CN113415318B - Train coupling marshalling auxiliary protection system and protection method - Google Patents
Train coupling marshalling auxiliary protection system and protection method Download PDFInfo
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- CN113415318B CN113415318B CN202110777325.0A CN202110777325A CN113415318B CN 113415318 B CN113415318 B CN 113415318B CN 202110777325 A CN202110777325 A CN 202110777325A CN 113415318 B CN113415318 B CN 113415318B
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- 238000005859 coupling reaction Methods 0.000 title claims abstract description 17
- 238000005096 rolling process Methods 0.000 claims abstract description 81
- 230000003137 locomotive effect Effects 0.000 claims abstract description 53
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
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Abstract
The invention provides an auxiliary protection system and a protection method for train coupling and grouping, wherein the system comprises the following components: the track side equipment is arranged on an electric pole or a lamp bridge beside the track and is used for judging the relative position of the rolling stock and the target to be approached by scanning a preset track area so that the rolling stock can be hung or braked; the vehicle-mounted equipment is arranged on the rolling stock and is used for judging whether a target to be approached exists in front of the rolling stock in operation so that the rolling stock approaches the target to be approached at a preset speed; the interlocking system interface is connected with an interlocking system positioned on the ground and used for acquiring the state of the switch machine and transmitting the state of the switch machine to the vehicle-mounted equipment through 4G/5G wireless communication so as to realize automatic identification of the switch approach. The method is used for executing the system. The invention realizes the carriage linking, road obstacle recognition, turnout approach recognition and forbidden road section protection of the locomotive vehicle through the linkage of the rail side equipment, the vehicle-mounted equipment and the interlocking system interface, and realizes full-automatic driving.
Description
Technical Field
The invention relates to the technical field of train operation protection, in particular to an auxiliary protection system and method for train coupling and grouping.
Background
In the rail traffic industry, the continuous hanging of the train vehicles is always a difficult problem which puzzles the whole industry, particularly when the train vehicles are already connected with a plurality of carriages, the sight of a driver is blocked by the connected carriages in the process of pushing the connected carriages to advance, the position of the connected carriages in front cannot be seen, and the speed of the train vehicles cannot be reasonably controlled so as to avoid collision. In addition, when personnel or obstacles appear on the track, the driver cannot see the obstacle due to the shielding of the connected trailer carriage, and accidents are unavoidable.
At present, the continuous hanging of the rail transit industry mainly depends on manual command, namely, a second person (continuous hanging commander) except a driver carries an interphone, stands (or is raked off) at the forefront end of a connected carriage (namely, the position of a connected vehicle can be clearly seen), the distance between the interphone and the connected vehicle is visually checked, then the distance is continuously reported to the driver through the interphone, the driver controls reasonable speed according to the distance, collision is avoided, and the too slow and low efficiency of the continuous hanging process is avoided.
It is not difficult to find that the following problems exist in the continuous hanging command by means of manpower:
1) The manual visual inspection has poor distance precision of the front vehicle, low reliability and severe dependence on personal experience;
2) The linking distance is described by the commander, and the linking efficiency is lower when the commander is seen by a non-driver in the eyes;
3) The second person outside the driver is required to conduct command in the connecting and hanging process, so that extra manpower is consumed;
4) The commander stands at (or is raked off) the forefront end of the connected carriage, and potential safety hazards exist.
Disclosure of Invention
The invention provides an auxiliary protection system and method for train coupling and marshalling, which are used for solving the defects existing in the prior art that vehicles are marshalled manually.
In a first aspect, the present invention provides a train hitch consist auxiliary protection system, comprising:
the system comprises trackside equipment, vehicle-mounted equipment and an interlocking system interface;
the track-side equipment is arranged on an electric pole or a lamp bridge beside the track and is used for judging the relative position of the rolling stock and the target to be approached by scanning a preset track area and sending the relative position to the vehicle-mounted equipment;
the vehicle-mounted equipment is arranged on the rolling stock and is used for judging whether the target to be approached exists in front of the running of the rolling stock, so that the rolling stock approaches the target to be approached at a preset speed and is matched with the trackside equipment to finish the connection or braking of the rolling stock;
the interlocking system interface is connected with an interlocking system positioned on the ground and used for acquiring a switch route automatic identification result, and the switch route automatic identification result is sent to the vehicle-mounted equipment through 4G/5G wireless communication, so that the vehicle-mounted equipment determines switch passing operation.
In one embodiment, the trackside equipment comprises a lidar, a 4G/5G wireless communication module, and a trackside computer;
the laser radar is used for scanning the preset track area;
the 4G/5G wireless communication module is used for sending the track information of the preset track area and the position information of the target to be approached to the vehicle-mounted equipment;
the trackside computer is used for calculating and obtaining the relative position according to the preset accurate position of the laser radar and the relative position relation between the laser radar and the covered track.
In one embodiment, the vehicle-mounted equipment comprises a laser radar, a camera, a millimeter wave radar, a speed measuring device, a positioning system, a 4G/5G wireless communication module and a vehicle-mounted computer;
the laser radar and the camera are arranged at the vehicle head end of the rolling stock and are used for detecting the target to be approached in front of the running of the rolling stock;
the millimeter wave radar is arranged at the lower part of the front end of the rolling stock and is used for detecting the target to be approached and measuring the speed of the rolling stock;
the speed measuring device is arranged on an axle of the locomotive and is used for acquiring the speed of the locomotive according to the rotation speed of wheels;
the positioning system is arranged on the roof of the rolling stock and used for determining the accurate position of the rolling stock;
the 4G/5G wireless communication module is used for communicating with the trackside equipment;
the vehicle-mounted computer is arranged in an electric cabinet of the locomotive and is used for calculating and obtaining the speed of the locomotive based on information sent by the speed measuring device and calculating and obtaining the accurate position based on information sent by the positioning system.
In one embodiment, the interlock system interface includes an interface computer and a 4G/5G wireless communication module;
the interface computer is used for calculating and obtaining a switch approach automatic identification result based on the switch state;
the 4G/5G wireless communication module is used for sending the state of the switch machine to the vehicle-mounted equipment.
In a second aspect, the invention further provides a train hitch group auxiliary protection method, which comprises the following steps:
acquiring an auxiliary protection strategy of the train through linkage among the trackside equipment, the vehicle-mounted equipment and the interlocking system interface;
the automatic train connection, the detection and the automatic protection of people or obstacles, the automatic identification of switch routes and the automatic protection of forbidden road sections of rolling stock are respectively realized based on an auxiliary train protection strategy.
In one embodiment, the automatic coupling of the carriages of the rolling stock is realized based on a train auxiliary protection strategy, comprising:
determining, by the trackside apparatus, a connected trailer box position and a connected trailer box position;
transmitting the connected trailer position and the connected trailer position to a locomotive vehicle through a 4G/5G wireless communication module;
the locomotive determines a track where the locomotive is located and a position where the locomotive is located through a positioning system of the vehicle-mounted equipment, judges whether the locomotive and a connected trailer are on the same track or not based on the track where the locomotive is located and the position where the locomotive is located, and calculates a distance between the locomotive and the connected trailer;
and assisting the driver to finish the vehicle connection or controlling the vehicle to finish the connection based on the judging result and the distance.
In one embodiment, the detection and automatic protection of people or obstacles of rolling stock is realized based on a train auxiliary protection strategy, comprising:
the vehicle-mounted equipment determines the position of the vehicle-mounted equipment through a positioning system;
determining the track position in front of running through a camera image and a deep learning algorithm, detecting whether a connected carriage, a person or an obstacle exists in front of the running, if so, obtaining an accurate distance through a laser radar, and calculating an approaching speed based on the accurate distance;
the current vehicle speed of the rolling stock is obtained through a millimeter wave radar or a wheel speed sensor, the current vehicle speed is compared with the approaching speed, and a driver or a control vehicle is assisted to finish the coupling or braking.
In one embodiment, the automatic identification of the switch approach is realized based on a train auxiliary protection strategy, and the method comprises the following steps:
the vehicle-mounted equipment determines the position of the vehicle-mounted equipment through a positioning system and determines the turnout number in front of the track;
the vehicle-mounted equipment obtains the state of the turnout switch machine corresponding to the turnout number from the interlocking system interface through a 4G/5G wireless communication module, or obtains the state of a front signal machine through image recognition when a carriage is not connected;
the vehicle-mounted device realizes automatic identification of a turnout approach based on the turnout switch state or the front signal state.
In one embodiment, the automatic protection of the forbidden road section is realized based on the auxiliary protection strategy of the train, and the method comprises the following steps:
the vehicle-mounted equipment determines the position of the vehicle-mounted equipment through a positioning system, determines the advancing direction of the vehicle, and identifies the switch access if a switch exists in front of the vehicle-mounted equipment;
the vehicle-mounted equipment queries a built-in track line map to confirm whether the vehicle can pass or not, or recognizes the restricted-line signboard through image recognition;
when the front forbidden running is confirmed, the warning is given to the driver or the vehicle is controlled to brake.
In one embodiment, the method further comprises:
based on the automatic continuous hanging of the carriage, the detection and automatic protection of people or barriers, the automatic identification of switch approaches and the automatic protection of forbidden road sections, the full-automatic driving of rolling stock is realized.
The train coupling and marshalling auxiliary protection system and the protection method provided by the invention realize carriage coupling, road obstacle recognition, turnout approach recognition and forbidden road section protection of rolling stock and realize full-automatic driving through the linkage of the rail side equipment, the vehicle-mounted equipment and the interlocking system interface.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is an overall block diagram of a train hitch consist auxiliary protection system provided by the present invention;
FIG. 2 is a schematic view of the structure of the trackside apparatus provided by the present invention;
FIG. 3 is a schematic view of the installation of the trackside apparatus provided by the present invention;
fig. 4 is a schematic structural view of the in-vehicle apparatus provided by the present invention;
fig. 5 is an installation schematic diagram of the in-vehicle apparatus provided by the present invention;
fig. 6 is a schematic diagram of a connection operation of the vehicle-mounted device provided by the invention;
FIG. 7 is a schematic diagram of a linkage system interface provided by the present invention;
FIG. 8 is a schematic flow chart of the auxiliary protection method for train hitch group provided by the invention;
FIG. 9 is a schematic diagram of the automatic identification of the switch approach provided by the invention;
fig. 10 is a schematic diagram of automatic protection of a restricted road segment provided by the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 is an overall structure diagram of an auxiliary protection system for train hitch-grouping, as shown in fig. 1, including:
the system comprises trackside equipment, vehicle-mounted equipment and an interlocking system interface;
the track-side equipment is arranged on an electric pole or a lamp bridge beside the track and is used for judging the relative position of the rolling stock and the target to be approached by scanning a preset track area and sending the relative position to the vehicle-mounted equipment;
the vehicle-mounted equipment is arranged on the rolling stock and is used for judging whether the target to be approached exists in front of the running of the rolling stock, so that the rolling stock approaches the target to be approached at a preset speed and is matched with the trackside equipment to finish the connection or braking of the rolling stock;
the interlocking system interface is connected with an interlocking system positioned on the ground and used for acquiring a switch route automatic identification result, and the switch route automatic identification result is sent to the vehicle-mounted equipment through 4G/5G wireless communication, so that the vehicle-mounted equipment determines switch passing operation.
The invention realizes the carriage linking, road obstacle recognition, turnout approach recognition and forbidden road section protection of the locomotive vehicle through the linkage of the rail side equipment, the vehicle-mounted equipment and the interlocking system interface, and realizes full-automatic driving.
Based on the embodiment, the trackside equipment comprises a laser radar, a 4G/5G wireless communication module and a trackside computer;
the laser radar is used for scanning the preset track area;
the 4G/5G wireless communication module is used for sending the track information of the preset track area and the position information of the target to be approached to the vehicle-mounted equipment;
the trackside computer is used for calculating and obtaining the relative position according to the preset accurate position of the laser radar and the relative position relation between the laser radar and the covered track.
In particular, the trackside equipment mainly comprises a laser radar, a 4G/5G wireless communication module and a trackside computer, as shown in FIG. 2.
The track side equipment is arranged on an electric pole or a lamp bridge beside a track, the accurate position of a laser radar and the relative position relation between the track side equipment and a covered track are preset in a track side computer, the laser radar scans a specific track area, the track side computer processes point clouds output by the laser radar, whether a carriage, a person or an obstacle exists in the point clouds or not is detected, if the carriage, the person or the obstacle exists in the point clouds, the track and the accurate position are determined according to the preset track position relation, and then the track and the position information are transmitted to a locomotive through 4G/5G wireless communication. The rolling stock obtains the accurate position of the rolling stock from the positioning system, judges whether the rolling stock is on the same track with the connected carriage, the person or the obstacle according to the position, if the rolling stock is on the same track, the accurate distance between the connected carriage and the connected carriage, the person or the obstacle is calculated, a driver (or a direct control car) is assisted to finish the connection or braking, and the speed of the current rolling stock is obtained through a wheel speed sensor in the connection or braking process so as to ensure that the rolling stock approaches the connected carriage, the person or the obstacle at a reasonable speed, as shown in figure 3.
The invention scans a specific track area by using the trackside equipment to obtain the position of a connected carriage and the position of a connected carriage, a person or an obstacle in front of the rail side equipment, then the two positions are sent to the vehicle-mounted equipment, the vehicle-mounted equipment acquires the position of the vehicle-mounted equipment from the positioning system, determines that a locomotive vehicle and the connected carriage, the person or the obstacle are on the same track, calculates the track distance according to the two positions, and controls the locomotive vehicle to approach the connected carriage at a reasonable speed to complete the connection or brake in time to avoid collision accidents.
Based on any one of the above embodiments, the vehicle-mounted device includes a laser radar, a camera, a millimeter wave radar, a speed measuring device, a positioning system, a 4G/5G wireless communication module, and a vehicle-mounted computer;
the laser radar and the camera are arranged at the vehicle head end of the rolling stock and are used for detecting the target to be approached in front of the running of the rolling stock;
the millimeter wave radar is arranged at the lower part of the front end of the rolling stock and is used for detecting the target to be approached and measuring the speed of the rolling stock;
the speed measuring device is arranged on an axle of the locomotive and is used for acquiring the speed of the locomotive according to the rotation speed of wheels;
the positioning system is arranged on the roof of the rolling stock and used for determining the accurate position of the rolling stock;
the 4G/5G wireless communication module is used for communicating with the trackside equipment;
the vehicle-mounted computer is arranged in an electric cabinet of the locomotive and is used for calculating and obtaining the speed of the locomotive based on information sent by the speed measuring device and calculating and obtaining the accurate position based on information sent by the positioning system.
Specifically, the vehicle-mounted device mainly comprises a laser radar, a camera, a millimeter wave radar, a speed measuring device (millimeter wave radar or wheel speed sensor), a positioning system (RTK or UWB and the like), a 4G/5G wireless communication module and a vehicle-mounted computer, as shown in FIG. 4.
The laser radar, the camera and the millimeter wave radar are installed at the head end of the vehicle and are opposite to the advancing direction of the vehicle, the positioning system is installed at the top of the vehicle, the wheel speed sensor (such as an encoder) is installed on an axle, and the vehicle-mounted computer is installed in an electrical cabinet of the vehicle, as shown in fig. 5.
The main function of the laser radar and the camera is to detect the connected vehicles in front of the rolling stock and the obstacles. The millimeter wave radar can be used for detecting moving targets (such as other locomotives or moving carriages) in front of locomotives and measuring the speed of the locomotives, but after the locomotives are connected, the speed measuring function can be affected because of the shielding of the carriages, so that a wheel speed sensor is also needed to realize reliable measurement of the speed of the locomotives. The main function of the positioning system (RTK or UWB etc.) is to determine the exact position of the rolling stock, in particular on which track and whether to enter the hitch area.
After the installation is completed, the sensor needs to be calibrated in a combined way to obtain the camera external parameters (the camera external parameters are the conversion relation of converting a radar coordinate system into a camera coordinate system and mainly relate to the relative position relation of the radar and the camera).
Since the vehicle-mounted device is mounted on the rolling stock, the vehicle-mounted computer firstly determines the accurate position of the vehicle-mounted device through the positioning system, then determines the position of the front track through the camera image and the deep learning technology, detects whether the front is provided with the hung carriage, the person or the obstacle, obtains the distance of the hung carriage, the person or the obstacle through the laser radar when the front is detected, assists a driver (or directly controls the vehicle) to complete the hanging or braking, and obtains the speed of the current vehicle through the millimeter wave radar or the wheel speed sensor in the hanging or braking process so as to ensure that the vehicle approaches the hung vehicle, the person or the obstacle at a reasonable speed, as shown in fig. 6.
The invention utilizes the positioning system of the vehicle-mounted equipment to determine the accurate position of the vehicle-mounted equipment, and determines whether the front area is prevented from entering according to the track line map built in the vehicle-mounted equipment. In the case of a non-connected trailer, the vehicle-mounted device can also recognize a specific type of signboard in an image recognition mode to determine whether to prohibit the vehicle from entering. If the vehicle is prevented from entering in front, the driver is warned, or the vehicle is directly controlled to brake, so that the vehicle is prevented from entering the no-go area.
Based on any of the above embodiments, the interlock system interface includes an interface computer and a 4G/5G wireless communication module;
the interface computer is used for calculating and obtaining a switch approach automatic identification result based on the switch state;
the 4G/5G wireless communication module is used for sending the state of the switch machine to the vehicle-mounted equipment.
Specifically, the interlocking system interface mainly comprises an interface computer and a 4G/5G wireless communication module, acquires the positioning/reverse state of the turnout from the interlocking system, and then sends the positioning/reverse state to the rolling stock through 4G/5G wireless communication, as shown in fig. 7.
The interlocking system interface is directly connected with an interlocking system positioned on the ground to acquire the state of the turnout point switch, and the state is transmitted to a rolling stock through 4G/5G wireless communication, so that the vehicle-mounted equipment can realize automatic identification of the turnout approach. For the turnout without realizing the interface of the interlocking system, the vehicle-mounted equipment can also realize the identification of the state of the signal machine in an image identification mode, thereby realizing the automatic identification of the entrance of the turnout. After the direction of the approach of the turnout is identified, the vehicle can pass through the turnout at a reasonable speed according to the detection conditions of the trackside equipment and the vehicle-mounted equipment on the direction of the approach.
The invention obtains the state of the front turnout switch machine by using the interface of the interlocking system, and then sends the state to the locomotive vehicle, so that the on-board equipment can realize the automatic identification of the turnout approach. Under the condition that the trailer carriage is not connected, the vehicle-mounted equipment can also recognize the state of the signal machine in an image recognition mode, so that the automatic recognition of the turnout approach is realized. After identifying the direction of approach of the switch, the vehicle can detect the track area in the direction of approach by using the trackside equipment and the vehicle-mounted equipment and then pass through the switch at a reasonable speed.
Fig. 8 is a schematic flow chart of an auxiliary protection method for train link grouping, as shown in fig. 8, including:
s1, acquiring an auxiliary protection strategy of a train through linkage among trackside equipment, vehicle-mounted equipment and an interlocking system interface;
s2, automatic connection of a carriage of a locomotive, detection and automatic protection of people or obstacles, automatic identification of a turnout approach and automatic protection of a forbidden road section are respectively realized based on a train auxiliary protection strategy.
Specifically, the invention utilizes the trackside equipment, the vehicle-mounted equipment and the interlocking system interface to respectively realize automatic connection of carriages, automatic protection of personnel or obstacles, automatic identification of turnout routes and automatic protection of forbidden road sections under the condition that a plurality of carriages are connected with a locomotive for pushing and advancing or no carriage is connected with a trailer.
Based on any of the above embodiments, the automatic coupling of the carriages of the rolling stock is realized based on the train auxiliary protection strategy, including:
determining, by the trackside apparatus, a connected trailer box position and a connected trailer box position;
transmitting the connected trailer position and the connected trailer position to a locomotive vehicle through a 4G/5G wireless communication module;
the locomotive determines a track where the locomotive is located and a position where the locomotive is located through a positioning system of the vehicle-mounted equipment, judges whether the locomotive and a connected trailer are on the same track or not based on the track where the locomotive is located and the position where the locomotive is located, and calculates a distance between the locomotive and the connected trailer;
and assisting the driver to finish the vehicle connection or controlling the vehicle to finish the connection based on the judging result and the distance.
Specifically, in the case that the rolling stock is already connected with the trailer, the processing steps are as follows:
1) The trackside equipment scans a specific area through a laser radar to obtain a real-time scanning point cloud;
2) The point cloud is processed by the trackside equipment, whether a carriage, a person or an obstacle exists in the point cloud is detected, and if the carriage, the person or the obstacle exists in the point cloud, the track and the accurate position are determined according to a preset track position relation;
3) The trackside equipment transmits the tracks and positions of carriages, personnel or obstacles to the vehicle-mounted equipment through 4G/5G wireless communication, and the carriage positions comprise a connected carriage and a connected carriage;
4) The vehicle-mounted equipment obtains the accurate position of the vehicle-mounted equipment from the positioning system, and judges whether the vehicle-mounted equipment is on the same track with a carriage, a person or an obstacle to be hung according to the position;
5) If the two adjacent carriages are on the same track, calculating the accurate distance and reasonable approaching speed between the connected carriage and the connected carriage, personnel or obstacle according to the position reported by the trackside equipment;
6) If the vehicle-mounted equipment knows the total length of the connected carriages, the position of the connected carriages can be calculated according to the position of the rolling stock obtained by the positioning system, then the accurate distance between the two carriages is calculated according to the position of the connected carriages, personnel or obstacles reported by the trackside equipment, and finally the reasonable approaching speed is calculated;
7) The vehicle-mounted device obtains the speed of the current vehicle through the wheel speed sensor, compares the speed with the approaching speed, sends out a deceleration or acceleration instruction, and assists a driver (or directly controls the vehicle) to finish the connection or braking.
The invention solves the problem that the sight of a driver is blocked by the connected trailer box and the distance between the driver and the connected trailer box, personnel or obstacles can not be obtained under the condition that the locomotive is connected with the trailer box and pushed forward, and does not need the command of a second person except the driver and the connecting and pushing process. Under the condition that the vehicle-mounted equipment can directly control the rolling stock, full automation of the connecting and pushing processes can be realized, and personnel intervention is not needed.
Based on any of the above embodiments, the detection and automatic protection of people or obstacles of a rolling stock based on a train auxiliary protection strategy includes:
the vehicle-mounted equipment determines the position of the vehicle-mounted equipment through a positioning system;
determining the track position in front of running through a camera image and a deep learning algorithm, detecting whether a connected carriage, a person or an obstacle exists in front of the running, if so, obtaining an accurate distance through a laser radar, and calculating an approaching speed based on the accurate distance;
the current vehicle speed of the rolling stock is obtained through a millimeter wave radar or a wheel speed sensor, the current vehicle speed is compared with the approaching speed, and a driver or a control vehicle is assisted to finish the coupling or braking.
Specifically, the invention judges whether a person or an obstacle exists or not according to the road condition in front of running of a locomotive which is not connected with a trailer, and specifically comprises the following implementation steps:
1) Firstly, the vehicle-mounted equipment determines the accurate position of the vehicle-mounted equipment through a positioning system;
2) Determining the position of a front track through a camera image and a deep learning technology, and detecting whether a hung carriage, a person or an obstacle exists in front;
3) When the connected carriage, personnel or obstacles are detected, obtaining an accurate distance through a laser radar;
4) Calculating reasonable approaching speed according to the distance between the connected carriage, the person or the obstacle;
5) The speed of the current vehicle is acquired through a millimeter wave radar or a wheel speed sensor, and compared with the approaching speed, the vehicle is assisted by a driver (or directly controlled to the vehicle) to finish the coupling or braking.
According to the invention, under the condition that the rolling stock is not connected with the trailer carriage, the distance between the rolling stock and the front connected carriage, personnel or obstacles can be automatically detected, and then the rolling stock is controlled to approach the connected trailer carriage at a reasonable speed to complete the connection, or the rolling stock is braked in time to avoid collision accidents, so that the full automation of the connection and the running process is realized, and the intervention of personnel is not required.
Based on any of the above embodiments, the automatic identification of the switch approach is realized based on the auxiliary protection strategy of the train, including:
the vehicle-mounted equipment determines the position of the vehicle-mounted equipment through a positioning system and determines the turnout number in front of the track;
the vehicle-mounted equipment obtains the state of the turnout switch machine corresponding to the turnout number from the interlocking system interface through a 4G/5G wireless communication module, or obtains the state of a front signal machine through image recognition when a carriage is not connected;
the vehicle-mounted device realizes automatic identification of a turnout approach based on the turnout switch state or the front signal state.
Specifically, the method for identifying the switch approach comprises the following specific steps:
1) The vehicle-mounted equipment firstly determines the accurate position of the vehicle-mounted equipment through a positioning system, and determines the turnout number in front of the track;
2) The vehicle-mounted equipment requests the switch state of the corresponding number to the interlocking system interface through 4G/5G wireless communication;
3) The interlocking system interface inquires the state of the turnout switch machine from the interlocking system and then sends the state to the vehicle-mounted equipment through 4G/5G wireless communication;
4) After receiving the state of the switch machine, the vehicle-mounted equipment realizes the automatic identification of the switch route;
5) If the carriage is not connected, the vehicle-mounted equipment can also realize the identification of the state of the signal machine directly through an image identification mode, so that the automatic identification of the turnout approach is realized, and the positioning system and the trackside equipment are not relied on under the condition;
6) If the rolling stock is not connected with the trailer, the vehicle-mounted equipment detects the route and confirms whether the carriage, personnel or obstacles exist. If the rolling stock is already connected with the trailer carriage, the vehicle-mounted equipment inquires the nearest carriage, personnel or obstacles from the trackside equipment responsible for monitoring the approach;
7) According to the acquired carriage, personnel or obstacle information, the vehicle-mounted equipment calculates reasonable vehicle running speed and passes through the turnout.
As shown in fig. 9, the vehicle recognizes that the vehicle is about to enter the route 2, and the route 2 is free of cars, persons and obstacles, the vehicle can pass through the switch at a high speed.
The invention can automatically identify the approach direction of the front turnout, and the rolling stock can identify the approach direction of the rolling stock when approaching the turnout no matter whether the rolling stock is connected or not, thereby detecting and protecting the rolling stock, personnel or obstacles in the approach direction and passing through the turnout at reasonable speed.
Based on any of the above embodiments, implementing automatic protection of the no-go road section based on the train auxiliary protection policy includes:
the vehicle-mounted equipment determines the position of the vehicle-mounted equipment through a positioning system, determines the advancing direction of the vehicle, and identifies the switch access if a switch exists in front of the vehicle-mounted equipment;
the vehicle-mounted equipment queries a built-in track line map to confirm whether the vehicle can pass or not, or recognizes the restricted-line signboard through image recognition;
when the front forbidden running is confirmed, the warning is given to the driver or the vehicle is controlled to brake.
Specifically, the implementation steps of the invention for protecting the restricted road section are as follows:
1) The vehicle-mounted equipment firstly determines the accurate position of the vehicle through a positioning system, determines the advancing direction of the vehicle, and identifies the turnout approach if a turnout is arranged in front of the vehicle;
2) The vehicle-mounted equipment inquires a built-in track line map to confirm whether the vehicle-mounted equipment can pass through;
3) Under the condition that the trailer carriage is not connected, the vehicle-mounted equipment can identify the limit sign board in an image identification mode to confirm whether the vehicle is limited to enter;
4) When the front forbidden pass is confirmed, the driver is warned, or the vehicle is directly controlled to brake, so that the vehicle is prevented from driving into a forbidden area.
Here, since the in-vehicle device embeds the track route map, the area where the own vehicle is prohibited from traveling is identified in the map. The vehicle-mounted equipment determines the accurate position of the vehicle-mounted equipment through the positioning system, and alarms a driver when the vehicle is about to drive into the forbidden area, or directly controls the vehicle to brake so as to avoid the vehicle from driving into the forbidden area. If the carriage is not connected, the vehicle-mounted equipment can also recognize the specific type of signboard in an image recognition mode, and when the vehicle-mounted equipment recognizes the signboard which is forbidden to drive in, the vehicle-mounted equipment alarms a driver or directly controls the vehicle to brake so as to avoid the vehicle from driving in a forbidden area, as shown in fig. 10.
The invention can protect the road section where the rolling stock is forbidden to pass, and prevent the rolling stock from entering the road section where the rolling stock is forbidden to drive in, thereby realizing the automatic protection of the forbidden road section.
Based on any of the above embodiments, the method further comprises:
based on the automatic continuous hanging of the carriage, the detection and automatic protection of people or barriers, the automatic identification of switch approaches and the automatic protection of forbidden road sections, the full-automatic driving of rolling stock is realized.
Specifically, the invention can realize the full-automatic driving control of the vehicle on the basis of comprehensively realizing the automatic connection of the carriage, the detection and the automatic protection of people or barriers, the automatic identification of turnout approaches and the automatic protection of forbidden road sections, and comprises the following steps:
1) The vehicle receives instructions of connection, pushing, oiling or warehousing from a dispatching center, wherein the instructions comprise specific path information;
2) The vehicle-mounted equipment detects a carriage, a person or an obstacle in front of the track, and when the carriage is connected, the vehicle-mounted equipment detects the carriage, the person or the obstacle in front of the track by means of the trackside equipment;
3) When the switch is encountered, the vehicle-mounted device acquires the approach direction of the switch by means of the interface of the interlocking system, if the trailer carriage is not connected. The vehicle-mounted equipment can also directly identify the state of the annunciator to acquire the route direction, and then detect the carriage, personnel or obstacles in the route direction;
4) When encountering a carriage, a person or an obstacle, the vehicle-mounted equipment calculates reasonable approaching speed according to the distance, and completes automatic connection and hanging of the carriage and automatic protection of the person or the obstacle;
5) For the road section which is prevented from being driven in, the vehicle-mounted device determines whether normal running can be continued or not through a positioning system and a preset track route map. Under the condition that the trailer carriage is not connected, the vehicle-mounted equipment can also determine whether the traffic can be normally carried out or not through identifying the restricted traffic sign, so that the automatic protection of the restricted traffic road section is realized.
The invention can make the rolling stock have the capability of fully automatic driving, can automatically complete a series of operations such as linking, pushing, oiling, warehousing and the like, automatically protect obstacles, automatically identify turnout routes, automatically protect forbidden road sections and do not need personnel to intervene.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: 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 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 (8)
1. The train coupling and grouping auxiliary protection method is applied to a train coupling and grouping auxiliary protection system and is characterized by comprising the following steps of: the system comprises trackside equipment, vehicle-mounted equipment and an interlocking system interface;
the track-side equipment is arranged on an electric pole or a lamp bridge beside the track and is used for judging the relative position of the rolling stock and the target to be approached by scanning a preset track area and sending the relative position to the vehicle-mounted equipment; the target to be approached comprises a connected trailer box;
the vehicle-mounted equipment is arranged on the rolling stock and is used for judging whether the target to be approached exists in front of the running of the rolling stock, so that the rolling stock approaches the target to be approached at a preset speed and is matched with the trackside equipment to finish the connection or braking of the rolling stock;
the interlocking system interface is connected with an interlocking system positioned on the ground and is used for acquiring a switch route automatic identification result, and the switch route automatic identification result is sent to the vehicle-mounted equipment through 4G/5G wireless communication so that the vehicle-mounted equipment can determine switch passing operation;
the trackside equipment comprises a laser radar, a 4G/5G wireless communication module and a trackside computer;
the laser radar is used for scanning the preset track area;
the 4G/5G wireless communication module is used for sending the track information of the preset track area and the position information of the target to be approached to the vehicle-mounted equipment;
the trackside computer is used for calculating and obtaining the relative position according to the preset accurate position of the laser radar and the relative position relation between the laser radar and the covered track;
the method comprises the following steps:
acquiring an auxiliary protection strategy of the train through linkage among the trackside equipment, the vehicle-mounted equipment and the interlocking system interface;
the automatic coupling or braking of a carriage of a locomotive vehicle, the detection and automatic protection of people or obstacles, the automatic identification of a turnout approach and the automatic protection of a forbidden road section are respectively realized based on a train auxiliary protection strategy;
the method for realizing automatic coupling or braking of the carriage of the rolling stock based on the train auxiliary protection strategy comprises the following steps:
the trackside equipment detects whether a carriage, a person or an obstacle exists in the preset track area or not based on the point cloud output by the laser radar, and determines the coverage track and the position thereof according to the preset accurate position of the laser radar and the relative position relation between the laser radar and the coverage track under the condition that the carriage, the person or the obstacle exists in the preset track area; the carriages comprise the connected carriage and the connected carriage;
the trackside equipment sends the covered track and the position of the covered track to the vehicle-mounted equipment through the 4G/5G wireless communication module;
the vehicle-mounted equipment determines that the connected trailer carriage and the connected carriage, personnel or obstacles are on the same track based on the position of the locomotive vehicle, the covered track and the position of the covered track, calculates the distance between the connected trailer carriage and the connected carriage, personnel or obstacles, and assists a driver to finish connecting or braking.
2. The train hitch-grouped auxiliary protection method according to claim 1, wherein the vehicle-mounted equipment comprises a laser radar, a camera, a millimeter wave radar, a speed measuring device, a positioning system, a 4G/5G wireless communication module and a vehicle-mounted computer;
the laser radar and the camera are arranged at the vehicle head end of the rolling stock and are used for detecting the target to be approached in front of the running of the rolling stock;
the millimeter wave radar is arranged at the lower part of the front end of the rolling stock and is used for detecting the target to be approached and measuring the speed of the rolling stock;
the speed measuring device is arranged on an axle of the locomotive and is used for acquiring the speed of the locomotive according to the rotation speed of wheels;
the positioning system is arranged on the roof of the rolling stock and used for determining the accurate position of the rolling stock;
the 4G/5G wireless communication module is used for communicating with the trackside equipment;
the vehicle-mounted computer is arranged in an electric cabinet of the locomotive and is used for calculating and obtaining the speed of the locomotive based on information sent by the speed measuring device and calculating and obtaining the accurate position based on information sent by the positioning system.
3. The train hitch-grouped auxiliary protection method of claim 1, wherein the interlock system interface comprises an interface computer and a 4G/5G wireless communication module;
the interface computer is used for calculating and obtaining a switch approach automatic identification result based on the switch state;
the 4G/5G wireless communication module is used for sending the state of the switch machine to the vehicle-mounted equipment.
4. The train hitch-grouped auxiliary protection method according to claim 1, wherein the automatic hitch of the carriages of the rolling stock is realized based on the train auxiliary protection strategy, comprising:
determining, by the trackside apparatus, a connected trailer box position and a connected trailer box position;
transmitting the connected trailer position and the connected trailer position to a locomotive vehicle through a 4G/5G wireless communication module;
the locomotive determines a track where the locomotive is located and a position where the locomotive is located through a positioning system of the vehicle-mounted equipment, judges whether the locomotive and a connected trailer are on the same track or not based on the track where the locomotive is located and the position where the locomotive is located, and calculates a distance between the locomotive and the connected trailer;
and assisting the driver to finish the vehicle connection or controlling the vehicle to finish the connection based on the judging result and the distance.
5. The train-on-consist auxiliary protection method according to claim 1, wherein the detection and automatic protection of people or obstacles of rolling stock are realized based on a train auxiliary protection strategy, comprising:
the vehicle-mounted equipment determines the position of the vehicle-mounted equipment through a positioning system;
determining the track position in front of running through a camera image and a deep learning algorithm, detecting whether a connected carriage, a person or an obstacle exists in front of the running, if so, obtaining an accurate distance through a laser radar, and calculating an approaching speed based on the accurate distance;
the current vehicle speed of the rolling stock is obtained through a millimeter wave radar or a wheel speed sensor, the current vehicle speed is compared with the approaching speed, and a driver or a control vehicle is assisted to finish the coupling or braking.
6. The method of auxiliary protection for a train hitch group of claim 1, wherein the automatic identification of switch routes based on the auxiliary protection strategy for trains is achieved, comprising:
the vehicle-mounted equipment determines the position of the vehicle-mounted equipment through a positioning system and determines the turnout number in front of the track;
the vehicle-mounted equipment obtains the state of the turnout switch machine corresponding to the turnout number from the interlocking system interface through a 4G/5G wireless communication module, or obtains the state of a front signal machine through image recognition when a carriage is not connected;
the vehicle-mounted device realizes automatic identification of a turnout approach based on the turnout switch state or the front signal state.
7. The method for assisting in protecting a train link grouping according to claim 1, wherein the method for automatically protecting a forbidden road section based on a train assisting protecting strategy comprises the steps of:
the vehicle-mounted equipment determines the position of the vehicle-mounted equipment through a positioning system, determines the advancing direction of the vehicle, and identifies the switch access if a switch exists in front of the vehicle-mounted equipment;
the vehicle-mounted equipment queries a built-in track line map to confirm whether the vehicle-mounted equipment can pass or not, or recognizes the restricted identification plate through image recognition;
when the front forbidden running is confirmed, the warning is given to the driver or the vehicle is controlled to brake.
8. The method of auxiliary protection for a train hitch group of claim 1, further comprising:
based on the automatic continuous hanging of the carriage, the detection and automatic protection of people or barriers, the automatic identification of switch approaches and the automatic protection of forbidden road sections, the full-automatic driving of rolling stock is realized.
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| CN108263440B (en) * | 2016-12-30 | 2020-03-31 | 比亚迪股份有限公司 | Switch interlocking protection device and switch system |
| CN110497939B (en) * | 2019-07-16 | 2022-01-28 | 北京埃福瑞科技有限公司 | Rail transit anti-collision detection system and method |
| CN110371165A (en) * | 2019-07-26 | 2019-10-25 | 卡斯柯信号有限公司 | A method of for ITCS mobile unit autonomous classification route |
| CN210852472U (en) * | 2019-09-29 | 2020-06-26 | 北京埃福瑞科技有限公司 | Trackside anticollision check out test set |
| CN111898460A (en) * | 2020-07-08 | 2020-11-06 | 中国神华能源股份有限公司神朔铁路分公司 | Locomotive auxiliary trailer system, method, device, equipment and storage medium |
| CN112009524B (en) * | 2020-07-15 | 2022-06-07 | 北京埃福瑞科技有限公司 | System and method for tramcar obstacle detection |
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