CN114475698A - Intelligent anti-collision control system for end line shunting and implementation method - Google Patents
Intelligent anti-collision control system for end line shunting and implementation method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L3/00—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
- B61L3/02—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control
- B61L3/08—Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal at selected places along the route, e.g. intermittent control simultaneous mechanical and electrical control controlling electrically
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
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Abstract
The invention discloses an intelligent anti-collision control system for end-line shunting and an implementation method thereof, which solve the problems that more transition projects are caused, the transmission distance is greatly influenced by the environment, the working frequency band is easily interfered by illegal signals, and the number of vehicles controlled by single ground equipment at the same time is relatively limited in the prior art. The intelligent sensor comprises a speed measurement sensor, an A/D conversion module, a signal conditioning module, a coprocessor, a ground responder and a power supply module, wherein the speed measurement sensor, the power supply module and the ground responder are respectively connected with the coprocessor; the microprocessor comprises a main processor, and the display alarm terminal and the power supply module are respectively connected with the main processor; the coprocessor is connected with the main processor through bus transmission.
Description
The technical field is as follows:
the invention belongs to the technical field of rail transit operation, and relates to an intelligent anti-collision control system for end line shunting and an implementation method.
The background art comprises the following steps:
in the shunting operation of a station, a rolling stock often needs to enter into the end line operation or stop, and due to the limitation of line conditions (such as curves and the like), the influence of fog, snow and rain, the intermittent observation of operators, improper speed control and the like, the accidents of collision with a car stop and shunting derailment over a terminal are easily caused. According to statistics, the accidents happen too much on the whole road, and the accidents happen successively at railway stations in mining areas, so that not only is great economic loss caused, but also great influence is caused on transportation and production.
In response to the above problems, experts and scholars have conducted related research. Currently, the following are put into use in the national iron project:
1. a shunting protection system for a motor train unit in a bullet train section (station). On the basis of not changing the existing train-mounted train control equipment (ATP), a set of safety protection system is constructed in a mode of installing a shunting transponder group on a shunting operation line of the motor train unit. The shunting responder group automatically calls route permission or shunting dangerous message information stored in the responder according to the collected display state of the signal machine lamp, so that the requirements of shunting operation and route protection of the motor train unit are met. However, a signal cable is laid between the signal machine junction box and the shunting protection device XB-1 box, the cable is connected to a lighting circuit of the signal machine AC220V in parallel, and a cable groove needs to be excavated and the cable needs to be laid; and equipment such as a cabinet, a monitoring module and the like are additionally arranged in the room, and the existing signal mechanical room has the problems of insufficient area and the like and needs to be additionally modified and expanded. The outdoor construction engineering and the house engineering reconstruction and extension may cause more transitional engineering, increase investment and prolong construction period.
2. A wireless shunting locomotive signal and monitoring system. The control area of the system is required to be in a centralized interlocking area, ground wireless communication equipment (a ground antenna is arranged on an iron tower near a signal building) is required to be arranged near the signal building, and information such as signals, turnouts and track sections related to shunting operation is transmitted to a shunting locomotive in a vehicle-ground wireless communication mode. The construction amount for installing the communication iron tower is large, and the construction cost is increased; and is not beneficial to the lightning protection and electromagnetic shielding protection of the signal mechanical chamber; the transmission distance is greatly influenced by the environment, and the working frequency band is easily interfered by illegal signals; in a half-duplex communication mechanism, the number of vehicles controlled by a single ground device at the same time is relatively limited.
The invention content is as follows:
the invention aims to provide an intelligent anti-collision control system for end-line shunting and an implementation method thereof, which solve the problems of more transition projects, larger influence of the transmission distance on the environment, easy interference of illegal signals on the working frequency band and relatively limited number of vehicles controlled by single ground equipment in the prior art. The invention carries out overspeed automatic alarm prompt on the rolling stock entering the end line terminal and implements corresponding safety protection measures, thereby effectively preventing the rolling stock from colliding with the soil block and passing over the soil block and having reliable guarantee effect on the railway driving safety.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides an intelligent anticollision control system of end line shunting which characterized in that: the intelligent sensor comprises a speed measurement sensor, an A/D conversion module, a signal conditioning module, a coprocessor and a power module, wherein the speed measurement sensor and the power module are respectively connected with the coprocessor; the microprocessor comprises a main processor, and the display alarm terminal and the power supply module are respectively connected with the main processor; the coprocessor is connected with the main processor through bus transmission, the ground responder is respectively connected with the coprocessor,
an implementation method of an intelligent anti-collision control system for end-line shunting is characterized in that: the method comprises the following steps:
(1) the vehicle tests the speed at the entrance of the notification area for one time;
(2) signal preprocessing and coprocessor data fusion;
(3) processor logic computation;
(4) the sound alarm prompts deceleration when overspeed occurs, and common braking is adopted;
(5) the vehicle carries out secondary speed measurement at the entrance of the protection area;
(6) signal preprocessing and coprocessor data fusion;
(7) processor logic computation;
(8) the sound alarm prompts deceleration when overspeed occurs, and emergency braking is adopted;
(9) the rolling stock reaches the specified end position at the specified speed, and the routine is terminated.
Compared with the prior art, the invention has the following advantages and effects:
1. aiming at the problems of the traditional mechanical shunting collision avoidance device and the existing shunting protection system, the invention introduces a new technology and a new method, and adopts the scheme of an intelligent sensor and a microprocessor: the overspeed alarm and protection functions of shunting operation can be realized only by arranging a passive transponder group on a sleeper at a specific position and installing terminal equipment such as a sensor and a microprocessor on a locomotive (the related building and installation engineering is less, and no transition engineering exists), so that the accidents of collision of the locomotive with a soil block and passing over the soil block are effectively prevented, the shunting operation efficiency is improved, the shunting safety is ensured, the transportation efficiency is improved, the transportation order is stabilized, the economic loss is reduced, and a powerful technical guarantee is provided. Has obvious economic and social benefits and wide popularization prospect.
2. With the development trend of intellectualization and intellectualization of railways, the invention can lay a foundation for the application of intelligent operation and maintenance in the future. The requirements of a large number of railway construction for personnel are more and more short of the demand, and then the application of various intelligent systems is bound to become a mainstream trend, the project fully exerts the advantages of cross-industry and cross-field collaborative innovation, and constructs a novel intelligent railway technical system, key equipment, integrated application and standard specification around the urgent requirements of a railway network on safety, high-efficiency operation and sustainable capability guarantee, so that the national strategy of 'strong transportation' is assisted, the continuous advancement of China in the field of railway industry is kept, and the technical development direction is introduced internationally.
Description of the drawings:
FIG. 1 is a schematic end-line shunting diagram;
FIG. 2 is a general block diagram of the system of the present invention;
FIG. 3 is a diagram of an intelligent sensor according to the present invention;
FIG. 4 is a functional block diagram of the coprocessor of the present invention;
fig. 5 is a signal processing flow chart of the present invention.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, when a vehicle is dispatched on the end line according to the railway technical management regulation of the general company of railway, china, the safety distance of 10m should be kept from the line terminal; in special cases, when the distance is required to be close to 10m, the speed is strictly controlled. Therefore, the shunting route related section is divided into 3 areas, namely a notification area, an early warning area and a protection area, according to the operation mode of the end line shunting operation. The end-line shunting schematic is shown in fig. 1.
And passive transponders are respectively arranged on the track middle sleepers at the inlets of the notification area and the protection area to provide the locomotive with the line gradient, the distance between the locomotive and a bumper, the detection trigger information of a speed measurement sensor and the like. And a plurality of speed measuring sensors are arranged above the locomotive wheel pair to acquire the rotating speed of the locomotive wheel pair.
The core part of the invention consists of an intelligent sensor and a microprocessor. The overall system architecture is shown in fig. 2. The intelligent sensor comprises a speed measurement sensor, an A/D conversion module, a signal conditioning module, a coprocessor and a power module, wherein the speed measurement sensor, the power module and the ground responder are respectively connected with the coprocessor; the microprocessor comprises a main processor, and the display alarm terminal and the power supply module are respectively connected with the main processor; the coprocessor is connected with the main processor through bus transmission.
The method is characterized in that a coprocessor and other related modules are arranged between a microprocessor and a traditional sensor, signals detected by the sensor are subjected to a series of processing, then are transmitted to the microprocessor through a bus transmission channel for comprehensive analysis and processing, and a locomotive sensing alarm is arranged to be interconnected with an automatic locomotive parking device through a special interface, so that the monitoring and control of locomotive shunting operation are realized. The display terminal can repeat the speed/distance curve of the vehicle and configure corresponding acousto-optic alarm.
The intelligent sensor is based on computer technology and sensor detection technology, and is provided with a coprocessor. The method mainly comprises the following steps: the device comprises a speed measuring sensor, an A/D conversion module, a signal conditioning module, a coprocessor, a power supply module and the like. The method is mainly characterized in that the function of detecting information by a sensor and the information processing function of a processor are organically combined. Compared with the traditional sensor, the intelligent sensor has the basic function of information detection, and is additionally provided with the functions of data preprocessing, automatic correction, data storage, self diagnosis and the like. The triggering of the sensor locomotive speed detection is initiated by a detection trigger signal transmitted by the ground transponder. The basic construction is shown in fig. 3.
The coprocessor judges whether the current position of the locomotive exceeds a specified speed limit (if the distance required for braking at the current speed of the locomotive is greater than the length of the section of the area where the locomotive is located) according to the braking performance of the locomotive and line parameters, and correspondingly sends different instructions to the microprocessor for the microprocessor to complete logic judgment and output corresponding control commands.
For different types of traction locomotives (internal combustion and electric power), traction and braking calculation methods are different, and locomotive braking distances including an idle running distance and an effective braking distance are calculated respectively according to TB/T1407-1998 train traction calculation rules and reference TJ/DW173-2015 train operation monitoring device (LKJ) control mode setting specifications.
When the speed is regulated by the service brake, the brake distance is calculated according to the formula (1).
When the emergency brake is stopped, the braking distance is calculated according to the formula (2).
In the formula, v0The initial speed of braking is; v. ofmThe brake end speed; t is tkThe idle time;
is a reduced friction coefficient; thetahConverting the braking rate for the train; beta is acIs a constantUsing a braking coefficient (the value is 1 during emergency braking); w is a0The unit basic resistance of the train; i all right anglejThe slope is calculated by thousands of the addition slope of the braking section (the lower slope takes a negative value, and the upper slope takes 0); and lambda is a brake calculation coefficient (set by considering the dispersion of the brake performance of the train).
The main processor adopts a microcomputer (Windows system) and is interconnected with the automatic parking device through a special interface;
the coprocessor adopts a DSP chip (TMS320F 2812). TMS320F2812 adopts Harvard bus structure, has cipher protection mechanism, can perform double 16 × 16 bit multiply-add and 32 × 32 bit multiply-add operations, and can give consideration to double functions of control and fast operation. The CPU of TMS320F2812 is a 32-bit fixed-point core with a dominant frequency of 150 MHz. The TMS320F2812 chip has a highly integrated structure, and a large number of peripheral devices are integrated in the chip, wherein the chip comprises: the device comprises an event manager, a 16-channel 12-bit analog-to-digital converter, a watchdog timer, a universal input/output pin, a multi-channel buffer serial peripheral, an improved CAN bus interface, a dual-channel serial communication interface, a serial peripheral interface and the like. The structural functional block diagram is shown in fig. 4.
The detection information of the speed measurement sensor is directly transmitted to the processor through an input/output pin of the TMS320F 2812. The functions of data preprocessing, automatic correction, data storage, self diagnosis and the like of the intelligent sensor are all realized by programming in the DSP development environment of CCS2.2for C2000.
Referring to fig. 5, the present invention further includes a method for implementing an intelligent anti-collision control system for end-line shunting, comprising the following steps:
(1) the vehicle tests the speed at the entrance of the notification area for one time;
(2) signal preprocessing and coprocessor data fusion;
(3) processor logic computation;
(4) the sound alarm prompts deceleration when overspeed occurs, and common braking is adopted;
(5) the vehicle carries out secondary speed measurement at the entrance of the protection area;
(6) signal preprocessing and coprocessor data fusion;
(7) processor logic computation;
(8) the sound alarm prompts deceleration when overspeed occurs, and emergency braking is adopted;
(9) the rolling stock reaches the specified end position at the specified speed, and the routine is terminated.
The intelligent sensor of the invention has the following function realization modes:
1. data preprocessing:
the locomotive wheel counter-rotating speed measured by the sensor is converted into analog quantity, the rotating speed of the locomotive wheel pair is firstly converted into an electric signal which can be processed by the coprocessor through the A/D conversion module, the converted electric signal is influenced by factors such as environment and the like, certain interference and noise signals inevitably exist, and the next step of data automatic correction signal processing is carried out after the converted electric signal is filtered, corrected and amplified through the signal conditioning module.
2. Automatic correction:
and comparing and analyzing the preprocessed information from different speed measuring sensors, deleting data with larger deviation with the confirmed measured value, and carrying out deep fusion on the rest data after averaging and the information transmitted by the transponder.
3. Data storage:
a plurality of on-chip memories and external memory interfaces are provided, so that the chip has a data storage function and is used for realizing functions of automatic correction, self diagnosis and the like.
4. Self-diagnosis:
the sensors are calibrated before use by the manufacturer or user to ensure the accuracy of the measurements during use. For a long time, users have seen sensors as simple signal generating devices, whose measured values are considered "accurate" and which are able to accurately reflect changes in the measured values. However, during long-term use of the sensor, the user cannot determine whether the sensor measurements are still within the accuracy range. If the operating state or the measured value of the sensor is poor in precision, the system decision and control based on the single information flow can cause the overall performance of the system to be reduced and even cause failure. Therefore, it is necessary to monitor the operating state of the sensor in real time and to evaluate the accuracy and reliability of the measured values of the sensor.
The self-diagnosis function is completed by the coprocessor, and the function is realized by adopting a 'prediction filter method'. The principle is as follows: under the condition that the output value of the sensor does not change suddenly, modeling is carried out on a prediction filter by utilizing the historical measurement value of the sensor, the prediction error between the prediction value of the prediction filter and the real output value of the sensor is calculated, and then the fault detection and isolation result of the sensor is determined by utilizing a threshold comparator. The self-diagnostic information is also transmitted and reproduced to the display terminal for viewing by the driver.
The invention discloses a microprocessor with various functions:
the microprocessor outputs corresponding instructions according to different signals transmitted by the coprocessor and repeats the instructions to the display terminal, so that a driver can know the running condition of the locomotive in time. Meanwhile, the control of the shunting operation of the locomotive is realized through a special interface which is arranged and interconnected with the automatic locomotive parking device.
The control instruction output timing follows the following principle:
(1) when the rolling stock drives to the entrance of the notification area, a voice prompt instruction 'the front end line, pay attention to deceleration' is output, and the judgment is carried out: whether the distance required for braking at the current running speed is more than l1. If the current speed is larger than the preset speed, outputting a deceleration prompt instruction, adopting common braking, giving a weak alarm at a display terminal and repeating a speed/distance curve; otherwise, no alarm is given, and only the speed/distance curve is repeated.
(2) When the rolling stock drives to the entrance of the protection area, judging: whether the distance required for braking at the current running speed is more than l2. If the speed is larger than the preset speed, outputting a deceleration prompt instruction, adopting emergency braking (starting an automatic locomotive stopping device through a special interface and a special signal code conversion program, automatically and emergently braking the locomotive to stop, and preventing the occurrence of collision with an earth block), giving a strong alarm and repeating a speed/distance curve at a display terminal; otherwise, no alarm is given, and only the speed/distance curve is repeated.
(3) When the rolling stock safely arrives to be parked at the specified position, the system is automatically terminated.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the specification and the drawings of the present invention should be included in the scope of the present invention.
Claims (2)
1. The utility model provides an intelligent collision avoidance control system of end line shunting which characterized in that: the intelligent sensor comprises a speed measurement sensor, an A/D conversion module, a signal conditioning module, a coprocessor and a power module, wherein the speed measurement sensor and the power module are respectively connected with the coprocessor; the microprocessor comprises a main processor, and the display alarm terminal and the power supply module are respectively connected with the main processor; the coprocessor is connected with the main processor through bus transmission, and the ground responder is respectively connected with the coprocessor.
2. The implementation method of the intelligent anti-collision control system for end-line shunting according to claim 1, characterized in that: the method comprises the following steps:
(1) the vehicle tests the speed at the entrance of the notification area for one time;
(2) signal preprocessing and coprocessor data fusion;
(3) processor logic computation;
(4) the sound alarm prompts deceleration when overspeed occurs, and common braking is adopted;
(5) the vehicle carries out secondary speed measurement at the entrance of the protection area;
(6) signal preprocessing and coprocessor data fusion;
(7) processor logic computation;
(8) when the vehicle is overspeed, the sound alarm prompts deceleration and adopts emergency braking;
(9) the rolling stock reaches the specified end position at the specified speed, and the routine is terminated.
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