CN114162175B - Switch control method and system and intelligent rail train - Google Patents
Switch control method and system and intelligent rail train Download PDFInfo
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- CN114162175B CN114162175B CN202111562086.3A CN202111562086A CN114162175B CN 114162175 B CN114162175 B CN 114162175B CN 202111562086 A CN202111562086 A CN 202111562086A CN 114162175 B CN114162175 B CN 114162175B
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000010276 construction Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 3
- 208000031427 Foetal heart rate deceleration Diseases 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 3
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0072—On-board train data handling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L27/00—Central railway traffic control systems; Trackside control; Communication systems specially adapted therefor
- B61L27/04—Automatic systems, e.g. controlled by train; Change-over to manual control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a turnout control method and system and an intelligent rail train, and belongs to the technical field of intelligent rail trains. The turnout control method comprises the following steps: and acquiring operation route parameters and turnout parameters, and inputting the operation route parameters and turnout parameters into an electronic map to obtain an electronic map module. According to the vehicle-mounted GPS antenna of the intelligent rail train, real-time position data of the intelligent rail train are input into the electronic map module to obtain the running direction and running speed of the intelligent rail train and the distance between the intelligent rail train and the turnout. And conveying the operation route parameters, the turnout parameters, the running direction, the running speed and the distance between the intelligent rail train and the turnout to a control system of the intelligent rail train so as to regulate and control the intelligent rail train to pass through the turnout. The turnout control method provided by the embodiment of the invention can ensure that the intelligent rail train passes through the turnout efficiently, avoid the problem that a driver passes through the turnout at an extremely low speed due to early deceleration before the turnout, and further improve the passing speed and the passing capacity of the train.
Description
Technical Field
The invention belongs to the technical field of intelligent rail trains, and particularly relates to a turnout control method and system and an intelligent rail train.
Background
Compared with the traditional rail transit, the intelligent rail train ensures that the train accurately runs on a set virtual track by adopting the virtual track following control technology. The virtual track following control technology is an innovative technology of intelligent rail trains, and the virtual track is used for replacing a conventional physical track, so that the interference and influence of engineering construction on urban roads are avoided to a great extent, the engineering investment is greatly reduced, the engineering construction period is greatly shortened, and the intelligent rail train is an important advantage embodiment of the whole intelligent rail system.
In the existing practical engineering application, when an intelligent rail train passes through a virtual turnout, a manual driving mode is adopted to select the direction of the turnout. In order to obtain better train control, a driver often slows down in advance before a switch so as to keep up with observation, reaction and control time; near a switch, even at very low speeds, this results in a series of problems such as reduced speed and reduced train throughput.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides a turnout control method, a turnout control system and an intelligent rail train, and aims to ensure that the intelligent rail train can efficiently pass through a turnout, avoid the problem that a driver passes through the turnout at an extremely low speed due to early deceleration before the turnout, and further improve the passing speed and the passing capacity of the train.
In a first aspect, the present invention provides a switch control method, where the switch control method includes:
Acquiring operation route parameters and turnout parameters, and inputting the operation route parameters and the turnout parameters into an electronic map to obtain an electronic map module;
according to a vehicle-mounted GPS antenna of the intelligent rail train, real-time position data of the intelligent rail train are input into the electronic map module to obtain the running direction and running speed of the intelligent rail train and the distance between the intelligent rail train and a turnout;
And conveying the operation route parameters, the turnout parameters, the running direction, the running speed and the distance between the intelligent rail train and the turnout to a control system of the intelligent rail train so as to regulate and control the intelligent rail train to pass through the turnout.
Optionally, the operational route parameters include sequence number, mileage, direction, and travel track.
Optionally, the switch parameters include a straight speed limit, a steering speed limit, and a switch position.
Optionally, the conveying the operation route parameter, the switch parameter, the running direction, the running speed and the distance between the intelligent rail train and the switch to a control system of the intelligent rail train to regulate the intelligent rail train to pass through the switch comprises:
Based on the traveling direction and the traveling track, the control system judges whether the intelligent rail train turns:
If not, the control system regulates and controls the speed of the intelligent rail train according to the running speed and the straight speed limit;
if steering is performed, the control system regulates and controls the speed of the intelligent rail train and steers based on the distance between the intelligent rail train and the turnout, the running speed and the steering speed limit.
Optionally, if the intelligent rail train turns, based on the distance between the intelligent rail train and the turnout, the running speed and the turning speed limit, the control system regulates and controls the speed of the intelligent rail train and turns, and the intelligent rail train turning method comprises the following steps:
When the distance between the intelligent rail train and the turnout is smaller than a set value S, the control system regulates and controls the speed of the intelligent rail train based on the running speed and the steering speed limit;
when the distance between the intelligent rail train and the turnout is smaller than a set value L 0, the control system controls the intelligent rail train to turn;
Wherein S is more than L 0; m.
In a second aspect, an embodiment of the present invention provides a switch control system, including:
An electronic map construction module; the system comprises an electronic map module, a switch control module and a switch control module, wherein the electronic map module is used for acquiring operation route parameters and switch parameters, and inputting the operation route parameters and the switch parameters into the electronic map;
The intelligent rail train parameter acquisition module is used for inputting real-time position data of the intelligent rail train into the electronic map module according to a vehicle-mounted GPS antenna of the intelligent rail train so as to acquire the running direction and the running speed of the intelligent rail train and the distance between the intelligent rail train and the turnout;
And the regulation and control module is used for conveying the operation route parameters, the turnout parameters, the running direction, the running speed and the distance between the intelligent rail train and the turnout to a control system of the intelligent rail train so as to regulate and control the intelligent rail train to pass through the turnout.
In a third aspect, an embodiment of the present invention provides an intelligent rail train, where the intelligent rail train includes the switch control system according to the second aspect.
The technical scheme provided by the embodiment of the invention has the beneficial effects that:
For the turnout control method provided by the embodiment of the invention, aiming at the condition that the intelligent rail train passes through the turnout, firstly, the operation route parameters and the turnout parameters are collected, the operation route parameters and the turnout parameters are input into an electronic map to obtain an electronic map module, so that the running direction and the running speed of the intelligent rail train and the distance between the intelligent rail train and the turnout can be determined according to the real-time position data of the intelligent rail train and the comparison of the operation route parameters and the turnout parameters. And then, according to the vehicle-mounted GPS antenna of the intelligent rail train, inputting the real-time position data of the intelligent rail train into the electronic map module to acquire the running direction and the running speed of the intelligent rail train and the distance between the intelligent rail train and the turnout. Finally, the operation route parameters, the turnout parameters, the running direction, the running speed and the distance between the intelligent rail train and the turnout are conveyed to the control system of the intelligent rail train, and the intelligent rail train is regulated and controlled to pass through the turnout.
That is, the turnout control method provided by the embodiment of the invention can ensure that the intelligent rail train passes through the turnout efficiently, avoid the problem that a driver passes through the turnout at an extremely low speed due to early deceleration before the turnout, and further improve the passing speed and the passing capacity of the train.
Drawings
FIG. 1 is a flow chart of a switch control method provided by an embodiment of the present invention;
FIG. 2 is a flow chart of another switch control method according to an embodiment of the present invention;
FIG. 3 is a schematic view of the track of travel of a switch provided by an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of a switch control system according to an embodiment of the present invention.
The symbols in the drawings are as follows:
1. an electronic map construction module; 2. the intelligent rail train parameter acquisition module; 3. and a regulation module.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Fig. 1 is a flowchart of a switch control method according to an embodiment of the present invention, as shown in fig. 1, where the switch control method includes:
S101, acquiring operation route parameters and turnout parameters, and inputting the operation route parameters and the turnout parameters into an electronic map to obtain an electronic map module.
S102, inputting real-time position data of the intelligent rail train into the electronic map module according to the vehicle-mounted GPS antenna of the intelligent rail train so as to acquire the running direction and the running speed of the intelligent rail train and the distance between the intelligent rail train and the turnout.
S103, conveying the operation route parameters, the turnout parameters, the running direction, the running speed and the distance between the intelligent rail train and the turnout to a control system of the intelligent rail train so as to regulate and control the intelligent rail train to pass through the turnout.
For the turnout control method provided by the embodiment of the invention, aiming at the condition that the intelligent rail train passes through the turnout, firstly, the operation route parameters and the turnout parameters are collected, the operation route parameters and the turnout parameters are input into an electronic map to obtain an electronic map module, so that the running direction and the running speed of the intelligent rail train and the distance between the intelligent rail train and the turnout can be determined according to the real-time position data of the intelligent rail train and the comparison of the operation route parameters and the turnout parameters. And then, according to the vehicle-mounted GPS antenna of the intelligent rail train, inputting the real-time position data of the intelligent rail train into the electronic map module to acquire the running direction and the running speed of the intelligent rail train and the distance between the intelligent rail train and the turnout. Finally, the operation route parameters, the turnout parameters, the running direction, the running speed and the distance between the intelligent rail train and the turnout are conveyed to the control system of the intelligent rail train, and the intelligent rail train is regulated and controlled to pass through the turnout.
That is, the turnout control method provided by the embodiment of the invention can ensure that the intelligent rail train passes through the turnout efficiently, avoid the problem that a driver passes through the turnout at an extremely low speed due to early deceleration before the turnout, and further improve the passing speed and the passing capacity of the train.
The turnout control method provided by the invention further comprises the step of vehicle-level emergency stopping, and specifically comprises the following steps: when an emergency occurs on site, the driver can switch off the control system and switch to manual control.
The control system is an automatic driving system, and can control the steering, the speed, and the like of the train according to the data processing results of the traveling direction, the traveling speed, the distance between the intelligent rail train and the turnout, and the like of the intelligent rail train.
In this embodiment, the operational route parameters include serial number, mileage, direction, and travel track to distinguish between different switches.
It is easy to understand that the track of travel of the switch includes a track a and a track b, wherein the track a is a straight track, and the track b is a straight track, and the track a does not need to be turned.
In addition, the turnout parameters comprise a straight speed limit, a steering speed limit and a turnout position, so that the control system of the intelligent rail train is convenient to compare the real-time speed of the intelligent rail train with the straight speed limit or the steering speed limit before passing through the turnout, and the speed is reasonably controlled, so that the speed of the vehicle passes through the turnout without exceeding the speed limit and approaches the speed limit, and the passing efficiency is improved.
The straight speed limit is the speed limit of the train in straight running at the turnout, and the turning speed limit is the speed limit of the train in turning at the turnout.
It is readily appreciated that the straight travel limit is much greater than the steering limit.
Fig. 2 is a flowchart of another switch control method according to an embodiment of the present invention, as shown in fig. 2, the switch control method includes:
S201, acquiring operation route parameters and turnout parameters, and inputting the operation route parameters and the turnout parameters into an electronic map to obtain an electronic map module.
S202, inputting real-time position data of the intelligent rail train into the electronic map module according to the vehicle-mounted GPS antenna of the intelligent rail train so as to acquire the running direction and the running speed of the intelligent rail train and the distance between the intelligent rail train and the turnout.
S203, based on the running direction and the running track, the control system judges whether the intelligent rail train turns.
Illustratively, the travel track at the switch is determined to be a or b according to the operation route parameters of the intelligent rail train, and the travel track of the train is finally determined to be a 1 or b 1 according to the travel direction of the train (for example, rightward) (see fig. 3).
S2031, if the intelligent rail train is not turned (the running track is a 1), the control system regulates and controls the speed of the intelligent rail train according to the running speed and the straight speed limit.
S2032, if steering (running track is b 1), based on the distance between the intelligent rail train and the turnout, the running speed and the steering speed limit, the control system regulates and controls the speed of the intelligent rail train and steers.
In the embodiment, the control system can determine whether the intelligent rail train turns or not through the steps so as to reasonably control the speed of the vehicle and control the turning.
Wherein S2032 includes:
and S2032a, when the distance between the intelligent rail train and the turnout is smaller than the set value S, the control system regulates and controls the speed of the intelligent rail train based on the running speed and the steering speed limit.
In the embodiment, the distance between the intelligent rail train and the turnout is smaller than the set value S by comparing, so that the intelligent rail train can be decelerated within a preset interval range, and the problem of low passing efficiency caused by early deceleration after a driver observes errors manually is avoided.
In the process of regulating and controlling the speed of the intelligent rail train by the control system, the speed of the intelligent rail train passes through the turnout without exceeding the speed limit and approaching the speed limit, so that the passing efficiency is improved.
And S2032b, when the distance between the intelligent rail train and the turnout is smaller than the set value L 0, the control system controls the intelligent rail train to turn.
Wherein S is more than L 0; m.
In the embodiment, the distance between the intelligent rail train and the turnout is smaller than the set value L 0 by comparing, so that the intelligent rail train can turn in a preset interval range, and the situation that a driver manually observes the intelligent rail train to cause early or late turning is avoided, so that the running track of the intelligent rail train is prevented from being changed.
The turnout control method provided by the invention has the following advantages:
1. The invention relates to a fork control method which is suitable for all intelligent rail trains. When passing through the turnout, the acceleration, deceleration and direction selection of the train are automatically completed.
2. Compared with the original manual operation, the intelligent control method is based on automatic control, and the intelligent level and accuracy are improved.
3. The implementation of the invention can effectively improve the efficiency of the intelligent rail train passing through the turnout, thereby effectively improving the service level and the system transportation capability of the intelligent rail train.
Fig. 4 is a schematic structural diagram of a switch control system according to an embodiment of the present invention, as shown in fig. 4, the switch control system includes:
The electronic map construction module 1 is used for acquiring operation route parameters and switch parameters, and inputting the operation route parameters and the switch parameters into the electronic map to obtain the electronic map module.
And the intelligent rail train parameter acquisition module 2 is used for inputting real-time position data of the intelligent rail train into the electronic map module according to the vehicle-mounted GPS antenna of the intelligent rail train so as to acquire the running direction and the running speed of the intelligent rail train and the distance between the intelligent rail train and the turnout.
And the regulating and controlling module 3 is used for conveying the operation route parameters, the turnout parameters, the running direction, the running speed and the distance between the intelligent rail train and the turnout to the control system of the intelligent rail train so as to regulate and control the intelligent rail train to pass through the turnout.
The embodiment of the invention also provides an intelligent rail train which comprises the turnout control system.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (3)
1. The turnout control method is characterized by comprising the following steps of:
Acquiring operation route parameters and turnout parameters, and inputting the operation route parameters and the turnout parameters into an electronic map to obtain an electronic map module;
according to a vehicle-mounted GPS antenna of the intelligent rail train, real-time position data of the intelligent rail train are input into the electronic map module to obtain the running direction and running speed of the intelligent rail train and the distance between the intelligent rail train and a turnout;
the operation route parameters, the turnout parameters, the running direction, the running speed and the distance between the intelligent rail train and the turnout are transmitted to a control system of the intelligent rail train so as to regulate and control the intelligent rail train to pass through the turnout;
The operation route parameters comprise sequence numbers, mileage, directions and travel tracks;
the turnout parameters comprise a straight speed limit, a steering speed limit and a turnout position;
The control system for conveying the operation route parameter, the turnout parameter, the running direction, the running speed and the distance between the intelligent rail train and the turnout to the intelligent rail train so as to regulate the intelligent rail train to pass through the turnout comprises:
Based on the traveling direction and the traveling track, the control system judges whether the intelligent rail train turns:
If not, the control system regulates and controls the speed of the intelligent rail train according to the running speed and the straight speed limit;
if steering is performed, the control system regulates and controls the speed of the intelligent rail train and steers based on the distance between the intelligent rail train and the turnout, the running speed and the steering speed limit;
If turning, based on the distance between the intelligent rail train and the turnout, the running speed and the turning speed limit, the control system regulates and controls the speed of the intelligent rail train and turns the intelligent rail train, and the intelligent rail train turning method comprises the following steps:
When the distance between the intelligent rail train and the turnout is smaller than a set value S, the control system regulates and controls the speed of the intelligent rail train based on the running speed and the steering speed limit;
when the distance between the intelligent rail train and the turnout is smaller than a set value L 0, the control system controls the intelligent rail train to turn;
Wherein S > L 0.
2. A switch control system, the switch control system comprising:
An electronic map construction module; the system comprises an electronic map module, a switch control module and a switch control module, wherein the electronic map module is used for acquiring operation route parameters and switch parameters, and inputting the operation route parameters and the switch parameters into the electronic map;
The intelligent rail train parameter acquisition module is used for inputting real-time position data of the intelligent rail train into the electronic map module according to a vehicle-mounted GPS antenna of the intelligent rail train so as to acquire the running direction and the running speed of the intelligent rail train and the distance between the intelligent rail train and the turnout;
The regulating and controlling module is used for conveying the operation route parameters, the turnout parameters, the running direction, the running speed and the distance between the intelligent rail train and the turnout to a control system of the intelligent rail train so as to regulate and control the intelligent rail train to pass through the turnout;
The operation route parameters comprise sequence numbers, mileage, directions and travel tracks;
the turnout parameters comprise a straight speed limit, a steering speed limit and a turnout position;
The control system for conveying the operation route parameter, the turnout parameter, the running direction, the running speed and the distance between the intelligent rail train and the turnout to the intelligent rail train so as to regulate the intelligent rail train to pass through the turnout comprises:
Based on the traveling direction and the traveling track, the control system judges whether the intelligent rail train turns:
If not, the control system regulates and controls the speed of the intelligent rail train according to the running speed and the straight speed limit;
if steering is performed, the control system regulates and controls the speed of the intelligent rail train and steers based on the distance between the intelligent rail train and the turnout, the running speed and the steering speed limit;
If turning, based on the distance between the intelligent rail train and the turnout, the running speed and the turning speed limit, the control system regulates and controls the speed of the intelligent rail train and turns the intelligent rail train, and the intelligent rail train turning method comprises the following steps:
When the distance between the intelligent rail train and the turnout is smaller than a set value S, the control system regulates and controls the speed of the intelligent rail train based on the running speed and the steering speed limit;
when the distance between the intelligent rail train and the turnout is smaller than a set value L 0, the control system controls the intelligent rail train to turn;
Wherein S > L 0.
3. An intelligent rail train, characterized in that it comprises a switch control system according to claim 2.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111562086.3A CN114162175B (en) | 2021-12-20 | 2021-12-20 | Switch control method and system and intelligent rail train |
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| CN202111562086.3A CN114162175B (en) | 2021-12-20 | 2021-12-20 | Switch control method and system and intelligent rail train |
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| CN114162175A CN114162175A (en) | 2022-03-11 |
| CN114162175B true CN114162175B (en) | 2024-07-16 |
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| CN114802363B (en) * | 2022-05-27 | 2023-10-31 | 湖南中车时代通信信号有限公司 | Intelligent rail train operation schedule issuing method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725520A (en) * | 2018-06-22 | 2018-11-02 | 中国铁道科学研究院集团有限公司通信信号研究所 | Train operation control system suitable for low-density railway |
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| CN107554556B (en) * | 2017-05-19 | 2020-03-17 | 中国神华能源股份有限公司 | Heavy haul railway mobile block system based on wireless communication |
| CN107745729B (en) * | 2017-11-17 | 2024-04-16 | 中国铁道科学研究院 | Tram automatic driving system |
| EA034117B1 (en) * | 2017-12-27 | 2019-12-27 | Открытое Акционерное Общество "Российские Железные Дороги" | Train traffic control system in railway transport |
| CN110509954B (en) * | 2018-05-21 | 2021-04-20 | 比亚迪股份有限公司 | Turnout control method and device |
| CN111098887B (en) * | 2018-10-26 | 2021-07-20 | 比亚迪股份有限公司 | Automatic train route triggering method, device and system and related equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108725520A (en) * | 2018-06-22 | 2018-11-02 | 中国铁道科学研究院集团有限公司通信信号研究所 | Train operation control system suitable for low-density railway |
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