent by the monitoring center in real time, and determines different areas such as a stock way, a throat, a transition connecting line and the like of a station where the external personnel are located according to the position information of the external personnel, so that a safe distance value is obtained, the safe distance of the stock way area can be set to be 5 meters, the safe distance value of the throat area is set to be 10 meters, the safe distance value of the transition connecting line area is set to be 3 meters, and when the vertical distance between the external personnel and a line where the train is located is smaller than the safe distance, emergency braking is automatically implemented immediately and the vehicle is switched to a manual driving mode.
Each subsystem in the railway dispatching automatic driving system has a fault self-checking function, can timely detect own faults, and can recover faults by adopting structures such as double-machine hot standby, 2 taking 3, 2 taking 2 and 2 taking 2; faults such as communication disorder, packet loss, message error and delay can be judged among all subsystems through modes such as heartbeat messages, serial numbers, check codes, time stamps and the like; when the subsystem failure and the communication failure cannot be recovered within a specified time, for example, within 200ms and meet the safety requirement of the application on the message data, emergency braking should be automatically implemented immediately and the system is switched to a manual driving mode.
The emergency braking is a braking which increases the braking force as much as possible in order to shorten the braking distance of the train as much as possible under emergency conditions such as occupying the road, abrupt signal change, personnel invasion, equipment failure and the like, reduces the wind pressure of the train wind pipe to zero in a shorter time, simultaneously cuts off the traction force of the locomotive and starts a rapid exhaust device on the locomotive vehicle, and the exhaust speed is increased as much as possible.
The control train low-speed completion of the coupling means that the train runs at a low speed in front of the target train set, braking is implemented in front of the target train set, the coupling between the vehicles is completed by virtue of the freewheeling of the train, and the speed of the train after the coupling is reduced to zero; specifically, the distance between the couplers at two sides of the connecting point is measured in real time through the intelligent car collar, and the parking brake command implementation place is calculated according to the current speed and the length of the train, wherein the general brake implementation place is at the position of the coupler spacing of 2m to 0.5 m.
The vehicle-mounted automatic control equipment calculates the reverse trial pulling running distance of the tuning machine according to the number of vehicles contained in the train, and the reverse trial pulling running distance of the tuning machine linearly increases along with the increase of the number of vehicles contained in the train; the vehicle-mounted automatic control equipment switches the running direction of the dispatching machine through the dispatching control equipment, controls the dispatching machine to carry out reverse trial pulling according to the speed limit value of 3km/h, and stops trial pulling when judging that the displacement of the intelligent car-taking equipment exceeds 50 cm; the intelligent car taking device can obtain the distance between the couplers at two sides of the connecting point by utilizing technologies such as video, radar, infrared and the like, and sends the distance to the vehicle-mounted automatic control device; judging the distance between the couplers at two sides of the connecting point after the trial pulling is finished by the vehicle-mounted automatic control equipment, judging that the connecting is failed when the distance change exceeds a specified value, and otherwise, judging that the connecting is successful; when judging that the coupling fails, repeatedly executing the step 2 and the step 3, and if the coupling fails to succeed in the special situation for more than 3 times, switching to a manual driving mode, and contacting a shunting group by a driver to check the condition of a coupler at the connecting point and operating a shunting machine to finish the coupling; when judging that the connection is successful, the vehicle-mounted automatic control equipment controls the dispatching machine to be in a parking state all the time, so that the train is prevented from moving, and the operation safety of the hose connection and the recovery of intelligent car-taking equipment personnel is ensured.
The vehicle-mounted automatic control equipment judges whether hose connection is needed according to the execution progress of the shunting operation plan and the specification of the station connecting hose; each station of the railway is based on railway technical management regulations and railway driving organization rules, and the specific line conditions of the stations are combined, and the regulations of the hose of the vehicle for the shunting operation are given in the railway driving operation rules, for example, less than 10 stations can be connected with the hose under the condition of some lines, more than 10 stations need to be connected with the hose of 1/2 of the train, and special types of vehicles need to be connected with the hose completely; in the process of shunting and coupling operation, the vehicle-mounted automatic control equipment intelligently identifies and extracts information such as the number of vehicles, the types of vehicles, operation yard lines, passing yard lines, train numbers and the like contained in a train from the text of a shunting operation plan and remark information, and calculates and judges whether the hooking operation needs to be carried out by the hose according to the static hose coupling rule.
After the vehicle-mounted automatic control equipment judges that the connection is successful, the shunting group personnel needs to be informed to recover the intelligent car-taking equipment, and when the hose needs to be connected, the shunting group personnel needs to be informed to connect the hose and recover the intelligent car-taking equipment in sequence; when the hose is not needed to be connected, only a shunting group personnel needs to be informed to recover intelligent car taking equipment; after the vehicle-mounted automatic control equipment starts parking protection, a hose connection and intelligent vehicle-taking recovery equipment command is sent to a ground monitoring system; the intelligent leveling hand table can acquire the identity information of the operator and the current operation shunting group information in the initializing process and sends the information to the ground monitoring system; the ground monitoring system broadcasts and sends the command broadcast of the hose connection and the recovery intelligent car-taking equipment to an intelligent flat-dispatching platform of all personnel of the car-dispatching group or 1 car-dispatching operator nearest to the connecting place, and the intelligent flat-dispatching platform plays the hose connection notification and the recovery intelligent car-taking equipment notification after receiving the command broadcast.
The intelligent flat dispatching platform of the dispatching personnel and the positioning terminal of the technical operating personnel receive satellite signals such as Beidou, GPS, grosvenor, galileo and the like, carry out joint calculation on the satellite signals and differential signals of a foundation enhancement system, calculate and obtain high-precision position information of the operating personnel, and report the position information to a ground monitoring system in a period of 0.2 s; the position information comprises different solution states such as single-point solution, differential solution, floating solution and fixed solution, and the plane precision of the position information can be ensured to be less than 0.5m only in the high-precision solution state of the floating solution and the fixed solution, and the confidence is 99.7%, namely 3 times of standard deviation 3 sigma.
When a person enters between two vehicles, a solution state with high precision can not be achieved due to the limitation of the number of visible sky satellites; in order to ensure the safety of operators, only the intelligent leveling hand table or the positioning terminal of all operators can report the position information of a high-precision solution state, and when the distance between the positions of all operators and the central line of the track is more than 2m, the operators are judged to leave, and the parking protection is released; when judging that the distance between the position of the operator and the central line of the track is less than 2m or the position information is in a non-high-precision solution state, restarting the parking protection; when one of the parking protection initiated automatically by the vehicle-mounted automatic control equipment and the parking command initiated manually by the operator through the intelligent leveling platform is not released, the leveling machine cannot move, so that the safety of the operator is ensured.
After the vehicle-mounted automatic control equipment sends out a hose connection notification, the operator is judged to leave, after stopping protection is released, the vehicle-mounted automatic control equipment controls a dispatching machine to charge air to a train through a dispatching machine control equipment, and air charging is completed when the monitored air pressure reaches a specified value.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An intelligent continuous control method for railway plane shunting comprises the following steps:
step 1: the ground monitoring center sends shunting operation plans and dynamic line map data to the vehicle-mounted automatic control equipment, and the vehicle-mounted automatic control equipment combines the locally stored static line map data to generate a propelling running path of a current hook plan according to the shunting position, the shunting operation plan execution progress and the line map data;
step 2: after the intelligent car-taking device is installed and started, the vehicle-mounted automatic control device sets a running direction according to the running path, wherein the set running direction means that if the current running direction of the car-dispatching machine is opposite to the direction of the propulsion path, the running direction of the car-dispatching machine needs to be switched;
according to the target distance condition and the train front condition, speed limiting points and parking points are obtained in real time, a speed control curve is generated and updated in real time, automatic control of a car dispatching whistle and starting propulsion are carried out after anti-slip release of the train is confirmed, the car dispatching is controlled to carry out speed limiting propulsion operation according to the distances of ten, five and three cars, the ground monitoring equipment information is utilized for carrying out invasion parking protection on two sides of the train, namely emergency braking is immediately implemented when the intelligent car taking equipment blind areas on two sides of the train are judged to be close to each other;
when approaching the target train set, the train is controlled to finish the connection at a low speed by utilizing the distance between the couplers;
step 3: the vehicle-mounted automatic control equipment controls the automatic low-speed reverse trial pulling for a certain distance after the machine adjustment and whistling, and the vehicle-mounted automatic control equipment stops in advance after judging that the displacement of the intelligent vehicle-taking equipment exceeds a specified distance; judging whether the coupling is successful or not according to the coupler spacing of the vehicles on both sides of the coupling point of the target train set, and repeatedly controlling the machine adjustment to execute the automatic coupling and trial pulling processes if the coupling is failed;
step 4: after the test pulling is successful, the vehicle-mounted automatic control equipment starts parking protection, and an operator is informed of hose connection and recovery of intelligent car taking equipment through the intelligent flat-adjustment hand table; after judging that the operator leaves, stopping the vehicle to protect; judging whether air charging is needed according to whether the hose is connected or not, and controlling the air charging.
2. The intelligent link control method for railway plane shunting according to claim 1, wherein the ground monitoring center in step 1 obtains shunting operation plan and dynamic line map data from an external system information interface, and retrieves static line map data from a local storage; the dynamic line map data comprises the route information, the state of a signal machine, the direction of a turnout, the occupation condition of a track section, the state of a movable anti-slip device for placing a stock track and a fixed anti-slip device, and the static line map data comprises the positions of a line, a gradient, the signal machine, the turnout, the track section, a dead-end line earth shield, a track scale, a first stop point and the fixed anti-slip device.
3. The intelligent linking control method for railway plane shunting according to claim 1, wherein the vehicle-mounted self-control device in step 1 can obtain the high-precision position of the shunting machine through satellite positioning, and judges the section where the shunting machine is located by combining the track section position to obtain the initial section of the propulsion path; the vehicle-mounted automatic control equipment can obtain a termination section of the propulsion path through a target stock track of a shunting operation plan current hook plan; the vehicle-mounted self-control device can be used as a propelling route by matching the initial section and the final section of the propelling route with the unique route which is in a preparation or locking state and has the same direction.
4. The intelligent coupling control method for railway plane shunting according to claim 1, wherein the target distance condition in the step 2 comprises the distance from the front end of a train to a target train set, the distance between a specified parking place and an emergency parking place, and the specified parking place comprises a turn-off signal, a dead end line earth shield and a first-degree parking point; the emergency parking place is a vertical projection point of personnel in front of the train and foreign matters on a front line; the front situation of the train is the positions of personnel and foreign matters which invade the line limit in front of the train operation and the positions of the external personnel on two sides of the line in a certain distance in front of the train, which can be judged by intelligent train-taking equipment which is arranged at the front end of the train and utilizes video, radar and infrared technology.
5. The intelligent linking control method for railway plane shunting according to claim 1, wherein the speed limiting points in the step 2 refer to different distance points of the front end of the train from the target train, and the different speed limiting points prescribe the highest speed allowed to run of the train; the parking point is a target car group, a specified parking place and an emergency parking place; the speed limit point and the stopping point are used for calculating and generating a speed control curve.
6. The intelligent continuous control method for railway plane shunting according to claim 1, wherein the automatic control of the shunting machine in the step 2 is to sound a whistle and start propulsion after the intelligent vehicle-taking equipment is determined to be installed, and the entrance locking information on the propulsion path is received and the front annunciator is opened; the control train low-speed completion of the coupling means that the train runs at a low speed in front of the target train set, braking is implemented in front of the target train set, the coupling between the vehicles is completed by virtue of the freewheeling of the train, and the speed of the train after the coupling is reduced to zero.
7. The intelligent coupling control method for railway plane shunting according to claim 1, wherein in step 3, judging whether coupling is successfully used for the distance between couplers at two sides of a coupling point, wherein the distance between couplers can be obtained through intelligent car-taking equipment using video, radar and infrared technology; the judgment standard of loss of coupling is that the distance change of the couplers at two sides of the coupling point exceeds a specified value; and if the connection loss occurs, repeatedly controlling the machine switching to execute the automatic connection and trial pull processes, and starting from the step 2.
8. The intelligent continuous control method for railway plane shunting according to claim 1, wherein the parking protection in the step 4 is that the vehicle-mounted automatic control equipment controls the shunting machine to be in a static state all the time, so that train movement is avoided, and the safety of operators who receive hoses and recover intelligent car-taking equipment is ensured.
9. The intelligent continuous control method for railway plane shunting according to claim 1, wherein the judgment of the departure of the operators in the step 4 is that the intelligent flat shunting platform and the positioning terminal of all operators near the train are judged by a ground monitoring system to obtain real-time reliable high-precision position information, and the distance from the train is larger than a specified value.
10. The intelligent coupling control method for railway plane shunting according to claim 1, wherein the judging whether the air charging is needed in the step 4 is judged by the vehicle-mounted self-control equipment according to whether the hose is connected or not, and the train connected with the hose needs to be charged with air; the vehicle-mounted automatic control equipment controls the dispatching machine to charge air to the train through the dispatching machine control equipment, and the air charging is completed when the monitored air pressure reaches a specified value.
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| CN113715881B (en) * | 2021-09-17 | 2022-09-02 | 交控科技股份有限公司 | Train shunting and marshalling method and device, electronic equipment and storage medium |
| CN113954917A (en) * | 2021-11-29 | 2022-01-21 | 重庆赛迪奇智人工智能科技有限公司 | Train coupling state detection method and device |
| CN115195818B (en) * | 2022-06-27 | 2024-04-26 | 交控科技股份有限公司 | Trailer control method, vehicle-mounted device, electronic device and storage medium |
| CN115520247B (en) * | 2022-08-19 | 2024-04-12 | 昆明聚讯科技有限公司 | Railway transportation operation record management platform and method |
| CN115465335A (en) * | 2022-09-05 | 2022-12-13 | 浙江众合科技股份有限公司 | Method and system for controlling train to be automatically connected at one time by self-adaptive signal system |
| CN116176663B (en) * | 2022-12-08 | 2024-10-18 | 卡斯柯信号有限公司 | Method, equipment and medium for protecting unexpected movement of full-automatic coupling operation train |
| CN116750042B (en) * | 2023-06-19 | 2024-04-02 | 北京京天威科技发展有限公司 | Intelligent shunting safety operation management platform for railway vehicle and implementation method thereof |
| CN116534072A (en) * | 2023-06-26 | 2023-08-04 | 重庆赛迪奇智人工智能科技有限公司 | Coupler coupling method, device and system, control equipment and readable storage medium |
| CN117698796A (en) * | 2023-12-08 | 2024-03-15 | 北京城建智控科技股份有限公司 | Train inbound parking control method, device and system |
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