CN113479239A - Rail vehicle and obstacle detection method and system thereof - Google Patents
Rail vehicle and obstacle detection method and system thereof Download PDFInfo
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- CN113479239A CN113479239A CN202110705657.8A CN202110705657A CN113479239A CN 113479239 A CN113479239 A CN 113479239A CN 202110705657 A CN202110705657 A CN 202110705657A CN 113479239 A CN113479239 A CN 113479239A
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- 230000007246 mechanism Effects 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 abstract description 20
- 230000008569 process Effects 0.000 description 6
- 230000002265 prevention Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
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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 vehicle trains
- B61L23/04—Control, warning, or like safety means along the route or between vehicles or vehicle trains for monitoring the mechanical state of the route
- B61L23/041—Obstacle detection
Abstract
The invention discloses a rail vehicle and a method and a system for detecting obstacles thereof, wherein the effectiveness of a collision event is judged according to the magnitude and duration of a detected signal of the obstacles, so that the phenomenon of false alarm caused by the fact that the pushed-away obstacles do not influence the driving and give an alarm is avoided, the accuracy of obstacle detection is improved, the reliability of braking control when the obstacles collide is ensured, the safety performance of the vehicle is improved, and the influence range of collision faults of the obstacles is reduced; in addition, the host machine adopts a two-by-two architecture, so that the reliability of the barrier detection system is improved, and the safety performance of the vehicle is further improved; and the brake is detected, the effectiveness of the output brake signal is ensured, the closed loop feedback and fault self-checking of the obstacle detection system are realized, and the safety performance of the vehicle is further ensured.
Description
Technical Field
The invention belongs to the technical field of rail transit obstacle detection, and particularly relates to a rail vehicle and an obstacle detection method and system thereof.
Background
The transportation of the rail vehicles has the characteristics of large transportation amount, low energy consumption, high safety, convenience, all-weather transportation and the like, and the rail vehicles are used as very important basic transportation facilities in many countries in the world. Meanwhile, with the development of urban rail transit technology, some big cities at home and abroad propose to build full-automatic unmanned subway trains, and the running efficiency is improved. Considering that a train has a high speed and a large inertia in the running process and the condition of a road surface in rail transportation is relatively complex, it is very necessary to deeply research the safety problem of a rail vehicle transportation system, particularly the driving safety problem of the train, and obstacle detection is one of important technologies.
At present, a non-contact detection device is researched at home and abroad and used as a future direction of obstacle detection, but the non-contact detection device cannot be widely applied due to the reasons of limited prior art, insufficient reliability and the like, and meanwhile, the contact detection device is considered to be more outstanding in reliability in consideration of urban rail transit transportation characteristics, namely the running speed of a train is within the range of 0-100km/h, the reliability of a non-contact detection mode is insufficient, when an obstacle is light, the detection device can pop the obstacle out of a running rail surface through slight collision, and when the obstacle is heavy, a normal trigger mechanism can be started to trigger train braking, so that accidents are avoided or worsened.
For example, the granted publication No. CN209305590U entitled an obstacle detection device includes an obstacle removing beam, two detectors are respectively disposed on two ends of the obstacle removing beam, a safety protection cover is disposed on the detectors, a fixed support is connected to the back of the safety protection cover, and the fixed support is fixedly connected to a bogie at the front end of a train; the bogie at the front end of the train is provided with an electrical connection box, the electrical connection box is electrically connected with the detector, and the electrical connection box is in communication connection with a braking system or a central control system of the train. When the obstacle is smaller, the small obstacle is swept through the obstacle removing beam, when the mass of the obstacle is larger than the set obstacle impact force, the spring plate connected with the obstacle removing beam deforms, the trigger rod is driven by the trigger plate to generate an inclination angle different from the vertical axis, when the inclination angle is larger than 5 degrees, the normally closed contact is opened, the normally open contact is closed, the obstacle is detected, and the train is emergently braked.
However, the obstacle detection device is not designed with false alarm prevention measures or is designed with incomplete false alarm prevention measures, and false alarms are easily caused.
Disclosure of Invention
The invention aims to provide a rail vehicle and a method and a system for detecting obstacles of the rail vehicle, so as to solve the problem of false alarm of the conventional obstacle detection device.
In a first aspect, the invention provides a rail vehicle obstacle detection method, wherein a barrier removing beam is arranged at the front end of a support of a vehicle bogie corresponding to each cab, two ends of each barrier removing beam are respectively provided with a detection box, each detection box is electrically connected with a corresponding obstacle detection system host, and each obstacle detection system host is in communication connection with a vehicle network control system; the detection method comprises the following steps:
acquiring occupied information of a cab and direction information of a direction handle;
acquiring a corresponding obstacle detection signal;
and judging whether the size of the obstacle detection signal is larger than a set energy threshold value or not, and whether the duration time of the obstacle detection signal is larger than set time or not, if so, generating an obstacle collision event, sending an alarm information and simultaneously sending an emergency braking signal to the vehicle network control system, and controlling the vehicle to perform emergency braking.
Furthermore, the CPU on the host of the obstacle detection system adopts a two-by-two architecture, when two CPUs on the host of a single set of obstacle detection system simultaneously judge that an obstacle collision event occurs, alarm information is sent out, and an emergency braking signal is sent to the vehicle network control system.
Further, the detection method further comprises a step of detecting the brake signal, and the specific implementation process is as follows:
obtaining a braking instruction sent to a braking execution mechanism by the vehicle network control system;
and comparing the braking instruction with the emergency braking signal, if the braking instruction is the same as the emergency braking signal, braking normally, otherwise, braking abnormally.
In a second aspect, the invention further provides a rail vehicle obstacle detection system, which comprises an obstacle removing beam, a detection box, an alarm module and a host; the front end of a bracket of a vehicle bogie corresponding to each cab is provided with an obstacle removing beam, two ends of each obstacle removing beam are respectively provided with a detection box, each detection box and an alarm module are electrically connected with a corresponding host, and each host is in communication connection with a vehicle network control system;
the host is used for:
acquiring occupied information of a cab and direction information of a direction handle;
acquiring a corresponding obstacle detection signal;
and judging whether the size of the obstacle detection signal is larger than a set energy threshold value or not, judging whether the duration time of the obstacle detection signal is larger than set time or not, if so, generating an obstacle collision event, controlling a corresponding alarm module to send alarm information, and simultaneously sending an emergency braking signal to the vehicle network control system to control the vehicle to perform emergency braking.
Further, two obstacle detection sensors are arranged in each detection box.
Furthermore, the host is electrically connected with the alarm module through a DIO interface module.
Furthermore, the host is electrically connected with the cab occupation relay and the direction handle through the hard-line interface.
Furthermore, the CPU on the host adopts a two-by-two architecture, when two CPUs on the host of the single set of obstacle detection system simultaneously judge that an obstacle collision event occurs, alarm information is sent out, and an emergency braking signal is sent to the vehicle network control system.
Further, the host is further configured to:
obtaining a braking instruction sent to a braking execution mechanism by the vehicle network control system;
and comparing the braking instruction with the emergency braking signal, if the braking instruction is the same as the emergency braking signal, braking normally, otherwise, braking abnormally.
In a third aspect, the invention further provides a rail vehicle comprising the rail vehicle obstacle detection system of the second aspect.
Advantageous effects
Compared with the prior art, the invention has the advantages that:
according to the rail vehicle and the obstacle detection method and system thereof provided by the invention, the effectiveness of the collision event is judged according to the size and duration of the obstacle detection signal, so that the phenomenon of false alarm caused by the fact that the pushed away obstacle does not influence the driving and gives an alarm is avoided, the accuracy of obstacle detection is improved, the reliability of braking control when the obstacle collision occurs is ensured, the safety performance of the vehicle is improved, and the influence range of the obstacle collision fault is reduced; the CPU on the host adopts a two-by-two architecture, so that the reliability of the barrier detection system is improved, and the safety performance of the vehicle is further improved; the brake is also detected, the effectiveness of the output brake signal is ensured, the closed loop feedback and fault self-checking of the obstacle detection system are realized, and the safety performance of the vehicle is further ensured;
the invention is designed from the aspects of overall architecture design, alarm principle, false alarm prevention measures and the like, realizes emergency braking and vehicle control in the event of barrier collision, and provides a reliable vehicle control scheme for a vehicle passive barrier detection system.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a flow chart of a rail vehicle obstacle detection method in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a rail vehicle obstacle detection system in an embodiment of the present invention;
FIG. 3 is a flow chart of brake signal detection in an embodiment of the present invention;
fig. 4 is an overall topology of a rail vehicle obstacle detection system in an embodiment of the invention.
Detailed Description
The technical solutions in the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical solution of the present application will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
In a first aspect, as shown in fig. 1, in the rail vehicle obstacle detection method provided in this embodiment, a barrier removing beam is disposed at a front end of a bracket of a vehicle bogie corresponding to each cab, a detection box is disposed at each end of each barrier removing beam, each detection box is electrically connected to a corresponding obstacle detection system host, and each obstacle detection system host is in communication connection with a vehicle network control system TCMS, as shown in fig. 2, the front end of the bracket of the vehicle bogie is an end close to a forward direction in a running process.
The detection method comprises the following steps:
1. acquiring occupied information of the cab and direction information of the direction handle.
Rail vehicle, for example subway train, generally is equipped with two driver's cabins, and subway train need not turn around under the circumstances of normal operation, only need transfer traffic direction. Therefore, a row of barrier beams are arranged at the front end of the bracket of the vehicle bogie corresponding to each cab, and the rail vehicle is provided with two sets of barrier detection systems.
Assuming that the two cabs are a first cab and a second cab respectively, when the first cab is occupied, the host receives the occupied information of the first cab; when the direction handle is forward, the host receives the direction information of the direction handle, and then the obstacle detection system corresponding to the first cab works; when the first cab is occupied and the direction handle is backward, the obstacle detection system corresponding to the second cab works; when the second cab is occupied and the direction handle is forward, the obstacle detection system corresponding to the second cab works; when the second cab is occupied and the direction handle is backward, the obstacle detection system corresponding to the first cab works.
2. A corresponding obstacle detection signal is acquired.
The method comprises the steps that which obstacle detection system works is determined according to occupied information of a cab and direction information of a direction handle, a detection box of the obstacle detection system feeds detection signals back to a corresponding host, and the host acquires the obstacle detection signals and judges the obstacle detection signals.
3. Obstacle detection signal determination process
And judging whether the size of the obstacle detection signal is larger than a set energy threshold value or not, and whether the duration time of the obstacle detection signal is larger than set time or not, if so, generating an obstacle collision event, sending an emergency braking signal to a vehicle network control system while sending alarm information, and controlling the vehicle to perform emergency braking.
When the barrier is light or small, the barrier can be pushed away by the barrier removing beam without influencing driving, the duration of the barrier detection signal is short, and alarm information and emergency braking information cannot be sent out; when the barrier is heavier or bigger, the barrier can not be pushed away by the barrier removing beam to influence the driving, and the duration of the barrier detection signal is long, so that the influence of the barrier on the driving is detected through the size and the duration of the barrier detection signal, and the effectiveness of a collision event is ensured.
In this embodiment, the set time is set according to the time for a lighter or smaller obstacle to be pushed away, and is specifically 0.3 s. The magnitude of the obstacle detection signal is the magnitude of the impact energy at the time of collision with the obstacle, the set energy threshold is set according to the impact force and displacement, and the set energy threshold on one side is 18J.
The CPU on the host adopts a two-by-two architecture, namely, two identical CPUs are adopted on the board card of each set of system host for data processing, when two CPUs of a single set of obstacle detection system simultaneously judge that an obstacle collision event occurs, alarm information is sent out, and meanwhile, an emergency braking signal is sent to a vehicle network control system, so that the driving safety and reliability are further improved.
4. The brake signal is detected, and the specific implementation process is as follows:
the method comprises the steps that a host computer obtains a braking instruction sent to a braking execution mechanism by a vehicle network control system;
and comparing the braking instruction with the emergency braking signal, if the braking instruction is the same as the emergency braking signal, braking normally, and otherwise, braking abnormally, so that closed-loop feedback and fault self-checking of the obstacle detection system are realized, as shown in fig. 3.
In a second aspect, the rail vehicle obstacle detection system provided by the embodiment comprises an obstacle removing beam, a detection box, an alarm module and a host; the front end of the bracket of the vehicle bogie corresponding to each cab is provided with an obstacle removing beam, two ends of each obstacle removing beam are respectively provided with a detection box, each detection box and the alarm module are electrically connected with the corresponding host, and each host is in communication connection with a vehicle network control system, as shown in fig. 2 and 4.
The host is used for: acquiring occupied information of a cab and direction information of a direction handle; acquiring a corresponding obstacle detection signal; and judging whether the size of the obstacle detection signal is larger than a set energy threshold value or not, and whether the duration time of the obstacle detection signal is larger than set time or not, if so, generating an obstacle collision event, and sending an emergency braking signal to a vehicle network control system while controlling a corresponding alarm module to send alarm information so as to control the vehicle to perform emergency braking.
In this embodiment, the host is installed in an electrical cabinet of a vehicle, and a redundant DC110V control power supply is further provided in the electrical cabinet to provide power for the obstacle detection system. The host computer passes through DIO interface module and alarm module electric connection, and the host computer occupies relay, direction handle electric connection through hard-line interface and driver's cabin. The alarm module is a buzzer and/or an indicator light.
In this embodiment, two obstacle detection sensors are provided in each detection box, a DIO interface module is used to define the alarm state of the two obstacle detection sensors in the left and right detection boxes when they collide, and the alarm logic is shown in table 1.
TABLE 1 alarm state in case of collision of two obstacle detecting sensors in left and right end detection boxes (0 represents initial state, 1 represents action state, EB represents generation of emergency braking signal)
In order to improve the reliability of information acquisition, the occupied information of the cab and the direction information of the direction handle are acquired through the hard-wired interface, which is defined as the hard-wired interface shown in table 2.
TABLE 2 hard-wired interface definitions
The CPU on the host adopts a two-by-two architecture, namely two identical CPUs are adopted on the host board card of each set of system for data processing, when two CPUs of a single set of obstacle detection system simultaneously judge that an obstacle collision event occurs, alarm information is sent out, and meanwhile, an emergency braking signal is sent to a vehicle network control system, so that the driving safety and reliability are further improved.
In this embodiment, the host is further configured to: obtaining a braking instruction sent to a braking execution mechanism by a vehicle network control system; and comparing the braking instruction with the emergency braking signal, if the braking instruction is the same as the emergency braking signal, braking normally, and otherwise, braking abnormally, so that closed-loop feedback and fault self-checking of the obstacle detection system are realized, as shown in fig. 3.
The above disclosure is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of changes or modifications within the technical scope of the present invention, and shall be covered by the scope of the present invention.
Claims (10)
1. A rail vehicle obstacle detection method is characterized in that an obstacle removing beam is arranged at the front end of a support of a vehicle bogie corresponding to each cab, a detection box is arranged at each of two ends of the obstacle removing beam, each detection box is electrically connected with a corresponding obstacle detection system host, and each obstacle detection system host is in communication connection with a vehicle network control system; the detection method comprises the following steps:
acquiring occupied information of a cab and direction information of a direction handle;
acquiring a corresponding obstacle detection signal;
and judging whether the size of the obstacle detection signal is larger than a set energy threshold value or not, and whether the duration time of the obstacle detection signal is larger than set time or not, if so, generating an obstacle collision event, sending an alarm information and simultaneously sending an emergency braking signal to the vehicle network control system, and controlling the vehicle to perform emergency braking.
2. The method according to claim 1, wherein the CPU of the host computer of the obstacle detection system adopts a two-by-two architecture, and when two CPUs of the host computers of a single set of obstacle detection system simultaneously determine that an obstacle collision event occurs, an alarm message is sent out, and an emergency braking signal is sent to the vehicle network control system.
3. A rail vehicle obstacle detection method according to claim 1 or 2, further comprising the step of detecting a braking signal, by:
obtaining a braking instruction sent to a braking execution mechanism by the vehicle network control system;
and comparing the braking instruction with the emergency braking signal, if the braking instruction is the same as the emergency braking signal, braking normally, otherwise, braking abnormally.
4. A rail vehicle obstacle detection system comprises an obstacle removing cross beam, a detection box, an alarm module and a host; the system is characterized in that the front end of a bracket of a vehicle bogie corresponding to each cab is provided with an obstacle removing beam, two ends of each obstacle removing beam are respectively provided with a detection box, each detection box and an alarm module are electrically connected with a corresponding host, and each host is in communication connection with a vehicle network control system;
the host is used for:
acquiring occupied information of a cab and direction information of a direction handle;
acquiring a corresponding obstacle detection signal;
and judging whether the size of the obstacle detection signal is larger than a set energy threshold value or not, judging whether the duration time of the obstacle detection signal is larger than set time or not, if so, generating an obstacle collision event, controlling a corresponding alarm module to send alarm information, and simultaneously sending an emergency braking signal to the vehicle network control system to control the vehicle to perform emergency braking.
5. A rail vehicle obstacle detection system as claimed in claim 4, wherein there are two obstacle detection sensors in each said detection box.
6. The rail vehicle obstacle detection system of claim 4, wherein the host is electrically connected to the alarm module via a DIO interface module.
7. The rail vehicle obstacle detection system of claim 4, wherein the host computer is electrically connected to the cab occupancy relay and the directional handle via a hard-wired interface.
8. The rail vehicle obstacle detection system of claim 4, wherein the CPU on the host computer adopts a two-by-two architecture, and when two CPUs on a single set of obstacle detection system host computer simultaneously determine that an obstacle collision event occurs, an alarm message is sent out, and an emergency braking signal is sent to the vehicle network control system.
9. A rail vehicle obstacle detection system as claimed in any one of claims 4 to 8, wherein the main unit is further adapted to:
obtaining a braking instruction sent to a braking execution mechanism by the vehicle network control system;
and comparing the braking instruction with the emergency braking signal, if the braking instruction is the same as the emergency braking signal, braking normally, otherwise, braking abnormally.
10. A rail vehicle comprising a rail vehicle obstacle detection system as claimed in any one of claims 4 to 9.
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| CN202110705657.8A CN113479239A (en) | 2021-06-24 | 2021-06-24 | Rail vehicle and obstacle detection method and system thereof |
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Cited By (1)
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| WO2023066015A1 (en) * | 2021-10-20 | 2023-04-27 | 中车青岛四方机车车辆股份有限公司 | Rail train smart anti-climbing system, control method, and rail train |
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