CN113885376A - Zero-speed control circuit suitable for unmanned vehicle - Google Patents
Zero-speed control circuit suitable for unmanned vehicle Download PDFInfo
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- CN113885376A CN113885376A CN202111121538.4A CN202111121538A CN113885376A CN 113885376 A CN113885376 A CN 113885376A CN 202111121538 A CN202111121538 A CN 202111121538A CN 113885376 A CN113885376 A CN 113885376A
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- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The invention discloses a zero-speed control circuit for an unmanned vehicle, which comprises a signal zero-speed relay, a zero-speed relay group, a gateway valve zero-speed relay and a brake control unit gateway valve, wherein the signal zero-speed relay group is connected with the gateway valve; one end of the signal zero-speed relay is connected with the signal system, and the other end of the signal zero-speed relay is connected with the vehicle door unlocking circuit through the zero-speed relay group; one end of the gateway valve zero-speed relay is connected with the brake control unit gateway valve through a diode, and the other end of the gateway valve zero-speed relay is connected with the car door unlocking circuit through a zero-speed relay group; when the signal zero-speed relay is abnormal, the normally closed contact of the signal zero-speed relay is kept closed, and the gateway valve zero-speed relay sends a zero-speed control signal generated by the brake control unit to the car door unlocking circuit through the zero-speed relay group. The invention can fundamentally realize unmanned driving, can realize timely rescue under the condition of unattended operation of a driver, improves the usability of the electrolytic lock function, greatly reduces the rescue probability and improves the operation efficiency.
Description
Technical Field
The invention relates to the technical field of zero-speed control of unmanned vehicles, in particular to a zero-speed control circuit for an unmanned vehicle.
Background
At present, zero-speed signals in urban rail metro vehicles mainly come from a signal system or a brake control unit, fig. 1 is a schematic diagram of a switching circuit structure of a control system adopted in the prior art, an ATPFS is in an 'N' normal position under normal conditions, an ATPFR relay is not powered at the moment, a normally closed contact keeps a closed state, and the zero-speed signals of the vehicles come from the signal system at the moment; when the signal system breaks down, a driver manually operates the ATPFS to an I isolation position, the ATPFR relay is electrified, the normally closed contact is disconnected, the other normally open contact is closed, and the zero-speed signal of the vehicle is switched to be controlled by the brake control unit at zero speed through the signal system.
However, when the vehicle is driven by a full-automatic unmanned vehicle, the signal system zero speed is adopted, and when the signal is isolated, the brake control unit zero speed is adopted, but when the signal system zero speed signal fails during the unmanned vehicle, the zero speed relay is not powered, the door controller cannot implement the electrolytic lock of the vehicle door because the zero speed signal is not obtained, and the driver cannot get on the vehicle for rescue in time, so that the operation efficiency is influenced, and possibly the passengers are scared.
The technical optimization for the zero-speed control is mainly embodied in the following aspects: optimizing a door unlocking structure, or arranging passenger self-service buttons in and out of the train to provide a new door opening mode; optimize the power supply loop, ensure that the electronic gate controller has electricity all the time, etc. For example, patent No. CN112925236A provides a rail vehicle door switch control device and a rail vehicle door switch system, in which a vehicle battery is used to supply power to a power failure trigger unit and a signal transmission unit when a train is powered off, a disconnection delay relay is powered on, a corresponding contact is closed, and an electronic door controller system is powered on. Patent No. CN110616983A provides a vehicle door opening and closing control method and an urban rail transit vehicle, in which passenger self-help buttons are arranged inside and outside the train, and when the conditions of opening or closing the door are met, the passenger can open or close the door locally and self-help. Patent number CN109505481B provides an escape door unlocking control device for an unmanned subway train, which is optimized for escape door unlocking control of the unmanned subway train. CN109162544B provides a door electrolytic lock control circuit of unmanned subway train, optimized to door electrolytic lock control circuit of unmanned subway train. However, most of these methods only control a single door, and cannot ensure that the vehicle is stationary, and the supply of power when the vehicle is not stationary also brings risks to the safety of passengers.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a zero-speed control circuit for an unmanned vehicle, wherein a signal system and a brake system both send out zero-speed signals when the unmanned vehicle is in a conservation state, when the signal system is normal, a zero-speed signal relay ATPZVR is powered on, an ATPZVR normally open contact is closed, a normally closed contact is opened, and the zero-speed signal of the vehicle comes from the signal system; when the signal system breaks down, the zero-speed signal relay ATPZVR is not electrified, the ATPZVR normally open contact is disconnected, the normally closed contact is kept closed, the zero-speed source of the vehicle comes from the braking system at the moment, and therefore the zero-speed source switching between the signal and the braking system can be automatically realized, the zero-speed relay of the vehicle is kept electrified when the vehicle is at the zero speed, the personal safety of passengers is ensured, and the technical problem that the electric unlocking cannot be implemented due to the unattended operation of an unmanned vehicle is solved.
In order to achieve the purpose, the invention adopts the following technical scheme:
the embodiment of the invention provides a zero-speed control circuit for an unmanned vehicle, which comprises a signal zero-speed relay, a zero-speed relay group, a gateway valve zero-speed relay and a brake control unit gateway valve;
one end of the signal zero-speed relay is connected with the signal system, and the other end of the signal zero-speed relay is connected with the vehicle door unlocking circuit through the zero-speed relay group;
one end of the gateway valve zero-speed relay is connected with the brake control unit gateway valve through a diode, and the other end of the gateway valve zero-speed relay is connected with the car door unlocking circuit through a zero-speed relay group;
when the signal zero-speed relay works normally, the normally open contact of the signal zero-speed relay is closed, and the signal zero-speed relay sends a zero-speed control signal sent by a signal system to the car door unlocking circuit through the zero-speed relay group; when the signal zero-speed relay is abnormal, the normally closed contact of the signal zero-speed relay keeps closed, and the gateway valve zero-speed relay sends a zero-speed control signal generated by the brake control unit to the car door unlocking circuit through the zero-speed relay group; the brake control unit automatically generates a stall control signal in response to the vehicle reaching a stall speed.
Further, the zero-speed control circuit comprises a redundant brake control unit gateway valve and a redundant gateway valve zero-speed relay;
the redundant brake control unit gateway valve is connected with the zero-speed relay group through the redundant gateway valve zero-speed relay, and is in a two-series-two-parallel structure with a connecting circuit of the brake control unit and the gateway valve zero-speed relay.
Further, the vehicle door unlocking circuit comprises a vehicle door electrolytic lock switch and a vehicle door control system;
the electric unlocking switch of the vehicle door is connected between the vehicle door control system and the power supply, and the electric unlocking switch of the vehicle door is set to simultaneously receive a zero-speed control signal and a vehicle door opening instruction signal sent from the outside, so that the self state is switched to be a closed state, and the vehicle door control system is electrified to open the vehicle door.
Further, door electricity unblock switch is including the inside electrolysis lock left side switch, outside electrolysis lock left side switch, inside electrolysis lock right side switch and the outside electrolysis lock right side switch that are parallel structure.
The invention has the beneficial effects that:
the zero-speed control circuit for the unmanned vehicle can automatically realize zero-speed source switching between a signal and a braking system when the unmanned vehicle is in a guard state, so that a vehicle zero-speed relay is kept electrified when the unmanned vehicle is in a zero-speed state, the personal safety of passengers is ensured, and the technical problem that electric unlocking cannot be implemented due to the fact that the unmanned vehicle is in a guard state is solved.
The zero-speed control circuit provided by the invention can be popularized to a full-automatic unmanned overspeed protection control circuit of rail transit, is easy to realize, fundamentally realizes unmanned driving, can realize timely rescue under the condition of unattended operation of a driver, improves the availability of an electrolytic lock function, greatly reduces the probability of rescue, and improves the operation efficiency.
Drawings
Fig. 1 is a schematic diagram of a switching circuit structure of a control system adopted in the prior art.
Fig. 2 is a schematic structural diagram of a zero-speed control circuit for an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings.
It should be noted that the terms "upper", "lower", "left", "right", "front", "back", etc. used in the present invention are for clarity of description only, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not limited by the technical contents of the essential changes.
FIG. 2 is a schematic diagram of a zero speed control circuit for an unmanned vehicle embodying the present invention. Referring to fig. 2, the zero-speed control circuit includes a signal zero-speed relay, a zero-speed relay set, a gateway valve zero-speed relay, and a brake control unit gateway valve.
One end of the signal zero-speed relay is connected with the signal system, and the other end of the signal zero-speed relay is connected with the vehicle door unlocking circuit through the zero-speed relay group.
One end of the gateway valve zero-speed relay is connected with the brake control unit gateway valve through a diode, and the other end of the gateway valve zero-speed relay is connected with the car door unlocking circuit through a zero-speed relay group.
When the signal zero-speed relay works normally, the normally open contact of the signal zero-speed relay is closed, and the signal zero-speed relay sends a zero-speed control signal sent by a signal system to the car door unlocking circuit through the zero-speed relay group; when the signal zero-speed relay is abnormal, the normally closed contact of the signal zero-speed relay keeps closed, and the gateway valve zero-speed relay sends a zero-speed control signal generated by the brake control unit to the car door unlocking circuit through the zero-speed relay group; the brake control unit automatically generates a stall control signal in response to the vehicle reaching a stall speed.
Illustratively, the door unlock circuit includes a door electrolock switch and a door control system. The electric unlocking switch of the vehicle door is connected between the vehicle door control system and the power supply, and the electric unlocking switch of the vehicle door is set to simultaneously receive a zero-speed control signal and a vehicle door opening instruction signal sent from the outside, so that the self state is switched to be a closed state, and the vehicle door control system is electrified to open the vehicle door. Preferably, the electrolytic lock switch of the vehicle door comprises an internal electrolytic lock left switch, an external electrolytic lock left switch, an internal electrolytic lock right switch and an external electrolytic lock right switch which are in a parallel connection structure.
As shown in fig. 2, in the full-automatic driving mode, the signal system ATC sends a signal to energize the zero-speed signal relay ATPZVR, and in the normal condition of vehicle power supply, the corresponding normally open contact is closed, and the zero-speed relay ZVR is energized, in which case the electrolytic lock switch can be operated to energize the door controller, thereby opening the door. When the zero-speed signal fault of the signal system cannot be sent out, the zero-speed signal relay ATPZVR is not powered on, the brake control unit outputs a zero-speed signal, the operation of a driver is not needed, the normally closed contact of the zero-speed signal relay ATPZVR is continuously kept closed, and the zero-speed relay can still be powered on, so that the problem that the electrolytic lock cannot be implemented due to the fact that no driver exists in the vehicle is solved.
The implementation conditions of the electric unlocking of the car door are as follows: the door controller obtains zero speed signal input, door permission signal input and electrolytic lock signal input simultaneously, and the door electrolytic lock function cannot be implemented as long as any condition is lacked. The signal zero-speed relay normally-open contact and the normally-closed contact respectively control the zero speed of the signal system and the zero speed of the brake control unit, switching is automatically realized, driver intervention is not needed, the function of electrolytic locking of the vehicle door can still be realized on an unattended train, and the vehicle rescue probability is greatly reduced.
Concretely, in full-automatic unmanned train, signal system can export zero-speed control signal, when the vehicle normally operates, signal system ATC exports zero-speed control signal, make signal zero-speed relay 1 get electric, it is closed to correspond normally open contact, zero-speed relay 3 gets electric, it is closed to correspond door electrolytic lock circuit normally open contact, need open the door if unusual outside personnel appear in the train this moment, operate door electricity release switch 5 and 7 (or 4 and 6), door control system EDCU1 gets electric, the door just can be opened. When the zero-speed signal fault of the signal system cannot be sent out, the relay ATPZVR is not powered on, the corresponding normally open contact is disconnected, the normally closed contact is kept closed, the gateway valve BCU1 of the brake control unit outputs a zero-speed signal, the gateway valve zero-speed relay 2 is powered on, the corresponding normally open contact is closed, the zero-speed relay 3 is powered on, and at the moment, if the automobile door electrolytic lock switches 5 and 7 (or 4 and 6) need to be operated, the automobile door electrolytic lock can still be implemented. In the two conditions, a driver does not need to operate a switch, zero-speed circuit control switching is automatically realized, the electrolytic lock of the vehicle door can be used in time, the safe operation efficiency of the vehicle is improved, and full-automatic unmanned control is realized in the real sense.
Illustratively, in order to improve the reliability of the circuit, a two-string two-parallel control circuit design is adopted, and specifically, the zero-speed control circuit comprises a redundant brake control unit gateway valve and a redundant gateway valve zero-speed relay. The redundant brake control unit gateway valve is connected with the zero-speed relay group through the redundant gateway valve zero-speed relay and is in a parallel connection structure with a connection circuit of the brake control unit and the gateway valve zero-speed relay,
the above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (4)
1. A zero-speed control circuit for an unmanned vehicle is characterized by comprising a signal zero-speed relay, a zero-speed relay group, a gateway valve zero-speed relay and a brake control unit gateway valve;
one end of the signal zero-speed relay is connected with the signal system, and the other end of the signal zero-speed relay is connected with the vehicle door unlocking circuit through the zero-speed relay group;
one end of the gateway valve zero-speed relay is connected with the brake control unit gateway valve through a diode, and the other end of the gateway valve zero-speed relay is connected with the car door unlocking circuit through a zero-speed relay group;
when the signal zero-speed relay works normally, the normally open contact of the signal zero-speed relay is closed, and the signal zero-speed relay sends a zero-speed control signal sent by a signal system to the car door unlocking circuit through the zero-speed relay group; when the signal zero-speed relay is abnormal, the normally open contact is disconnected, the normally closed contact is kept closed, and the gateway valve zero-speed relay sends a zero-speed control signal generated by the brake control unit to the car door unlocking circuit through the zero-speed relay group; the brake control unit automatically generates a stall control signal in response to the vehicle reaching a stall speed.
2. The stall control circuit for an unmanned vehicle of claim 1, wherein the stall control circuit comprises redundant brake control unit gateway valves and redundant gateway valve stall relays;
the redundant brake control unit gateway valve is connected with the zero-speed relay group through the redundant gateway valve zero-speed relay, and is in a two-series-two-parallel structure with a connecting circuit of the brake control unit gateway valve and the gateway valve zero-speed relay.
3. The stall control circuit for an unmanned vehicle of claim 1, wherein the door unlock circuit comprises a door electrolock switch and a door control system;
the electric unlocking switch of the vehicle door is connected between the vehicle door control system and the power supply, and the electric unlocking switch of the vehicle door is set to simultaneously receive a zero-speed control signal and a vehicle door opening instruction signal sent from the outside, so that the self state is switched to be a closed state, and the vehicle door control system is electrified to open the vehicle door.
4. The stall-control circuit for an unmanned vehicle of claim 1, wherein the door electrical unlock switch comprises an internal electrolytic lock left switch, an external electrolytic lock left switch, an internal electrolytic lock right switch, and an external electrolytic lock right switch in a parallel configuration.
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| CN202111121538.4A CN113885376B (en) | 2021-09-24 | 2021-09-24 | Zero-speed control circuit suitable for unmanned vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115405169A (en) * | 2022-09-01 | 2022-11-29 | 中车南京浦镇车辆有限公司 | Subway door control circuit and door control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115405169A (en) * | 2022-09-01 | 2022-11-29 | 中车南京浦镇车辆有限公司 | Subway door control circuit and door control method |
| CN115405169B (en) * | 2022-09-01 | 2023-11-03 | 中车南京浦镇车辆有限公司 | Subway car door control circuit and car door control method |
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| CN113885376B (en) | 2024-05-28 |
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