CN114919628A - Train awakening initial positioning method of full-automatic operation system - Google Patents
Train awakening initial positioning method of full-automatic operation system Download PDFInfo
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- CN114919628A CN114919628A CN202210711087.8A CN202210711087A CN114919628A CN 114919628 A CN114919628 A CN 114919628A CN 202210711087 A CN202210711087 A CN 202210711087A CN 114919628 A CN114919628 A CN 114919628A
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 230000005059 dormancy Effects 0.000 claims abstract description 68
- 101150072179 ATP1 gene Proteins 0.000 description 6
- 101150015935 ATP2 gene Proteins 0.000 description 6
- 101100003366 Arabidopsis thaliana ATPA gene Proteins 0.000 description 6
- 102100021649 Elongator complex protein 6 Human genes 0.000 description 6
- 101100065219 Homo sapiens ELP6 gene Proteins 0.000 description 6
- 101150026213 atpB gene Proteins 0.000 description 6
- 101150105046 atpI gene Proteins 0.000 description 6
- 238000007689 inspection Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000007958 sleep Effects 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or trains
- B61L25/025—Absolute localisation, e.g. providing geodetic coordinates
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- 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
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- 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
- B61L27/70—Details of trackside communication
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
The invention discloses a train awakening initial positioning method of a full-automatic operation system, which comprises the following steps: 1) a train head dormancy awakening transponder and a train tail dormancy awakening transponder are arranged at preset positions of the train dormancy rail, wherein the train head dormancy awakening transponder is located at the position of the train head, and the distance between the train head dormancy awakening transponder and the initial position of the train head is L1; the train tail dormancy awakening transponder is positioned at the train tail position, and the distance between the train tail dormancy awakening transponder and the initial position of the train tail is L2; 2) after the train receives the awakening command, receiving the position information of the train head dormancy awakening transponder and the train tail dormancy awakening transponder in the electronic map; 3) and obtaining the initial position of the train when the train is awakened according to the position information of each dormancy awakening transponder in the electronic map, L1 and L2. The method has the advantages of simple process, simple and convenient operation, capability of acquiring the initial position of the FAO system train and the like.
Description
Technical Field
The invention mainly relates to the technical field of rail transit, in particular to a train awakening initial positioning method of a full-automatic operation system.
Background
In a train Operation control system based on communication, safety protection distance, movement authorization, Operation interval, stop precision, transportation efficiency and the like of a train are all related to the real-time position of the train, and particularly for a full-Automatic Operation system FAO (Fully Automatic Operation) which meets the functional requirements of GoA3+ and GoA4 (wherein GoA is an Automation level and is Fully called Grade of Automation), after the train is awakened and initially positioned successfully, a subsequent awakening process can be continuously executed, and Automatic ex-warehouse and online Operation of the train is completed. Under the existing CBTC (Communication-Based Train Control, called Communication Based Train Control all), the Train initial positioning is that a driver drives a Train to move forward in an RM Mode (limited Manual Driving Mode all called managed Manual Driving Mode) and continuously passes through two transponders, and an ATP (Automatic Train Protection) at a Train Control end obtains the initial position of the Train according to received transponder information, the actual running distance of the Train and an electronic map; however, in the FAO system, the train is kept at zero speed during the wake-up process of the dormant train, and the initial positioning cannot be obtained by the existing method.
In summary, in the FAO system, the following problems mainly exist in the initial positioning after train wake-up: in the FAO system, the train wake-up process maintains EB (Emergency Brake, which is called Emergency Brake), and movement is not allowed, so that the train initial position cannot be obtained by an existing method.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the train awakening initial positioning method of the full-automatic operation system, which has the advantages of simple process, simple and convenient operation and capability of acquiring the train awakening initial position.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a train awakening initial positioning method of a full-automatic operation system comprises the following steps:
1) a train head dormancy awakening transponder and a train tail dormancy awakening transponder are arranged at preset positions of the train dormancy rail, wherein the train head dormancy awakening transponder is located at the position of the train head, and the distance between the train head dormancy awakening transponder and the initial position of the train head is L1; the train tail dormancy awakening transponder is positioned at the train tail position, and the distance between the train tail dormancy awakening transponder and the initial position of the train tail is L2;
2) after the train receives the awakening command, receiving the position information of the train head dormancy awakening transponder and the train tail dormancy awakening transponder in the electronic map;
3) and obtaining the initial position of the train when the train wakes up according to the position information of each dormancy wake-up transponder in the electronic map, L1 and L2.
As a further improvement of the above technical solution:
the specific process of the step 3) is as follows:
judging whether the direction of the train head is the same as the seg logic direction of the electronic map or not according to the position information of each dormancy awakening transponder in the electronic map;
if the train tail position information is the same as the train tail position information, obtaining the train head initial position according to the position information of the train head dormancy awakening transponder in the electronic map and L1, and then obtaining the train tail initial position according to the position information of the train tail dormancy awakening transponder in the electronic map and L2;
if the train head position information is different from the train head position information, the train head initial position is obtained according to the position information of the train head dormancy awakening transponder in the electronic map and L1, and then the train head initial position is obtained according to the position information of the train head dormancy awakening transponder in the electronic map and L2.
The specific process of judging whether the direction of the train head is the same as the seg logic direction of the electronic map according to the position information of each dormancy awakening transponder in the electronic map is as follows:
firstly, judging whether the vehicle head sleeping and awakening transponder and the vehicle tail sleeping and awakening transponder are on the same seg of an electronic map;
when the vehicle head sleeping and awakening transponder and the vehicle tail sleeping and awakening transponder are on the same seg of the electronic map, comparing the offset of the vehicle head sleeping and awakening transponder in the seg logical direction with the offset of the vehicle tail sleeping and awakening transponder in the seg logical direction;
and when the offset of the train head sleeping awakening transponder in the seg logic direction is larger than the offset of the train tail sleeping awakening transponder in the seg logic direction, judging that the train head direction is the same as the seg logic direction, otherwise, judging that the train head direction is opposite to the seg logic direction.
The head dormancy awakening transponder is located right below the head BTM antenna, and the tail dormancy awakening transponder is located right below the tail BTM antenna.
In the step 2), the vehicle head BTM antenna receives position information of the vehicle head dormancy awakening transponder and the vehicle tail dormancy awakening transponder in an electronic map and sends the position information to a vehicle head ATP; and the vehicle tail BTM antenna receives the position information of the vehicle head dormancy awakening transponder and the vehicle tail dormancy awakening transponder in the electronic map and sends the position information to the vehicle tail ATP.
The wake-up command is a remote wake-up command or a local wake-up command.
Compared with the prior art, the invention has the advantages that:
the Train awakening initial positioning method of the full-Automatic operation system comprises the steps that through adding dormancy awakening transponders at the head and tail positions of a Train dormancy rail, when a Train which is parked in a parking Train inspection library or a main line parking line and is already dormant receives a remote awakening command or a local awakening command sent by an Automatic Train monitoring system (ATS), after a vehicle-mounted device completes self-inspection, after the head and tail ends of the Train respectively receive dormancy awakening transponder information of corresponding positions, the dormancy awakening transponder information received by the head and tail ends of the Train is sent to the opposite end again; any end of the train acquires the actual position of the train at the end according to the information of the dormancy awakening transponders at the head end and the tail end of the train and the positions of the two dormancy awakening transponders in the line, and finally acquires the initial position of the whole train; the method can complete the initial positioning after the dormant train is awakened so as to continue executing the subsequent awakening process, and automatically leave the warehouse according to a plan and automatically operate on line after the awakening is successful; the whole process is simple and the operation is simple and convenient.
Drawings
Fig. 1 is a schematic diagram of a position of a train after the train of the present invention is dormant at a parking train inspection garage or a main train parking line.
Fig. 2 is a sequence diagram of the information of the interactive transponders at the head and tail ends of the train when the train is waken up.
Fig. 3 is a flowchart of an initial positioning method according to an embodiment of the present invention.
Detailed Description
The invention is further described below in conjunction with the drawings and the detailed description of the invention.
As shown in fig. 3, the train wake-up initial positioning method of the full-automatic operation system according to the embodiment of the present invention includes the steps of:
1) a train head sleeping awakening transponder (DB1 in figure 1) and a train tail sleeping awakening transponder (DB2 in figure 1) are arranged at a preset position of a train sleeping rail, wherein DB1 is positioned at the position of the train head and is at a distance of L1 from the initial position of the train head; wherein DB2 is located at the tail position of the train and is at a distance L2 from the initial tail position of the train, as shown in fig. 1, wherein L1 is L2; of course, in other embodiments, the L1 and the L2 may be different;
2) after the train receives the wake-up command, the train head ATP (ATP 1 in FIG. 1) and the train tail ATP (ATP 2 in FIG. 1) receive the position information of the DB1 and the DB2 in the electronic map;
3) and obtaining the initial position of the train when the train is awakened according to the position information of the DB1 and the DB2 in the electronic map, L1 and L2.
The Train awakening initial positioning method of the full-Automatic operation system comprises the steps that through adding dormancy awakening transponders at the head and tail positions of a Train dormant rail, after a dormant Train which stops at a parking Train inspection library or a main line parking line receives a remote awakening command or a local awakening command sent by an Automatic Train monitoring system (ATS), after a vehicle-mounted device completes self-inspection, and after the head and tail ends of the Train respectively receive information of the dormancy awakening transponders at corresponding positions, the information of the dormancy awakening transponders received by the head and tail ends of the Train is sent to the opposite end; any end of the train acquires the actual position of the train at the end according to the information of the dormancy awakening transponders at the head end and the tail end of the train and the positions of the two dormancy awakening transponders in the line, and finally acquires the initial position of the whole train; the method can complete the initial positioning after the dormant train is awakened so as to continuously execute the subsequent awakening process, and automatically leave the train according to a plan and automatically operate on line after the awakening is successful; the whole process is simple and the operation is simple and convenient.
In a specific embodiment, the specific process of step 3) is: judging whether the direction of the train head is the same as the seg logical direction of the electronic map according to the position information of each dormancy awakening transponder in the electronic map (seg is a minimum section unit which virtually divides an actual physical section in the electronic map according to boundary points in order to improve the vehicle control precision, and the logical direction is fixed (uplink or downlink)); if the position information of the DB1 in the electronic map and the L1 are the same, the initial position of the train head is obtained, and then the initial position of the train tail is obtained according to the position information of the DB2 in the electronic map and the L2; if the positions of the train head and the train tail are different, the train tail initial position is obtained according to the position information of the DB1 in the electronic map and the L1, and then the train head initial position is obtained according to the position information of the DB2 in the electronic map and the L2.
In a specific embodiment, the specific process of determining whether the train head direction is the same as the seg logical direction of the electronic map according to the position information of each dormancy wakeup transponder in the electronic map is as follows: firstly, judging whether DB1 and DB2 are on the same seg of the electronic map; when DB1 and DB2 are on the same seg of the electronic map, the offset of DB1 in the seg logical direction is compared with the offset of DB2 in the seg logical direction (the positions of DB1 and DB2 are fixed, and are both based on the seg as a starting point, and then the offset relative to the starting point of the seg is added); and when the offset of the DB1 in the seg logical direction is larger than the offset of the DB2 in the seg logical direction, judging that the train head direction is the same as the seg logical direction, otherwise, judging that the train head direction is opposite to the seg logical direction.
In one embodiment, DB1 is located directly below the antenna of the head BTM (BTM 1 in FIG. 1) and DB2 is located directly below the antenna of the tail BTM (BTM 2 in FIG. 1). Specifically, in step 2), the BTM1 antenna receives the position information of DB1 and DB2 in the electronic map and transmits to the vehicle head ATP (ATP 1 in fig. 1); the BTM2 antenna receives the position information of DB1 and DB2 in the electronic map and transmits to the car tail ATP (ATP 2 in fig. 1).
The method of the invention is described in further detail below with reference to a specific embodiment:
as shown in fig. 1, by installing sleep wake-up transponders (fixed transponders DB1 and DB2) on the sleep rail at a distance L1 from a stopping point (including a start point and an end point), that is, after the train is stopped, DB1 is installed on the track at the vertical position of the antenna of BTM1 at one end, and DB2 is installed on the track at the vertical position of the antenna of BTM2 at the other end; after the vehicle-mounted equipment receives a remote awakening command or a local awakening command of an ATS, the vehicle-mounted ATC cabinet is powered on, after each vehicle-mounted ATP is powered on to complete self-checking, the vehicle-mounted ATC cabinet has no position after the vehicle-mounted ATC is powered on to complete self-checking, two ends of a train respectively receive information (mainly transponder ID) of a dormancy awakening transponder at a corresponding position, an electronic map is inquired according to the transponder ID to acquire the attribute and the position of the transponder, namely the information of DB1 is sent to ATP1 through a BTM1 antenna, the information of DB2 is sent to ATP2 through a BTM2 antenna, then ATP1 sends the information of DB1 to ATP2, and ATP2 sends the information of DB2 to ATP1 as shown in FIG. 2;
the ATP1 obtains the initial position of the ATP1 when the home terminal wakes up by combining the position information of the DB1 and the DB2 in the electronic map and the distances between the DB1 and the DB2 and the start point and the end point of the train according to the DB1 information received by the home terminal and the DB2 information sent by the opposite terminal; or the ATP2 obtains the initial position of the ATP2 when the home terminal wakes up by combining the position information of the DB1 and the DB2 in the electronic map and the distances between the DB1 and the DB2 and the start point and the end point of the train according to the DB2 information received by the home terminal and the DB1 information sent by the opposite terminal; specifically, assuming that the seg logical direction in the electronic map is consistent with the uplink direction, then:
the train end initial position of the vehicle-mounted ATP1 is (position-L1 of DB1 in an electronic map, direction: descending);
the vehicle-mounted ATP2 train end initial position is (position + L1 of DB2 in the electronic map, direction: upward).
The method makes up the problem that the existing CBTC system cannot complete the initial positioning function of the train position when the train which is in the dormant track is awakened, and is a necessary condition for ensuring the train to realize the full-line full-automatic driving function in the FAO system.
The above are only preferred embodiments of the present invention, and the scope of the present invention is not limited to the above examples, and all technical solutions that fall under the spirit of the present invention belong to the scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (6)
1. A train awakening initial positioning method of a full-automatic operation system is characterized by comprising the following steps:
1) a train head dormancy awakening transponder and a train tail dormancy awakening transponder are arranged at preset positions of the train dormancy rail, wherein the train head dormancy awakening transponder is located at the position of the train head, and the distance between the train head dormancy awakening transponder and the initial position of the train head is L1; the train tail dormancy awakening transponder is positioned at the train tail position, and the distance between the train tail dormancy awakening transponder and the initial position of the train tail is L2;
2) after the train receives the awakening command, receiving the position information of the train head dormancy awakening transponder and the train tail dormancy awakening transponder in the electronic map;
3) and obtaining the initial position of the train when the train wakes up according to the position information of each dormancy wake-up transponder in the electronic map, L1 and L2.
2. The train awakening initial positioning method of the full-automatic operation system according to claim 1, wherein the specific process of the step 3) is as follows:
judging whether the direction of the train head is the same as the seg logic direction of the electronic map or not according to the position information of each dormancy awakening transponder in the electronic map;
if the train tail position information is the same as the train tail position information, obtaining the train head initial position according to the L1 and the position information of the train head dormancy awakening transponder in the electronic map, and obtaining the train tail initial position according to the L2 and the position information of the train tail dormancy awakening transponder in the electronic map;
if the train head position information is different from the train head position information, the train tail initial position is obtained according to the position information of the train head dormancy awakening transponder in the electronic map and L1, and then the train head initial position is obtained according to the position information of the train tail dormancy awakening transponder in the electronic map and L2.
3. The train awakening initial positioning method of the full-automatic operation system according to claim 2, wherein the specific process of judging whether the direction of the train head is the same as the seg logical direction of the electronic map according to the position information of each dormancy awakening transponder in the electronic map is as follows:
firstly, judging whether the vehicle head sleeping and awakening transponder and the vehicle tail sleeping and awakening transponder are on the same seg of an electronic map;
when the vehicle head sleeping and awakening transponder and the vehicle tail sleeping and awakening transponder are on the same seg of the electronic map, comparing the offset of the vehicle head sleeping and awakening transponder in the seg logical direction with the offset of the vehicle tail sleeping and awakening transponder in the seg logical direction;
and when the offset of the train head sleeping awakening transponder in the seg logic direction is larger than the offset of the train tail sleeping awakening transponder in the seg logic direction, judging that the train head direction is the same as the seg logic direction, otherwise, judging that the train head direction is opposite to the seg logic direction.
4. The train awakening initial positioning method of the full-automatic operation system according to claim 1, 2 or 3, characterized in that the train head dormancy awakening transponder is positioned right below a train head BTM antenna, and the train tail dormancy awakening transponder is positioned right below a train tail BTM antenna.
5. The train awakening initial positioning method of the full-automatic operation system according to claim 4, wherein in the step 2), the train head BTM antenna receives position information of the train head dormancy awakening transponder and the train tail dormancy awakening transponder in an electronic map and sends the position information to the train head ATP; and the vehicle tail BTM antenna receives the position information of the vehicle head dormancy awakening transponder and the vehicle tail dormancy awakening transponder in the electronic map and sends the position information to the vehicle tail ATP.
6. The train wake-up initial positioning method of the fully automatic operation system according to claim 1, 2 or 3, wherein the wake-up command is a remote wake-up command or a local wake-up command.
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| CN202210711087.8A CN114919628A (en) | 2022-06-22 | 2022-06-22 | Train awakening initial positioning method of full-automatic operation system |
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