CN114074696B - Turning-back control method and turning-back control system for virtual marshalling multiple vehicles - Google Patents
Turning-back control method and turning-back control system for virtual marshalling multiple vehicles Download PDFInfo
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- CN114074696B CN114074696B CN202010845353.7A CN202010845353A CN114074696B CN 114074696 B CN114074696 B CN 114074696B CN 202010845353 A CN202010845353 A CN 202010845353A CN 114074696 B CN114074696 B CN 114074696B
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Abstract
The application discloses a control method and a control system for turning back of virtual marshalling multi-car, wherein the virtual marshalling multi-car comprises at least two trains running along the same running direction on the same running line, and the method comprises the following steps: the ground control center sends turn-back control information to trains at a first sorting position in the virtual grouping multi-train, wherein the turn-back control information comprises turn-back information corresponding to each train in the virtual grouping multi-train, and the trains at the first sorting position are trains at the forefront position in the virtual grouping multi-train based on the running direction of the virtual grouping multi-train; and sequentially transmitting the turn-back control information to adjacent trains from the train at the first sequencing position. According to the scheme, the frequency of sending the turn-back control information by the ground control center is reduced, the turn-back control information is transmitted by utilizing the vehicle-to-vehicle communication between two adjacent trains, and the transmission time required by each train to independently transmit the turn-back control information with the ground control center is effectively saved.
Description
Technical Field
The invention relates to the technical field of trains, in particular to a method and a system for controlling turning back of virtual marshalling multiple trains.
Background
Existing CBTC (Communication Based Train Control System, communication-based train automatic control system) control systems all support an automatic turn-back function. The turning back (also called switching operation direction) means that after the train runs to the end point and the boarding is finished, a driver presses a turning back button, a vehicle-mounted control system of the train automatically controls the train to enter an unmanned turning back area, and then the train automatically enters the turning back area after the end of the train is changed.
At present, the automatic turning-back strategy of the CBTC is basically based on a single train, and a ground control center sends turning-back information to the single train according to the train number of the single train. However, when the multi-car foldback control is performed, for the multi-car with the same driving route, the ground control center sequentially distributes road rights to each train, so that the communication time between the train and the ground control center is too long, and the passing efficiency is low.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings of the prior art, it is desirable to provide a method and system for controlling the turn-back of a virtual consist of multiple cars.
In a first aspect, the present invention provides a method of controlling a turn-back of a virtual consist multi-car, the virtual consist multi-car including at least two trains traveling in the same traveling direction on the same traveling line, the method comprising:
The ground control center sends turn-back control information to trains at a first sorting position in the virtual grouping multi-train, wherein the turn-back control information comprises turn-back information corresponding to each train in the virtual grouping multi-train, and the trains at the first sorting position are trains at the forefront position in the virtual grouping multi-train based on the running direction of the virtual grouping multi-train;
and sequentially transmitting the turn-back control information to adjacent trains from the train at the first sequencing position.
As an alternative, from the train at the first sorting position, the method sequentially transmits the turn-back control information to the adjacent trains, including:
the front vehicle carries out turning back according to the turning back information corresponding to the turning back control information, and the front vehicle is a train with front sequencing positions in two adjacent trains in the virtual marshalling multi-train;
when the front vehicle drives out of the turning-back rail, the front vehicle sends turning-back completion information and turning-back information corresponding to a train which does not turn back in the turning-back control information, wherein the rear vehicle is a train with rear sequencing positions in two adjacent trains in the virtual marshalling multi-vehicle, and the turning-back completion information is information for indicating that the front vehicle completes turning back;
and repeating the process until the train at the last sorting position in the virtual multi-train is received the corresponding turn-back information in the turn-back control information, wherein the train at the last sorting position is based on the running direction of the virtual multi-train and the train at the last position in the virtual multi-train.
As an alternative solution, when the preceding vehicle folds back according to the folding back information corresponding to the folding back control information, the method further includes:
after the train driving into the turning-back rail turns back, train state information is sent to the ground control center.
Alternatively, when the virtual grouped multiple trains include a fault train, sequentially transmitting the turn-back control information to adjacent trains from the train at the first sorting position, including:
if the train at the first sorting position in the virtual grouping multi-train is a fault train, the train at the first sorting position sends train member information and fault information of the virtual grouping multi-train to a ground control center;
the ground control center determines that the train at the second sorting position in the virtual grouping multi-train is the train at the new first sorting position according to the received train member information and fault information and sends the turn-back control information;
if any train in the virtual grouping multi-train which is not at the first sorting position is a fault train, when the fault train exits from the turn-back station, the turn-back control information is sent to adjacent trains in the virtual grouping multi-train which are at the sorting position behind the fault train, and fault information is sent to the train at the first sorting position.
As an alternative, after the train at the first sorting position receives the failure train sending failure information, the method further includes:
and the trains at the first sorting positions in the virtual marshalling multi-train update train membership information according to the fault information to obtain updated train membership information, wherein the updated train membership information comprises train membership information after deleting the fault train.
As an alternative, the method further comprises:
when the train at the last sorting position in the virtual multi-train is driven out of the turn-back rail, the train at the last sorting position sends turn-back completion information of all trains in the virtual multi-train to a ground control center, wherein the turn-back completion information comprises train member information of turn-back completion in the virtual multi-train, and the train at the last sorting position is based on the driving direction of the virtual multi-train and is positioned at the last train in the virtual multi-train;
the ground control center compares the train membership information after turning back with the train membership information received from the train at the first sequencing position;
if the train member information after turning back is consistent with the train member information received from the trains at the first sequencing position, determining that virtual grouping multi-train turning back is completed;
If the train membership information after the turning-back is inconsistent with the train membership information received from the train at the first sequencing position, the ground control center determines whether the turning-back completion information has packet loss.
As an alternative, the ground control center determines whether there is a packet loss in the turn-back completion information, including:
the ground control center determines whether the turn-back completion information is received within a preset time period;
if yes, the ground control center determines that no packet loss exists in the turn-back completion information, and the ground control center sends a manual inspection instruction;
if not, the ground control center determines that the packet loss exists in the turn-back completion information, and the ground control center sends a checking instruction to the virtual marshalling multi-vehicle.
As an alternative, the ground control center sends a checking instruction to the virtual group multi-car, including:
the ground control center sends a checking instruction to the train at the first sequencing position;
the trains at the first sorting positions receive and respond to the checking instruction, and the checking instruction is sequentially transmitted to adjacent trains until the trains at the last sorting positions in the virtual multi-train grouping receive and respond to the checking instruction;
finally, the trains at the sorting positions send a first checking result to the ground control center, wherein the first checking result comprises a result of each train in the virtual marshalling responding to a checking instruction;
After the ground control center receives the first checking result, repeating the process, and the ground control center receives a second checking result from the trains at the last sequencing position, wherein the second checking result comprises a result that each train in the virtual marshalling responds to the checking instruction again;
the ground control center performs a first check result and a second check result;
if the first checking result is consistent with the second checking result, the virtual marshalling multiple cars finish turning back;
and if the first checking result is inconsistent with the second checking result, the ground control center sends a manual checking instruction.
As an alternative, the method further comprises:
if the ground control center does not receive the first checking result or the second checking result within the preset time period, the ground control center resends the checking instruction to the train at the first sequencing position.
In a second aspect, the invention also provides a turn-back control system of the virtual marshalling multi-vehicle, which comprises a ground control center and the virtual marshalling multi-vehicle, wherein the ground control center is in communication connection with the trains at the first sorting position in the virtual marshalling multi-vehicle, and the two adjacent trains in the virtual marshalling multi-vehicle are in communication connection;
the ground control center is used for sending turn-back control information to the trains at the first sorting position in the virtual grouping multi-train, wherein the turn-back control information comprises turn-back information corresponding to each train in the virtual grouping multi-train, and the trains at the first sorting position are the trains at the forefront position in the virtual grouping multi-train based on the running direction of the virtual grouping multi-train;
The virtual marshalling train of the first sequencing position in the multi-train is used for receiving the turn-back control information sent by the control center; and sending turn-back control information to trains adjacent to the train in the first sequencing position; the trains with the front sequencing positions in the virtual marshalling multi-train are used for transmitting the turn-back control information to the trains with the rear sequencing positions adjacent to the trains.
According to the method, the ground control center sends the turn-back control information to the trains at the first sorting position in the virtual marshalling multi-train, the adjacent two trains in the virtual marshalling multi-train transmit the turn-back control information, the ground control center only needs to send the turn-back control information once to the first train, frequent interaction turn-back control information between the ground control center and each train is not needed, the frequency of sending the turn-back information by the ground control center is reduced, the turn-back control information is transmitted by the adjacent two trains through train-to-train communication, and the transmission time required by each train to independently transmit the turn-back control information with the ground control center is effectively saved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the following drawings, in which:
Fig. 1 is a schematic diagram of an implementation scenario of a method for controlling turn-back of virtual marshalling multiple vehicles according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for controlling turn-back of virtual marshalling multiple vehicles according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a train turn-back configuration according to an embodiment of the present invention;
FIG. 4 is a flow chart of another method for controlling the turn-back of a virtual consist of multiple cars according to an embodiment of the invention;
FIG. 5 is a flow chart of another method for controlling the turn-back of a virtual consist of multiple cars according to an embodiment of the invention;
fig. 6 is a flow chart illustrating a checking procedure in another method for controlling turn-back of virtual group multi-cars according to an embodiment of the invention.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
The virtual consist of multiple trains means that a plurality of trains traveling in the same traveling direction on the same traveling line are regarded as a whole, and that the trains in the whole can perform train-to-train communication.
The train at the first sorting position is the train at the forefront position in the virtual grouping multi-train based on the running direction of the virtual grouping multi-train.
The last train in the ordered position is based on the traveling direction of the virtual consist multitool, in which the last train is located.
Illustratively, train K121 has 4 cars, train K122 has 5 cars, and train K123 has 4 cars. Train K121, train K122 and train K123 travel in the same travel direction on the same travel route, and train K121, train K122 and train K123 are virtually grouped into a whole, denoted as train G100. All trains in the virtual consist share one train number, G100. The train G100 is a virtual consist of multiple cars with 13 cars. Three trains of real train numbers K121, K122 and K123 contained in the virtual consist multiple trains. The virtual marshalling multi-car can determine a sorting position for each train in the same running direction on the same running route, and a sorting number corresponding to the sorting position is allocated.
Fig. 1 is an application scenario schematic diagram of a virtual marshalling multi-vehicle turn-back control method provided in an embodiment of the present application. As shown in fig. 1, the virtual marshalling multi-car turn-back control system includes: the ground control center 100 and the virtual-group multi-car 200, the virtual-group multi-car 200 includes two or more trains traveling in the same traveling direction on the same traveling line, and the trains in the virtual-group multi-car are sequentially marked as a first train 201, a second train 202, and the value of the nth train, N is equal to or greater than 2 according to the traveling direction of the virtual-group multi-car. Each train is provided with a vehicle-mounted control system, wherein the vehicle-mounted control system can also be a central control system arranged on the train.
The ground control center 100 is configured to distribute the turn-back control information of the train based on the state information of the train, and the state information of the train is not limited to the position, the door state, the boarding state, and the like of the train. The ground control center 100 transmits the turn-back control information to the first train 201 among the virtual consist multitooks 200, the first train 201 transmits the turn-back control information to the second train 202, and the second train 202 transmits the turn-back control information to the third train, which is sequentially transmitted to the nth train. The on-vehicle control system is in communication connection with the ground control center 100, and is configured to transmit status information of the train to the ground control center and receive return control information of the train transmitted from the ground control center. The ground control center and the on-board control system are connected to each other through a communication network, which may include various connection types, such as a wired communication link, a wireless communication link, or an optical fiber cable, etc.
The turn-back control information includes turn-back information corresponding to each train in the virtual consist multi-train 200, and the turn-back information includes entry control information for entering the turn-back track and exit control information for exiting the turn-back track.
After the first train receives the turn-back information corresponding to the first train, the first train enters the turn-back rail according to the entry control information of the turn-back rail, after the first train stops running on the turn-back rail for a preset time, the ground control center controls the locking direction of the turn-back rail to be consistent with the exit control information of the turn-back rail, the first train exits the turn-back rail according to the exit control information of the turn-back rail, and meanwhile, the turn-back information of the remaining trains in the turn-back control information is transmitted to the second train.
The second train carries out turning back according to the turning back information corresponding to the second train, and when the second train drives out of the turning back rail, the turning back information of the remaining trains in the turning back control information is transmitted to the third train, and the turning back information is sequentially transmitted to the Nth train.
The ground control center 100 may be a hardware device or may include software pre-installed on the hardware device. When the ground control center 100 is a hardware device, it may be various electronic devices. When the ground control center 100 is software, it may be installed in the electronic device in advance. Software may also be implemented as single or multiple software or software modules. The embodiment of the application does not limit the specific type of the electronic device.
It should be understood that the application scenario shown in fig. 1 is merely an example, and in practical application, the method for controlling turning back of virtual marshalling multi-cars provided in the embodiment of the present application may be applicable to not only the application scenario shown in fig. 1, but also other application scenarios, where the application scenario to which the method for controlling turning back of virtual marshalling multi-cars provided in the embodiment of the present application is applicable is not limited.
Fig. 2 is a flow chart illustrating a method for controlling turn-back of virtual marshalling multiple cars according to an embodiment of the present application. Please see fig. 2, wherein the virtual consist multi-car comprises at least two trains traveling in the same traveling direction on the same traveling line, the method comprising the steps of:
s101, a ground control center sends turn-back control information to trains at a first sorting position in a virtual grouping multi-train, wherein the turn-back control information comprises turn-back information corresponding to each train in the virtual grouping multi-train;
the train at the first sort position is a train at the forefront position in the virtual group multi-car based on the traveling direction of the virtual group multi-car.
The virtual consist multi-car in this embodiment includes two or more trains traveling in the same traveling direction on the same traveling line. The train travel route is divided into an upward travel route and a downward travel route. According to the traveling direction of the virtual group multi-car, the train at the first sorting position is denoted as a first train (i.e., the train at the first sorting position), and the trains at other sorting positions are sequentially denoted as a second train and a third train.
Each train in the virtual marshalling multi-train is provided with an independent vehicle-mounted control system. Information transmission is realized among trains in the virtual marshalling multi-train through train-to-train communication, and each train depends on a network system. Therefore, each train in the ground control center and the virtual consist multi-train has a data communication function by a wireless communication method such as 5G, WIFI.
It should be noted that, the virtual grouping multiple trains may be a virtual grouping relationship established by the ground control center between multiple trains according to the position information and the operation information of the trains; the virtual consist multiple trains may also be virtual consist relationships established between the multiple trains by the on-board control system of the first train.
Before the first train sends the train member information of the virtual group multi-train, the ground control center cannot learn the member information of the virtual group multi-train, and in order to ensure that the first train receives the turn-back control information, including turn-back information corresponding to each train in the virtual group multi-train, the first train can send the train member information of the virtual group multi-train to the ground control center.
The ground control center distributes the turn-back control information of the virtual grouping multi-car through the driving plan, and the time for the ground control center to send the turn-back control information and the time for each train in the virtual grouping multi-car to respond to the turn-back control information are automatically triggered by a train control system (English full name Vehicle Control System, english abbreviated VCS) according to the operation plan information and the train position.
The turning-back control information comprises turning-back information corresponding to each train in the virtual marshalling multiple trains, and the turning-back information specifically comprises entering route control information of entering a turning-back rail and exiting route control information of exiting the turning-back rail.
As shown in fig. 3, the route control information for entering the turn-back track refers to route information for the train entering the turn-back track from the platform, as shown in fig. 3, the travel route corresponding to S4-S9 is the route for entering the turn-back track, the area controller transmits a movement authorization end point S7 to the train entering the turn-back track, the train enters the track section 53, and after that, the area controller continues to transmit a movement authorization end point S9 to the train reaching the movement authorization end point S7, and the train stops on the turn-back track.
The outgoing control information of the outgoing folding line refers to the information of the outgoing folding line after the train completes folding on the folding line. As shown in fig. 3, the travel route corresponding to S7-S1 is an exit route from the turn-back rail, the area controller transmits a movement authorization destination S3 to the train after turning back on the turn-back rail, the train sequentially enters the track section 49 and the track section 54, the area controller transmits a movement authorization destination S1 to the train reaching the movement authorization destination S3, the train travels from the movement authorization destination S3 to the movement authorization destination S1, and the train waits for a new travel instruction on the platform after reaching the movement authorization destination S1.
The ground control center automatically distributes turn-back information corresponding to each train in the virtual consist multiple trains according to the number of votes sold for each line, the number of boarding persons for the origination station and the origination station, the number of boarding and disembarking persons for each intermediate station and each intermediate station, the number of disembarking persons for the destination station and the destination station, and position information, consist member information and train information transmitted by trains, wherein the train information comprises operation information, fault information and the like, the ground control center transmits the turn-back control information to the first train in the virtual consist multiple trains, and the turn-back control information comprises turn-back information corresponding to each train in the virtual consist multiple trains.
S102, starting from the train at the first sequencing position, sequentially transmitting the turn-back control information to the adjacent trains.
The ground control center sends the turn-back control information to the first train, and from the first train, each train in the virtual marshalling multiple trains sequentially transmits the turn-back control information to the adjacent trains, namely, after the first train receives the turn-back control information, the first train sends the turn-back control information to the second train, the second train sends the turn-back control information to the third train, the third train sends the turn-back control information to the fourth train, and the turn-back control information is sequentially sent until the Nth train receives the turn-back control information.
In order to facilitate understanding of the scheme of this embodiment, the turn-back control information includes turn-back information corresponding to each train in the virtual marshalling multi-train, which may be respectively recorded as first turn-back information, second turn-back information, third turn-back information, and nth turn-back information. The first information is used for controlling the first train to turn back, the second information is used for controlling the second train to turn back, the third information is used for controlling the third train to turn back, and the N information is used for controlling the N train to turn back.
The virtual marshalling multiple trains sequentially transmit the turn-back control information to adjacent trains from the trains at the first sorting position. The turn-back control information transmitted by each train to the adjacent rear vehicles comprises turn-back information corresponding to the adjacent rear vehicles and turn-back information corresponding to all trains with sequencing positions behind the adjacent rear vehicles. For example, the first train transmits to the second train second foldback information, third foldback information; the second train transmits third return information, fourth return information, and the nth return information to the third train until the nth return information is received by the nth train in the virtual consist multiple trains.
Compared with the prior art, in the technical scheme provided by the embodiment, the ground control center only needs to send the turn-back control information once to the first train, frequent interaction turn-back control information between the ground control center and each train is not needed, and the frequency of sending the turn-back information by the ground control center is reduced; the turn-back control information is transmitted by utilizing a vehicle-to-vehicle communication mode between two adjacent trains, so that the transmission time required by each train to independently transmit the turn-back control information with the ground control center is effectively saved, and the turn-back passing efficiency of a plurality of trains on the same running line is improved.
On the basis of the above embodiments, fig. 4 shows another method for controlling turning back of virtual marshalling multiple cars according to an embodiment of the present invention, in order to further explain the above embodiments. An embodiment of the present invention provides another method for controlling turn-back of virtual marshalling multiple cars, as shown in fig. 4, the method includes:
s101, a ground control center sends turn-back control information to trains at a first sorting position in a virtual grouping multi-train, wherein the turn-back control information comprises turn-back information corresponding to each train in the virtual grouping multi-train; the train at the first sort position is the train at the position in the virtual consist multitool that is the forefront based on the traveling direction of the virtual consist multitool.
Specifically, step S101 in this embodiment is the same as step S101 in the previous embodiment, and will not be described here again.
Further, S102, starting from the train at the first sorting position, sequentially transmitting the turn-back control signal to the adjacent trains, which specifically includes:
s1021, turning back the front vehicle according to the corresponding turning back information in the received turning back control information, wherein the front vehicle is a train with front sequencing positions in two adjacent trains in the virtual marshalling multi-vehicle;
for example, for two adjacent vehicles in the virtual marshalling multi-vehicle, the turn-back control information is transmitted by means of vehicle-to-vehicle communication. For example, two adjacent trains are a first train and a second train, the first train is a front train, and the second train is a rear train. The first train receives the turn-back control information, the first train starts to turn back automatically according to turn-back information corresponding to the first train in the turn-back control information, and after the first train completely enters the turn-back rail according to the turn-back information, the first train stops running on the turn-back rail for a preset time, and then triggers the first train to exit the turn-back rail according to the exit control information of the exit turn-back rail.
S1022, when the front vehicle drives out of the turning-back rail, the front vehicle sends turning-back completion information and turning-back information corresponding to trains which are not turned back and are contained in the turning-back control information, the rear vehicle is a train with rear sequencing positions in two adjacent trains in the virtual marshalling multi-vehicle, and the turning-back completion information is information for indicating that the front vehicle completes turning back;
Specifically, the front vehicle driving out of the turn-back rail refers to a state in which the front vehicle waits for a new driving instruction at the platform after finishing the turn-back operation on the turn-back rail according to the turn-back information corresponding to the turn-back control information. As shown in fig. 3, the front vehicle exits the return rail, and the train is controlled to exit the track section 49, enter the track section 54, and enter the station in the descending direction to wait for a new driving command according to the exit control information of the exit return rail in the return information.
Here, when the front vehicle is moving out of the turn-back rail, the front vehicle transmits turn-back completion information and turn-back information corresponding to a train which is not turned back among the turn-back control information to the adjacent rear vehicle.
The turn-back completion information is information indicating that the preceding vehicle has completed turning back.
The turn-back completion information may include member information of all the completed turn-backs in the virtual consist multi-cars, and the member information may be represented by a position number corresponding to each train in the virtual consist multi-car, for example, the position number is a first position, a second position, and the like. The real train number corresponding to each train in the virtual marshalling multiple trains, such as K121, K122 and the like, can also be used. In the embodiment, when the front vehicle drives out of the turn-back rail, the front vehicle transmits turn-back control information to the rear vehicle, so that safe running among each train in the virtual marshalling multiple vehicles is guaranteed, and safety accidents such as collision are avoided.
For example, for a second train and a third train in the virtual consist multiple trains, when the second train is finished turning back and exits the turning back rail, the second train transmits turning back finishing information (e.g., a position number or a train real number) of the first train and the second train that finish turning back to the third train, and simultaneously transmits corresponding turning back information of the third train, the fourth train, and the nth train to the third train. Preferably, the position numbering mode is adopted, so that the data processing amount can be effectively reduced, and the efficiency of the foldback control is further improved.
S1023, repeating the processes of S1021-S1022 until the train at the last sorting position in the virtual grouping multi-train receives the corresponding turn-back information in the turn-back control information. Repeating the steps S1021-S1022 until the train at the last sorting position in the virtual multi-train is received the turn-back information corresponding to the train at the last sorting position, at this time, the train at the last sorting position is also received the turn-back completion information of all the trains which complete turn-back at the front of the train at the sorting position in the virtual multi-train, and the train at the last sorting position is the train at the last position in the virtual multi-train based on the running direction of the virtual multi-train.
In a specific embodiment, a first train in the virtual marshalling multi-train is responsible for receiving the turn-back control information sent by the ground control center, after the first train starts to turn back automatically according to the received approach control information of the turn-back rail and the turn-back control information of the turn-back rail distributed by the ground control center, after the first train completely enters the turn-back line, after the first train stops running on the turn-back rail for a preset time, the turn-back control information of the turn-back rail is triggered to be distributed, when the approach signal of the turn-back rail is opened, the locking direction of the turn-back rail is changed to be consistent with the turn-back control information of the turn-back rail, the turn-back rail is driven out by the first train, meanwhile, the first train transmits the position number of the first train to the second train, and other turn-back information corresponding to the first train in the turn-back control information is transmitted to the second train, the second train starts to turn back automatically according to the turn-back information corresponding to the turn-back control information of the first train, after the turn-back is completed, the position number of the second train and the turn-back information corresponding to the remaining vehicles in turn-back information are sequentially transmitted to the third train repeatedly.
As an achievable mode, S1021, when the preceding vehicle folds back according to the folding back information corresponding to the folding back control information received, the method further includes:
the trains located at the return rails in the virtual group multitooth send train status information to the ground control center.
The method is beneficial to the ground control center to monitor the virtual marshalling multi-car in real time and acquire the state of the train which is turning back the rail at present, and is beneficial to ensuring the normal operation of the virtual marshalling multi-car.
The train state information includes, but is not limited to, the position of the train, the position number of the train, and train information including operation information and fault information.
For example, when a second train in the virtual consist multi-train enters the turn-back rail according to the turn-back information corresponding to the turn-back control information, the second train may transmit own train number, position, and operation information to the ground control center, and when the second train fails, the second train may also transmit failure information to the ground control.
Further, on the basis of the foregoing embodiment, when the faulty train is included in the virtual consist multi-car, the present application also proposes a fold-back control method based on the virtual consist multi-car including the faulty vehicle.
The faulty train is a train that has normal communication but cannot perform head-tail replacement operation. The communication normal refers to a communication state in which at least the foldback control information can be normally received and transmitted.
S102, starting from a train at a first sequencing position, sequentially transmitting turn-back control information to adjacent trains, wherein the turn-back control information comprises:
if the train at the first sorting position in the virtual grouping multi-train is a fault train, the train at the first sorting position sends train member information and fault information of the virtual grouping multi-train to a ground control center;
the ground control center determines that the train at the second sorting position in the virtual grouping multi-train is the train at the new first sorting position according to the received train member information and fault information and sends the turn-back control information;
if the train at the first sorting position is a fault train, namely the train at the first sorting position can receive the turn-back control information sent by the ground control center, but the train at the first sorting position cannot complete turn-back according to the turn-back information corresponding to the turn-back control information, the failure to complete turn-back is understood as that the train at the first sorting position cannot complete head and tail replacement operation, and the train at the first sorting position can travel out of a turn-back area of a turn-back rail and travel to other preset areas. At this time, the trains at the first sorting position send train membership information and fault information of the virtual group multi-train to the ground control center, so that the ground control center can determine the trains at the second sorting position in the virtual group multi-train as new trains at the first sorting position according to the train membership information and the fault information. The ground control center sends the turn-back control information to the trains at the second sorting position through communication with the trains at the second sorting position, so that the remaining trains in the virtual grouping multiple trains can be normally turned back.
If any train in the virtual group multi-train which is not at the first sorting position is a fault train, when the fault train exits from the turn-back station, the turn-back control information is sent to adjacent trains in the virtual group multi-train which are at the sorting position behind the fault train, fault information is sent to trains in front of the fault train, such as the trains at the first sorting position, or the adjacent trains in front of the fault train, and the fault information is sent to the trains at the first sorting position through the adjacent trains.
In a specific embodiment, when the third train receives the turn-back control information sent by the second train and turns back according to the turn-back information corresponding to the third train, the third train encounters a fault and cannot complete the replacement operation of the head and the tail of the vehicle. The third train drives out of the turning-back area of the turning-back rail and drives to other preset areas to wait for maintenance, meanwhile, the third train sends information of turning-back failure of the train to the VCS, meanwhile, turning-back control information and turning-back completion information of the first train and the second train are transmitted to the fourth train, and fault information is sent to the first train.
Further, as an achievable manner, after the train in the first sorting position receives the failure train sending failure information, the foldback control method further includes:
And the trains at the first sorting positions in the virtual marshalling multi-train update train membership information according to the fault information to obtain updated train membership information, and the fault trains are deleted from the updated train membership information.
It should be noted that, the train member information in the virtual multi-train is stored in the train at the first sorting position in the virtual multi-train, and the train at the first sorting position updates the member information of the virtual multi-train according to the received fault information, that is, deletes the fault train from the original train member information.
After the train member information of the trains at the first sequencing position is updated, the updated train member information is sent to the ground control center, so that the ground control center can acquire the train member information of the virtual marshalling multiple trains. Because each train except the first sorting position in the virtual multi-train grouping can send fault information to the train at the first sorting position when the corresponding turn-back information in the turn-back control information is received and the turn-back can not be completed, the train at the first sorting position can update the train member information of the virtual multi-train grouping once every time the fault information is received, meanwhile, the train at the first sorting position can send the updated train member information to the ground control center, and the ground control center receives the actual train member information of the virtual multi-train grouping. Therefore, the scheme of the embodiment is beneficial to the ground control center to determine the train member information in the virtual marshalling multi-car in real time and is also beneficial to determining whether the virtual marshalling multi-car is folded back completely or not.
Further, on the basis of the above embodiment, as shown in fig. 5, the foldback control method further includes:
s201, when a train at the last sorting position in the virtual multi-train is driven out of a turning-back rail, the train at the last sorting position sends turning-back completion information of all trains in the virtual multi-train to a ground control center, wherein the turning-back completion information comprises turning-back completion train member information in the virtual multi-train;
after receiving the turn-back information corresponding to the last train in the last sorting position in the virtual multi-train in the turn-back control information, the last train in the sorting position can send the turn-back completion information of the train in the front of the last train in the virtual multi-train to the ground control center no matter whether the last train in the sorting position can turn back to completion or not. Wherein the turn-back completion information includes, but is not limited to, the turn-back completed train membership information.
S202, the ground control center compares the train membership information after turning back is completed with the train membership information received from the train at the first sequencing position;
if the train member information after turning back is consistent with the train member information received from the trains at the first sequencing position, determining that virtual grouping multi-train turning back is completed;
If the train membership information after the turning-back is inconsistent with the train membership information received from the train at the first sequencing position, the ground control center determines whether the turning-back completion information has packet loss.
The ground control center compares the train member information in the received turn-back completion information sent by the train at the last sorting position with the train member information of the virtual grouping multi-train sent by the train at the first sorting position, when the train member information in the two are consistent, the virtual grouping multi-train turn-back is completed, the computer interlocks the track section 53 which normally unlocks the turn-back rail to drive out the way of the turn-back rail, and the running route corresponding to S7-S1 shown in fig. 3 is driven out.
When the train member information in the two information are inconsistent, the ground control center needs to determine whether the packet loss exists in the turn-back completion information.
For example, the train membership information of the virtual grouped multi-train received by the ground control center from the train at the first sorting position is { first train, second train, third train, fourth train, fifth train }, the train membership information in the turn-back completion information received by the ground control center from the train at the last sorting position is { first train, second train, fourth train, fifth train }, which indicates that the two information are inconsistent, and the reason why the train membership information in the turn-back completion information received by the ground control center is inconsistent may be that the ground control center loses a packet when receiving the turn-back completion information, or may be that there is a problem of missing transmission information or mistransmission information in the transmission process of adjacent trains in the virtual grouped multi-train. For the second reason, the ground control center cannot automatically check that manual checking is needed, and for the first reason, the ground control center can receive the turn-back information again by sending a checking instruction, so that the problem of packet loss when receiving the turn-back completion information is solved.
Further, as an achievable solution, the ground control center determines whether there is a packet loss in the turn-back completion information, including:
the ground control center determines whether the turn-back completion information is within a preset time period;
if yes, the ground control center determines that no packet loss exists in the turn-back completion information, and the ground control center sends a manual inspection instruction;
if not, the ground control center determines that the packet loss exists in the turn-back completion information, and the ground control center sends a checking instruction to the virtual marshalling multi-vehicle.
Specifically, the reason for causing the packet loss of the data is mainly that the ground control center loses the packet due to network faults when receiving the turn-back completion information. In order to ensure the reliability of data transmission, the ground control center receives data according to a preset time period, and determines whether packet loss occurs in the process of receiving the turn-back completion information by judging whether the received turn-back completion information is within the preset time period. If the turn-back completion information received by the ground control center is within a preset time period, the ground port control center is indicated that no packet loss exists in the turn-back completion information received by the ground port control center, so that the reason for inconsistent train member information is determined, and when the turn-back completion information is transmitted by two adjacent trains in the virtual marshalling multi-train, missed transmission or wrong transmission occurs, so that the ground control center needs to send a manual detection instruction, and after receiving the manual detection instruction, a worker checks and eliminates the fault of the virtual marshalling multi-train;
If the turn-back completion information received by the ground control center is not in the preset time period, determining that the turn-back completion information received by the ground control center has packet loss, and sending a checking instruction by the ground control center to ensure the turn-back completion of the virtual marshalling multiple vehicles.
Further, as shown in fig. 6, the ground control center sends a checking instruction to the virtual marshalling multi-car, specifically including:
s301, a ground control center sends a checking instruction to a train at a first sequencing position;
s302, receiving and responding to the checking instruction by the train at the first sorting position, and sequentially transmitting the checking instruction to adjacent trains until the train at the last sorting position in the virtual multi-train grouping receives and responds to the checking instruction;
s303, the trains at the last sorting position send a first checking result to the ground control center, wherein the first checking result comprises a result of each train in the virtual marshalling responding to a checking instruction;
s304, the ground control center receives a first checking result, the process is repeated, the ground control center receives a second checking result, and the second checking result comprises a result that each train in the virtual marshalling responds to the checking instruction again;
s305, the ground control center performs a first check result and a second check result;
If the first checking result is consistent with the second checking result, the virtual marshalling multiple cars finish turning back;
and if the first checking result is inconsistent with the second checking result, the ground control center sends a manual checking instruction.
The checking instruction includes, but is not limited to, an operation state, a train position, a task state, and the like of all trains in the virtual consist multi-train.
The ground control center sends a checking instruction to the first train, and the first train checks the running state of the first train, the current train position of the first train and the task state of the first train according to the checking instruction, and is used for determining whether the first train turns back to be finished or not by checking the running state (whether a fault exists) and the current position of the train (the specific position on the track line) and the currently executed task. The first train responds to the checking instruction and then sends the checking result and the first checking instruction to the second train, the second train responds to the checking instruction to confirm the turn-back and sends the checking instruction, the checking result of the first train and the checking result of the second train to the third train, the third train is sequentially circulated to the last train (the N train), and the N train receives the checking results of all vehicles in the virtual marshalling multiple trains and the checking results of the N train in front of the virtual marshalling multiple trains and generates a first checking result in series and sends the first checking result to the ground control center.
The sequentially transmitting checking instructions to adjacent trains comprises the following steps: the train that has executed the verification instruction transmits the verification instruction and a response result corresponding to the train that has executed the verification instruction to the adjacent train that is about to receive the verification instruction. The response results corresponding to the trains for which the checking instructions have been executed include all of the checking results obtained by all of the trains for which the checking instructions have been executed in response to the checking instructions. After the ground control center receives the first checking result, the first checking result is stored first, in order to avoid the first checking result possibly missing or other problems, the ground control center performs secondary confirmation, namely, sends a checking instruction to the first train again, repeats the process, the nth train generates a second checking result and sends the second checking result to the ground control center, and the ground control center compares the first checking result with the second checking result, so that the checking accuracy is improved. Wherein the first check result and the second check result may be, but are not limited to, train membership information, train location, mission status, etc. of the rollback completion.
If the first checking result is consistent with the second checking result, the virtual group multi-vehicle completes turning back after the checking is finished, the computer interlocks the track section 53 which is normally unlocked and enters the turning back track, and the computer exits the outgoing road of the turning back track, such as the running route corresponding to S7-S1 shown in FIG. 3.
If the first checking result is inconsistent with the second checking result, whether the virtual marshalling multi-car is folded back is not determined, and a manual checking instruction needs to be sent.
Further, the method further comprises the following steps:
if the ground control center does not receive the first checking result or the second checking result within the preset time period, the ground control center resends the checking instruction to the first train.
In order to further improve the checking efficiency, the ground control center sets preset time for receiving the first checking result and the second checking result, and the preset time is determined according to the speed of data transmission and the time for transmitting the checking instruction and responding the instruction in the virtual marshalling multi-vehicle. If the ground control center does not receive the first checking result or the second checking result within the preset time period, the communication fault is determined to occur when the virtual marshalling multi-vehicle is transmitted by the checking instruction, and the checking is interrupted at the moment, so that the ground control center does not receive the checking result within the preset time period. Based on the above situation, the ground control center sets an overtime process, wherein the overtime process refers to that the first checking result or the second checking result is not received after the preset time, the ground control center considers the checking interruption, and the ground control center resends the checking instruction to check.
For example: when the virtual grouping multiple trains transmit the first checking instruction, communication faults occur, the third train does not receive the checking instruction, the third train does not transmit the checking instruction to the fourth train, the checking is interrupted, the ground control center does not receive the first checking result within 20s due to the checking interruption, at the moment, the ground control center can retransmit the checking instruction for checking, and when the checking instruction is retransmitted and the checking interruption is still checked, the ground control center transmits a manual warning notification.
In summary, according to the method for controlling the turn-back of the virtual multi-train in the virtual consist, the ground control center sends turn-back control information to the trains in the first sequencing position in the virtual multi-train in the virtual consist, and each train in the virtual multi-train in the virtual consist sequentially transmits the turn-back control information to the adjacent trains. According to the technical scheme, the ground control center only needs to send the turn-back control information once, the turn-back control information is transmitted through two adjacent trains of vehicle-to-vehicle communication, the turn-back control information is not required to be frequently distributed to each train by the ground control center, the transmission time required by the transmission of the turn-back control information between each train and the ground control center is effectively saved, and the turn-back passing efficiency of a plurality of trains on the same running line is improved.
And the ground control center compares the turn-back completion information received from the train at the last sorting position with the train member information received from the train at the first sorting position to determine whether the virtual multi-train grouping is turned back, thereby being beneficial to the ground control center to determine the state of the virtual multi-train grouping, ensuring the orderly and safe operation of the trains on the track line and improving the operation efficiency.
On the other hand, the invention also provides a turn-back control system of the virtual marshalling multi-car, which comprises a ground control center and the virtual marshalling multi-car, wherein the ground control center is in communication connection with the trains at the first sorting position in the virtual marshalling multi-car, and the two adjacent trains in the virtual marshalling multi-car are in communication connection;
the ground control center is used for sending turn-back control information to trains at a first sorting position in the virtual grouping multi-train, the turn-back control information comprises turn-back information corresponding to each train in the virtual grouping multi-train, and the trains at the first sorting position are trains at the forefront position in the virtual grouping multi-train based on the running direction of the virtual grouping multi-train;
the virtual marshalling train of the first sequencing position in the multi-train is used for receiving the turn-back control information sent by the control center; and sending turn-back control information to trains adjacent to the train in the first sequencing position; the trains with the front sequencing positions in the virtual marshalling multi-train are used for transmitting the turn-back control information to the trains with the rear sequencing positions adjacent to the trains.
The turn-back control system of the virtual marshalling multi-vehicle of the embodiment can execute the turn-back control method of the virtual marshalling multi-vehicle of the embodiment, and is the same as the implementation principle and effect of the embodiment, and is not repeated here.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing description is only of the preferred embodiments of the present application and is presented as a description of the principles of the technology being utilized. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
Claims (9)
1. A method of controlling a turn-back of a virtual consist multi-car, the virtual consist multi-car including at least two trains traveling in the same traveling direction on the same traveling line, the method comprising:
the ground control center sends turn-back control information to trains at a first sorting position in the virtual grouping multi-train, wherein the turn-back control information comprises turn-back information corresponding to each train in the virtual grouping multi-train, and the trains at the first sorting position are trains at the forefront position in the virtual grouping multi-train based on the running direction of the virtual grouping multi-train;
Sequentially transmitting the turn-back control information to adjacent trains from the train at the first sequencing position, including:
the front vehicle carries out turning back according to the turning back information corresponding to the turning back control information, wherein the front vehicle is a train with front sequencing positions in two adjacent trains in the virtual marshalling multi-vehicle;
when the front vehicle drives out of the turning-back rail, the front vehicle sends turning-back completion information and turning-back information corresponding to a train which does not turn back in the turning-back control information, wherein the rear vehicle is a train with rear sequencing positions in two adjacent trains in the virtual marshalling multi-vehicle, and the turning-back completion information is information for indicating that the front vehicle completes turning back;
and repeating the process until the train at the last sorting position in the virtual multi-train-group receives the corresponding turn-back information in the turn-back control information, wherein the train at the last sorting position is based on the running direction of the virtual multi-train-group, and the train at the last sorting position is positioned in the virtual multi-train-group.
2. The fold-back control method according to claim 1, wherein when a preceding vehicle folds back according to fold-back information corresponding thereto among the received fold-back control information, the method further comprises:
And after the train driving into the turning-back rail turns back, the train state information is sent to the ground control center.
3. The fold-back control method according to claim 1, wherein when a faulty train is included in the virtual consist multi-train, sequentially transmitting the fold-back control information to adjacent trains from the train of the first sort position, includes:
if the train at the first sorting position in the virtual multi-train is a fault train, the train at the first sorting position sends train member information and fault information of the virtual multi-train to the ground control center;
the ground control center determines that the train at the second sorting position in the virtual grouping multi-train is the train at the new first sorting position according to the received train membership information and fault information and sends the turn-back control information;
if any train in the virtual grouping multi-train which is not in the first sorting position is a fault train, when the fault train exits from the turn-back station, the turn-back control information is sent to adjacent trains in the virtual grouping multi-train, which are in the sorting position behind the fault train, and fault information is sent to the train in the first sorting position.
4. A foldback control method as claimed in claim 3, wherein after the train of the first sort location receives the faulty train transmission fault information, the method further comprises:
and the trains at the first sequencing positions in the virtual marshalling multi-train update the train membership information according to the fault information to obtain updated train membership information, wherein the updated train membership information comprises the train membership information after deleting the fault train.
5. The foldback control method according to claim 1, characterized in that the method further comprises:
when the train at the last sorting position in the virtual multi-train is driven out of the turn-back rail, the train at the last sorting position sends turn-back completion information of all trains in the virtual multi-train to the ground control center, wherein the turn-back completion information comprises train member information of turn-back completion in the virtual multi-train, and the train at the last sorting position is based on the driving direction of the virtual multi-train and is positioned at the last train in the virtual multi-train;
the ground control center compares the train membership information after turning back with the train membership information received from the train at the first sequencing position;
If the train membership information after turning back is consistent with the train membership information received from the train at the first sequencing position, determining that the virtual marshalling multi-train turning back is finished;
and if the train member information after turning back is inconsistent with the train member information received from the train at the first sequencing position, the ground control center determines whether packet loss exists in the information after turning back.
6. The fold-back control method according to claim 5, wherein the ground control center determining whether there is a packet loss in the fold-back completion information includes:
the ground control center determining whether the turn-back completion information is received within a preset time period;
if yes, the ground control center determines that the packet loss does not exist in the turn-back completion information, and the ground control center sends a manual inspection instruction;
if not, the ground control center determines that the packet loss exists in the turn-back completion information, and the ground control center sends a checking instruction to the virtual marshalling multi-vehicle.
7. The fold-back control method according to claim 6, wherein the ground control center transmits a check instruction to the virtual consist multi-car, comprising:
The ground control center sends a checking instruction to the train at the first sequencing position;
the trains at the first sorting positions receive and respond to the checking instruction, and the checking instruction is sequentially transmitted to adjacent trains until the trains at the last sorting positions in the virtual multi-train consist receive and respond to the checking instruction;
the trains at the last sorting position send a first checking result to the ground control center, wherein the first checking result comprises a result of each train in the virtual grouped multiple trains responding to the checking instruction;
repeating the above process after the ground control center receives the first checking result, wherein the ground control center receives a second checking result from the trains at the last sorting position, and the second checking result comprises a result that each train in the virtual consist responds to the checking instruction again;
the ground control center performs the first checking result and the second checking result;
if the first checking result is consistent with the second checking result, the virtual marshalling multi-vehicle finishes turning back;
and if the first checking result is inconsistent with the second checking result, the ground control center sends a manual checking instruction.
8. The foldback control method according to claim 7, further comprising:
and if the ground control center does not receive the first checking result or the second checking result within a preset time period, the ground control center resends the checking instruction to the train at the first sequencing position.
9. The turn-back control system of the virtual marshalling multi-vehicle comprises a ground control center and the virtual marshalling multi-vehicle, wherein the ground control center is in communication connection with a train at a first sequencing position in the virtual marshalling multi-vehicle, and two adjacent trains in the virtual marshalling multi-vehicle are in communication connection;
the ground control center is used for sending turn-back control information to trains at a first sorting position in the virtual grouping multi-train, the turn-back control information comprises turn-back information corresponding to each train in the virtual grouping multi-train, and the trains at the first sorting position are trains at the forefront position in the virtual grouping multi-train based on the running direction of the virtual grouping multi-train;
the virtual marshalling trains at the first sequencing positions in the multi-train are used for receiving the turn-back control information sent by the control center; and transmitting the turn-back control information to a train adjacent to the train at the first sequenced position; and the train with the front sequencing position in the virtual marshalling multi-train is used for transmitting the turn-back control information to the train with the rear sequencing position adjacent to the train.
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