CN113320571B - Intelligent continuous-hanging control method for railway plane shunting - Google Patents

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

An intelligent coupling control method for railway level shunting

technical field

The invention relates to the technical field of railway level shunting, in particular to an intelligent linkage control method for railway level shunting.

Background technique

The plane shunting and hanging operation is an important link in the transportation and production operations of the railway technology station. The railway shunting locomotive, that is, the shunting locomotive, is used to hang up one or more scattered freight cars by means of jacking and pushing; during the pushing process, There may be connected vehicles in front of the dispatcher, and the driver cannot observe the situation in front of the train. The driver needs to estimate the distance between the dispatcher and the target connected trailer by visual inspection, and input ten vehicles and five vehicles through the plane shunting platform. , three-vehicle, linked, and parking signaling, the vehicle-mounted plane shunting system controls the speed of the train to be below the specified speed limit through the on-board LKJ according to the distance from the target train group, and finally stops in front of the target train group; After hanging up, the shunting team personnel control the shunting machine through the plane shunting hand platform for parking protection. After the shunting machine is prohibited from moving, it enters between two vehicles to connect the hose. After the personnel leave, the parking protection is released through the leveling hand platform.

At present, there are four outstanding problems in the operation: first, relying on the train to advance the front personnel to lead the car manually has low accuracy and cannot fully grasp the potential safety hazards of intrusion by people around the train; second, it is easy to rely on the shunting crew to manually initiate parking protection Negligence; third, the various operations for the driver to control and tune the machine for the connection are relatively complicated and labor-intensive; fourth, some drivers are afraid of speeding, and the difference between the manual control speed and the speed limit is large, which affects the efficiency of the connection.

With the development of technologies such as intelligent perception, high-bandwidth wireless transmission, and automatic driving, automatic distance measurement, automatic protection, and automatic driving in the process of plane shunting operations have become possible; There are many applications on the Internet. Due to the relative complexity of the railway plane shunting operation process, it is difficult to realize the automatic driving technology of the shunting machine in the railway station, and it has not been widely used; no patent literature report with the same technology as the present invention has been found through patent retrieval. , the patents related to the present invention mainly include the following one:

The patent number is CN101117128A, and the patent name is the station shunting automatic driving system. This patent discloses a station shunting automatic driving system, which realizes the automatic control of the shunting machine in the whole station according to the shunting operation plan, and cooperates with the ground shunting route. Automatically maneuver the shunting machine to drive; the system of this patent still needs personnel to use the plane shunting hand platform to manually input the distance information of ten, five, and three cars in the process of plane shunting and hanging in the process of automatic driving, or through the personnel to use the hand-held machine to connect and hang The connecting distance is calculated by the method of the stop point of the target vehicle group, and it does not involve the method of test pulling process control and judging the connecting result, and does not describe the automatic air filling control method, so it is difficult to realize absolutely unmanned driving.

Contents of the invention

The present invention provides an intelligent linkage control method for railway level shunting, which can effectively solve the problems raised in the above-mentioned background technology.

In order to solve the above-mentioned problems, the technical solution adopted by the present invention is: an intelligent coupling control method for railway level shunting, comprising the following steps:

Step 1: The ground monitoring center sends the shunting operation plan and dynamic route map data to the vehicle-mounted automatic control equipment, and the vehicle-mounted automatic control device combines the locally stored static route map data to generate according to the position of the shunting machine, the execution progress of the shunting operation plan and the route map data The advancement path of the current hook plan;

Step 2: After the installation and start-up of the intelligent driving equipment, the on-board automatic control equipment sets the driving direction according to the driving path, obtains the speed limit point and parking point in real time according to the target distance and the situation in front of the train, generates and updates the speed control curve in real time, and confirms the vehicle After the train anti-slip is released, automatically control the dispatcher to sound the whistle and start the propulsion, control the dispatcher to advance and run according to the speed limit of the distance of ten, five, and three cars, perform intrusion parking protection on both sides of the train, and control the low speed of the train when approaching the target train group Complete the link;

Step 3: The vehicle-mounted automatic control equipment controls the tuner to whistle and automatically pull a certain distance in the reverse direction at a low speed and stop; judge whether the coupler is successful according to the distance between the couplers on both sides of the coupler. pull process;

Step 4: After the test pull is successful, the on-board automatic control equipment starts the parking protection, and notifies the operator to connect the hose and recover the intelligent vehicle leading equipment through the intelligent leveling hand platform; after judging that the operator leaves, release the parking protection; judge according to whether the hose is connected Whether it is necessary to inflate and control the inflatable air.

As a further preferred solution of the present invention, the ground monitoring center in step 1 obtains shunting operation plan and dynamic route map data from the external system information interface, and retrieves static route map data from local storage; wherein the route map data is divided into dynamic and static Type 2, dynamic line map data includes route information, signal machine status, turnout direction, track section occupancy, mobile anti-slip equipment placement track, fixed anti-slip device status, static line map data includes line, slope, signal machine , Turnouts, track sections, end-line soil blocks, track scales, first-degree parking points, and fixed anti-slip devices.

As a further preferred solution of the present invention, the vehicle-mounted automatic control device in step 1 can obtain the high-precision position of the machine through satellite positioning, and judge the section where the machine is located in combination with the position of the track section to obtain the initial section of the propulsion path; The automatic control equipment can obtain the end section of the propulsion path through the target track of the current hook plan of the shunting operation plan; the vehicle-mounted automatic control equipment can match the approach of the shunting machine through the start section and end section of the propulsion path to obtain the propulsion path .

As a further preferred solution of the present invention, the setting running direction in step 2 means that if the current running direction of the machine adjustment is opposite to the direction of the propulsion path, then the running direction of the machine adjustment needs to be switched; the target distance includes the distance between the front end of the train and the target train group, The distance between the parking place and the emergency parking place is stipulated, and the parking place includes the closing signal machine, the end line soil block, and the first-degree parking spot; the emergency parking place is the vertical projection point of the personnel and foreign objects in front of the train on the front line; the situation in front of the train It can be judged by the intelligent car leading equipment installed at the front of the train using video, radar and infrared technology, the position of people and foreign objects intruding into the line limit in front of the train, and the location of the people on both sides of the line within a certain distance in front of the train. Alien location.

As a further preferred solution of the present invention, the speed limit point in step 2 refers to the different distance points from the front end of the car train to the target car group, and the different speed limit points stipulate the maximum speed allowed for the car train to run; the parking point is the target car group, the specified Stop location and emergency stop location; speed limit point and stop point are used to calculate and generate speed control curve.

As a further preferred solution of the present invention, in step 2, the automatic control of the tuner to whistle and start the propulsion is determined after the installation of the intelligent leading car equipment is completed, and the route locking information on the propulsion path is received and the signal machine in front is opened. ;Intrusion parking protection on both sides of the train means that when outsiders approach the blind area of the intelligent leading equipment on both sides of the train, emergency braking will be implemented immediately; The train runs at a low speed, brakes in front of the target vehicle group, and relies on the inertial sliding of the train to complete the coupler coupling between the vehicles, and reduce the speed of the train to zero after the coupling.

As a further preferred solution of the present invention, in step 3, the distance between couplers on both sides of the connection point is used to judge whether the connection is successful, and the distance between the couplers can be obtained by using video, radar, and infrared technology intelligent leading equipment; wherein the judging criteria for failure of the connection If the change in the coupler spacing on both sides of the coupling point exceeds the specified value; if the coupling fails, repeat the control adjustment machine to perform the automatic coupling and test pull process, starting from step 2.

As a further preferred solution of the present invention, the parking protection in step 4 is that the vehicle-mounted automatic control equipment controls the adjustment machine to be in a static state all the time, avoiding the movement of the train, and ensuring the safety of the operators who connect the hose and recover the intelligent leading vehicle equipment.

As a further preferred solution of the present invention, the judgment in step 4 that the operator leaves is to obtain real-time reliable and high-precision position information from the intelligent leveling hand platform and positioning terminal of all operators near the train train judged by the ground monitoring system, and the distance from the vehicle greater than the specified value.

As a further preferred solution of the present invention, the judgment in step 4 whether it needs to be filled with air is judged by the vehicle-mounted automatic control device according to whether the hose is connected, and the train connected with the hose needs to be filled with wind; wherein the control of the wind is controlled by the vehicle-mounted automatic control device The machine is controlled by the machine control device to charge the train with air, and the air filling is completed when the monitoring wind pressure reaches the specified value.

Compared with the prior art, the present invention provides an intelligent linkage control method for railway level shunting, which has the following beneficial effects:

1. The method of the present invention realizes the automatic perception of the train environment and automatic safety protection. Compared with the manual visual inspection method, it can more accurately and timely obtain the distance from the target connected vehicle, avoid the potential safety hazards caused by overspeed connected vehicles, and can comprehensively Grasp the intrusion situation around the train in time, and automatically implement effective security protection in real time;

2. The method of the present invention realizes the automatic parking protection of the equipment, which can avoid the negligence of relying on manual initiation of parking protection;

3. The method of the present invention can automatically control various complex operations in the process of connecting and hanging the machine without unmanned control, reducing labor intensity;

4. The method of the present invention can automatically control the shunting machine to complete the coupling at the most reasonable propulsion speed, and improve the coupling efficiency of the plane shunting operation.

Description of drawings

Fig. 1 is a structural diagram of the automatic driving system for railway dispatching machines of the present invention.

Fig. 2 is a flow chart of the intelligent linkage control method for railway level shunting of the present invention.

Fig. 3 is a schematic diagram of the layout of the ground monitoring equipment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention.

The structure of the railway shunting automatic driving system applying a railway level shunting intelligent coupling control method is shown in Figure 1, including the ground monitoring system, intelligent leading equipment, on-board automatic control equipment, intelligent leveling hand platform and personnel positioning terminal .

The monitoring system obtains external system information such as the current vehicle system, computer interlocking system, intelligent anti-slip system, and derailer placement interactive platform from the external information system interface through wired Ethernet, including: shunting operation plan, vehicle current vehicle information, and dynamic lines Map data, etc.; through the wireless communication network, obtain the location information of the operators of the intelligent leveling hand platform and personnel positioning terminal, including: latitude and longitude, speed, solution status and other information; obtain the train through the ground monitoring equipment installed at fixed locations around the train Position information of personnel on both sides.

The intelligent car leading equipment is installed in front of the vehicle at the front end of the train with strong magnets, and the high-precision position of the front end of the train is obtained through satellite positioning technology; the distance between the train and the target train group is obtained through video, radar, infrared and other technologies, even on both sides of the suspension point Coupler spacing, as well as front-end information of the train, the front-end information of the train includes the position information of personnel and foreign objects intruding into the line limit in front of the train, and the position information of personnel on both sides of the line within a certain distance in front of the train; the intelligent leading equipment can The relative position of the personnel and foreign objects in front of the line is measured relative to itself, and the absolute position of the personnel and foreign objects can be obtained by superimposing the relative position with its own absolute latitude and longitude position.

Each member of the shunting crew is equipped with an intelligent leveling hand platform, which can obtain the position information of the shunting team operators through satellite positioning technology; Content hints and other functions.

Provide personnel positioning terminals for technical operators such as train inspection, cargo inspection, and exhaust pipe removal outside the shunting group, as well as temporary patrol inspection and construction operators such as public affairs, electrical affairs, and power supply, and obtain operator location information through satellite positioning technology.

The on-vehicle automatic control equipment obtains external system information, location information of outside personnel on both sides of the train, and operator location information from the monitoring system through a high-bandwidth wireless network; through 4G, 5G or 5.8G point-to-point wireless transmission and other high-bandwidth wireless networks Obtain the front-end information of the train; obtain the running direction, gear position, brake, and hose pressure of the machine from the machine control equipment, and the hose pressure is also called wind pressure; obtain the high-precision position of the machine through satellite positioning technology; The control equipment sends the adjustment sequence such as direction, gear position, braking, and whistle to the adjustment direction/walking/braking/whistle control system to realize the control of the adjustment machine.

As a specific embodiment of the present invention:

As shown in Figure 2, the present invention provides a kind of intelligent coupling control method for railway plane shunting, comprising the following steps:

Step 1: The ground monitoring center sends the shunting operation plan and dynamic route map data to the vehicle-mounted automatic control equipment, and the vehicle-mounted automatic control device combines the locally stored static route map data to generate according to the position of the shunting machine, the execution progress of the shunting operation plan and the route map data The advancement path of the current hook plan;

Step 2: After the installation and start-up of the intelligent driving equipment, the on-board automatic control equipment sets the driving direction according to the driving path, obtains the speed limit point and parking point in real time according to the target distance and the situation in front of the train, generates and updates the speed control curve in real time, and confirms the vehicle After the train anti-slip is released, automatically control the dispatcher to sound the whistle and start the propulsion, control the dispatcher to advance and run according to the speed limit of the distance of ten, five, and three cars, perform intrusion parking protection on both sides of the train, and control the low speed of the train when approaching the target train group Complete the link;

Step 3: The on-board automatic control equipment controls the machine to whistle and then automatically pulls a distance at a low speed in reverse and stops; judges whether the coupling is successful according to the distance between the couplers on both sides of the coupling point. If it fails, repeat the control of the machine to perform automatic coupling and test pulling process;

Step 4: After the test pull is successful, the on-board automatic control equipment starts the parking protection, and notifies the operator to connect the hose and recover the intelligent vehicle leading equipment through the intelligent leveling hand platform; after judging that the operator leaves, release the parking protection; judge according to whether the hose is connected Whether it is necessary to inflate and control the inflatable air.

The on-board automatic control equipment can be externally connected to the satellite receiving antenna installed on the top of the tuner, and with the differential signal received through the wireless communication network, the high-precision latitude and longitude coordinates of the tuner can be obtained, and the tuner can be projected onto the line center line of the line map. The longitude and latitude coordinates of the projection points of the insulating joints at both ends of the track section on the center line determine the section where the shunting machine is located, and obtain the starting section of the propulsion path; the vehicle-mounted automatic control equipment can be obtained by searching the target track number of the current hook plan in the shunting operation plan The end section of the propulsion path; the on-board automatic control equipment selects the only approach in the ready or locked state and in the same direction as the propulsion path through the start and end sections.

After receiving the heartbeat information of the intelligent leading car device, the vehicle-mounted automatic control device obtains the switching value of the current running direction of the machine from the machine control device. The driving direction of the train; the on-board automatic control equipment calculates the distance between the front end of the train and the parking point in real time. The parking point includes the target car group, the specified parking place and the emergency parking place; , radar, infrared and other ranging technologies; the distance between the front end of the train and 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. The location information of the parking location can be obtained from the static line map data; the emergency parking location is the location of the personnel and foreign objects on the line in front of the train, and the vertical projection points of the outsiders on both sides of the line. Moving a safe distance to the direction of the train is an emergency stop The location can be obtained by using video, radar, infrared and other detection technologies through the intelligent driving equipment.

The outsiders are those who do not carry intelligent leveling hand platforms or positioning terminals on both sides of the line in front of the train and report their positions to the monitoring system; the positions of outsiders on both sides of the line in front of the train can be obtained by the following methods: on-board automatic control After receiving the position information of the personnel on both sides of the line in front of the train sent by the intelligent vehicle leading equipment, it will be compared with the position of the shunting crew carrying the intelligent leveling hand platform and the position of the technical operator carrying the positioning terminal received from the monitoring system The information is compared to determine the location of outsiders on both sides of the line in front of the train.

The speed limit point refers to the different distance points from the front end of the train to the target train group. Different speed limit points stipulate the maximum speed allowed for the train to run; the specific distances of ten cars, five cars and three cars refer to 110m, 55m and 33m, and the distance between ten cars The speed limit is 17km/h between the five-car distance, 12km/h between the five-car distance and the three-car distance, and 7km/h between the three-car distance and the 11-meter distance , the speed limit between the distance of 11 meters and the distance of 0 meters is 5km/h.

The on-board automatic control equipment calculates and generates the speed control curve according to the speed limit point and the parking point. The speed control curve describes the change relationship between the target distance and the speed of the train, so that the speed at the speed limit point and the parking point during the automatic driving process of the machine is satisfied. Speed limit and parking requirements; In addition to the above restrictions, the machine should also meet the requirements of energy saving, stable and safe operation, low-speed inertial coasting to complete the connection, and the maximum speed limit of switches, lines, and special vehicles. Carry out the second adjustment, modify and generate the final optimized speed control curve that meets the multi-constraint conditions; the vehicle-mounted automatic control equipment monitors the target distance and 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, and uses PID, fuzzy, self-adaptive and other automatic feedback control algorithms calculate and generate the adjustment sequence including gear position and braking, so that the train runs at the speed specified by the optimal speed control curve, and meets the goal constraints of energy saving, stability and safety. Realize the automatic connection of trains.

After the approach on the walking path is locked and the signal machine in front of the dispatcher is opened, the vehicle-mounted automatic control device detects that the intelligent leading equipment at the front of the train is installed and the installation position is correct, and then controls the dispatcher to sound the whistle and start to push forward. During the process, the vehicle-mounted automatic control equipment updates the speed control curve in real time according to the changes of the speed limit point and the parking point, generates the adjustment gear position and the braking operation sequence according to the latest speed control curve, and controls the adjustment machine to drive.

The following uses the PID feedback automatic control algorithm as an example to illustrate how to automatically generate a reasonable manipulation sequence according to the speed control curve; the PID feedback automatic control algorithm compares the state information obtained by the current output with the state information of the reference trajectory, and uses the error information to convert the proportional item Proportion , the integral item Integral and the differential item Derivative are fed back to the algorithm calculator, and the algorithm calculator outputs the control amount of the next control cycle according to the information; during the operation of the train, the on-board automatic control equipment uses the PID feedback automatic control algorithm, based on the current vehicle speed, The deviation of the position and speed control curve can be calculated in real time to obtain the current optimal control sequence including gear position and braking, which can ensure the optimal result of the system when there are errors in train formation, load, adjustment, vehicle characteristic parameters and external factors. , the physical model of train operation specifically used in the optimization calculation process is as follows:

表示加权单位附加阻力，t则表示车列的运行时刻。Among them, S is the running distance of the train, T is the running time, x is the current position of the train and 0≤ x≤S , v or v ( x ) is the current speed of the train, p ( x ) is the train , M is the total traction weight of the train, w ₀ (v) is the unit running basic resistance when the speed of the train is v , r is the decompression amount of the train tube, v ₀ is the initial speed of braking, b _b ( r , v , v ₀ ) is the resultant force of the braking unit, θ ( s ) is the train mass density function at a distance s from the train head, g ( x - s ) represents the line at a distance s from the train head Additional resistance, L _e is the length of train,

represents the weighted unit additional resistance, and t represents the running time of the train.

The anti-slip situation of the train can be obtained by judging the status of the mobile anti-slip equipment and the fixed anti-slip device on the track where the train is located; Hand brakes, mobile derailers, etc.; fixed anti-slip devices are generalized fixed anti-slip devices, including parking devices, fixed derailers, etc.; before the start of the train, it is necessary to judge the track where the train is located and adjust the machine to the end of the track in the direction of the travel path Whether there are mobile anti-slip devices and fixed anti-slip devices in the placed state to avoid accidents such as driving with shoes and derailment.

As shown in Figure 3, the situation of personnel on both sides of the train can be obtained through ground monitoring equipment installed at fixed locations around the train using video, radar, infrared and other technologies; the ground monitoring equipment communicates through wired or high-bandwidth wireless communications such as 4G and 5G The network is connected to the monitoring system; ground monitoring equipment with variable monitoring angles can be installed on poles on both sides of the line area of the station to realize the tracking and monitoring of the dispatching machine and vehicles; The monitoring equipment can be installed on the light bridge to ensure that the personnel on both sides of the train can be monitored; the range on both sides of the train should be a point extending a certain distance from the rear end of the train to the front end of the train to the front of the train, so that it can cover Observation blind area of intelligent driving equipment.

The monitoring center can receive video, radar and infrared data on both sides of the train from the ground monitoring equipment, track and locate the personnel on both sides of the train and the positions of the front and rear ends of the train, and calculate the relative distance between the personnel and the front end of the train or the rear end of the train. Position, the absolute position of the front and rear ends of the train can be obtained through the positioning function of the intelligent leading equipment and the vehicle-mounted automatic control terminal, so as to obtain the absolute position of the personnel on both sides of the train; The location information of the train crew and the technical operators of the positioning terminal. The monitoring center removes the shunting crew and technical operators from the list of personnel on both sides of the train, and can obtain the location of the outside personnel. Through the calculation method based on map data, Calculate the vertical distance from the point where the outsider is located to the center line of the line where the train is located.

During the advancing process, the on-board automatic control equipment receives the location information of the outsiders on both sides of the train sent by the monitoring center in real time, and determines the different areas such as the track, throat, and transition connection line of the station where the outsiders are located according to the location information of the outsiders, so that To obtain the safety distance value, the safety distance of the stock road area can be set to 5 meters, the safety distance value of the throat area is set to 10 meters, and the safety distance value of the transition connecting line area is set to 3 meters. When the vertical distance is less than the safety distance, emergency braking should be automatically implemented immediately and switched to manual driving mode.

Each subsystem in the railway dispatching automatic driving system has a fault self-inspection function, which can detect its own faults in time, and can adopt the structure of dual machine hot standby, 3 out of 2, 2 by 2 out of 2 and other structures for fault recovery; each subsystem Between the systems, faults such as communication disorder, packet loss, message error, and delay can be judged through heartbeat messages, serial numbers, check codes, and time stamps; when subsystem failures and communication failures cannot be completed within the specified time , for example, if it cannot be recovered within 200ms and meets the security requirements of the application for message data, emergency braking should be automatically implemented immediately and switched to manual driving mode.

Emergency braking is a kind of braking that increases the braking force as much as possible in order to shorten the braking distance of the train as much as possible in emergency situations, such as foreign objects occupying the road, signal mutation, personnel intrusion, equipment failure, etc. In a short period of time, the wind pressure of the train air duct is reduced to zero, and at the same time, the traction force of the locomotive is cut off and the fast exhaust device on the rolling stock is turned on to speed up the exhaust speed as much as possible.

Controlling the low-speed coupling of trains means that the trains control the trains to run at low speed in front of the target train group, apply brakes in front of the target train group, rely on the inertial sliding of the train train to complete the coupler coupling between the vehicles, and connect the trains after the train The speed of the train is reduced to zero; specifically, the distance between the couplers on both sides of the coupling point is measured in real time through the intelligent car leader, and the execution location of the parking brake command is calculated according to the current speed and the length of the train. 0.5m.

The vehicle-mounted automatic control equipment calculates the travel distance of the machine-tuned reverse test according to the number of vehicles contained in the train, and the travel distance of the machine-tuned reverse test increases linearly with the increase in the number of vehicles contained in the train; the vehicle-mounted automatic control equipment controls the device through the machine Switch the running direction of the adjusting machine, control the adjusting machine according to the speed limit value of 3km/h to perform a reverse test pull, and stop the test pulling when it is judged that the displacement of the intelligent driving device exceeds 50cm; the intelligent driving device can use video, radar, infrared, etc. The technology obtains the distance between the couplers on both sides of the connecting point and sends it to the vehicle-mounted automatic control device; the vehicle-mounted automatic control device judges the distance between the couplers on both sides of the connecting point after the test pull is completed. When it is judged that the coupling fails, it is necessary to repeat steps 2 and 3. In case of special circumstances, if the coupling fails after being repeated more than 3 times, it is necessary to switch to the manual driving mode. The adjustment machine completes the connection; when it is judged that the connection is successful, the on-board automatic control equipment controls the adjustment machine to stay in the parking state to avoid the movement of the train and ensure the safety of the personnel who connect the hose and recover the intelligent vehicle leading equipment.

The on-board automatic control equipment judges whether it is necessary to connect the hose according to the progress of the shunting operation plan and the station connection hose regulations; each railway station is based on the "Railway Technical Management Regulations" and "Railway Traffic Organization Rules", combined with the specific line conditions of the station , in the "Station Driving Work Rules", the regulations for connecting the vehicle hoses for shunting operations are given. For example, under some line conditions, the hoses may not be connected for less than 10 vehicles, and 1/2 hoses for more than 10 vehicles need to be connected , special vehicle types need to connect all the hoses, etc.; the on-board automatic control equipment saves the static hose connection rules according to the relevant regulations of the station. Extract information such as the number of vehicles contained in the train, vehicle types, operating station lines, passed station lines, and train numbers, etc., and calculate and judge whether the hook operation needs to be connected according to the static hose connection rules.

After the on-board automatic control equipment judges that the connection is successful, it is necessary to notify the shunting crew to take back the smart leading device. When in charge, it is only necessary to notify the shunting crew to recover the intelligent vehicle leading equipment; after the on-board automatic control equipment starts the parking protection, it will send the command of connecting the hose and recovering the intelligent vehicle leading equipment to the ground monitoring system; the intelligent leveling hand platform is in the initialization process It can obtain the identity information of the operator and the information of the current operation shunting team, and send it to the ground monitoring system; the ground monitoring system will broadcast the command of connecting the hose and recovering the intelligent leading equipment to the intelligent leveling hand platform or The shunting operator closest to the connecting place, after the smart leveling hand platform receives it, it will play the notification of connecting the hose and recycling the smart leading device.

The intelligent leveling hand platform of the shunting crew and the positioning terminal of the technical operator receive satellite signals such as Beidou, GPS, GLONASS, and Galileo, and jointly solve the satellite signal and the differential signal of the ground-based augmentation system, calculate and Obtain the high-precision position information of the operator, and report the position information to the ground monitoring system at a period of 0.2s; the position information includes different solution states such as single-point solution, differential solution, floating-point solution and fixed solution. In the state of high-precision solution and fixed solution, the plane accuracy of position information can be guaranteed to be less than 0.5m, and the confidence level is 99.7%, which is 3 times the standard deviation 3σ.

When a person enters between two vehicles, due to the limitation of the number of visible sky satellites, it may not be possible to achieve a high-precision solution state; in order to ensure the safety of the operator, only the intelligent leveling hand platform or positioning terminal of all operators can report The position information of the high-precision solution state, and when the distance between the position of all operators and the center line of the track is greater than 2m, it is judged that the operator has left and the parking protection is released; when it is judged that the distance between the position of the operator and the center line of the track is less than 2m or the position information is In the non-high-precision solution state, the parking protection should be restarted again; when one of the parking protection automatically initiated by the vehicle-mounted automatic control equipment and the parking order manually initiated by the operator through the intelligent leveling hand platform is not released, the adjustment machine cannot move, thus Ensure the safety of workers.

After the vehicle-mounted automatic control device sends out the hose connection notification, it is judged that the operator has left, and after the parking protection is released, the vehicle-mounted automatic control device controls the regulator to perform air-filling operation on the train through the machine control device, and the wind-filling is completed when the monitoring wind pressure reaches the specified value.

The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be described in the foregoing embodiments Modifications are made to the technical solutions, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate 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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